/// <summary>
/// Grounds all the cached effects with the currently use operator substitution.
/// </summary>
/// <param name="groundingManager">Grounding manager.</param>
/// <param name="operatorSubstitution">Variables substitution.</param>
public void GroundEffectsByCurrentOperatorSubstitution(GroundingManager groundingManager, ISubstitution operatorSubstitution)
{
OriginalLiftedPredicates.Clear();
OriginalLiftedFunctions.Clear();
GroundedPositivePredicateEffects.Clear();
foreach (var predicate in PositivePredicateEffects)
{
var groundedPredicate = operatorSubstitution.IsEmpty() ? predicate : groundingManager.GroundAtom(predicate, operatorSubstitution);
GroundedPositivePredicateEffects.Add(groundedPredicate);
if (!OriginalLiftedPredicates.ContainsKey(groundedPredicate))
{
OriginalLiftedPredicates.Add(groundedPredicate, predicate);
}
}
GroundedNegativePredicateEffects.Clear();
foreach (var predicate in NegativePredicateEffects)
{
var groundedPredicate = operatorSubstitution.IsEmpty() ? predicate : groundingManager.GroundAtom(predicate, operatorSubstitution);
GroundedNegativePredicateEffects.Add(groundedPredicate);
if (!OriginalLiftedPredicates.ContainsKey(groundedPredicate))
{
OriginalLiftedPredicates.Add(groundedPredicate, predicate);
}
}
GroundedNumericFunctionAssignmentEffects.Clear();
foreach (var numericFunc in NumericFunctionAssignmentEffects)
{
var groundedFunction = operatorSubstitution.IsEmpty() ? numericFunc.FunctionAtom : groundingManager.GroundAtom(numericFunc.FunctionAtom, operatorSubstitution);
var groundedAssignment = operatorSubstitution.IsEmpty() ? numericFunc.GetBackwardsSubstitutedValue() : groundingManager.GroundNumericExpression(numericFunc.GetBackwardsSubstitutedValue(), operatorSubstitution);
GroundedNumericFunctionAssignmentEffects.Add(groundedFunction, groundedAssignment);
if (!OriginalLiftedFunctions.ContainsKey(groundedFunction))
{
OriginalLiftedFunctions.Add(groundedFunction, numericFunc.FunctionAtom);
}
}
GroundedObjectFunctionAssignmentEffects.Clear();
foreach (var objectFunc in ObjectFunctionAssignmentEffects)
{
var groundedFunction = operatorSubstitution.IsEmpty() ? objectFunc.FunctionAtom : groundingManager.GroundAtom(objectFunc.FunctionAtom, operatorSubstitution);
var groundedAssignment = operatorSubstitution.IsEmpty() ? objectFunc.Value : groundingManager.GroundTerm(objectFunc.Value, operatorSubstitution);
GroundedObjectFunctionAssignmentEffects.Add(groundedFunction, groundedAssignment);
if (!OriginalLiftedFunctions.ContainsKey(groundedFunction))
{
OriginalLiftedFunctions.Add(groundedFunction, objectFunc.FunctionAtom);
}
}
}