private void ReadInitState(Problem p, Domain d, CompoundExpression eInitState)
{
foreach (Expression e in eInitState.SubExpressions)
{
CompoundExpression eSub = (CompoundExpression)e;
if (d.IsFunctionExpression(eSub.Type))
{
p.AddKnown(ReadFunctionExpression(eSub, null, d));
}
else if (d.ContainsPredicate(eSub.Type))
{
p.AddKnown(ReadGroundedPredicate(eSub, d));
}
else
{
if (eSub.Type != "unknown")
{
Formula f = ReadGroundedFormula(eSub, d);
if (f is CompoundFormula)
{
p.AddHidden((CompoundFormula)f);
}
if (f is PredicateFormula)//this happens in (not (p)) statments
{
p.AddKnown(((PredicateFormula)f).Predicate);
}
}
else
{
//causing a problem - add operand does some basic reasoning - adding p and ~p results in true for or statements.
//skipping unknown for now...
Predicate pUnknown = ReadGroundedPredicate((CompoundExpression)eSub.SubExpressions[0], d);
CompoundFormula cfOr = new CompoundFormula("or");
cfOr.SimpleAddOperand(pUnknown);
cfOr.SimpleAddOperand(pUnknown.Negate());
p.AddHidden(cfOr);
}
}
}
}
public static void GetJointDomain(List <Domain> lDomains, List <Problem> lProblems, out Domain dJoint, out Problem pJoint)
{
dJoint = lDomains[0].Clone();
pJoint = lProblems[0].Clone();
pJoint.Domain = dJoint;
CompoundFormula cfAnd = new CompoundFormula("and");
cfAnd.AddOperand(pJoint.Goal);
for (int i = 1; i < lDomains.Count; i++)
{
dJoint.Actions.AddRange(lDomains[i].Actions);
dJoint.Predicates.UnionWith(lDomains[i].Predicates);
dJoint.Constants.UnionWith(lDomains[i].Constants);
foreach (Predicate pKnown in lProblems[i].Known)
{
pJoint.AddKnown(pKnown);
}
cfAnd.AddOperand(lProblems[i].Goal);
}
pJoint.Goal = cfAnd.Simplify();
}
