private Action CreateReasoningAction(Predicate pEffect, HashSet <Predicate> lPredicates)
{
KnowPredicate kpEffect = new KnowPredicate(pEffect);
if (Predicates.Contains(kpEffect))
{
return(null);
}
Action a = new KnowledgeAction("Reasoning_" + pEffect.ToString());
a.Preconditions = new CompoundFormula("and");
foreach (Predicate pOther in lPredicates)
{
if (pOther != pEffect)
{
KnowPredicate kp = new KnowPredicate(pOther);
if (!Predicates.Contains(kp))
{
return(null);
}
((CompoundFormula)a.Preconditions).AddOperand(new PredicateFormula(kp));
}
}
CompoundFormula cfEffects = new CompoundFormula("and");
cfEffects.AddOperand(new PredicateFormula(kpEffect));
a.SetEffects(cfEffects);
return(a);
}
private void AddKnowledgePredicatesToExistingActions(HashSet <Predicate> lKnowPredicates)
{
List <Action> lActions = AvailableActions;
AvailableActions = new List <Action>();
foreach (Action a in lActions)
{
KnowledgeAction ka = new KnowledgeAction(a);
ka.Preconditions = AddKnowledgePredicatesToFormula(a.Preconditions, lKnowPredicates);
CompoundFormula cfEffects = null;
if (Contains(ka.Preconditions))
{
if (a.Effects != null)
{
cfEffects = AddKnowledgePredicatesToFormula(a.Effects, lKnowPredicates);
}
else
{
cfEffects = new CompoundFormula("and");
}
if (a.Observe != null)
{
HashSet <Predicate> lPredicates = new HashSet <Predicate>();
a.Observe.GetAllPredicates(lPredicates);
foreach (Predicate p in lPredicates)
{
cfEffects.AddOperand(new PredicateFormula(new KnowPredicate(p)));
}
ka.Observe = null;
}
ka.SetEffects(cfEffects);
if (!Contains(ka.Effects))
{
AvailableActions.Add(ka);
}
}
}
}
private void AddKnowledgePredicatesToExistingActions(HashSet<Predicate> lKnowPredicates)
{
List<Action> lActions = AvailableActions;
AvailableActions = new List<Action>();
foreach (Action a in lActions)
{
KnowledgeAction ka = new KnowledgeAction(a);
ka.Preconditions = AddKnowledgePredicatesToFormula(a.Preconditions, lKnowPredicates);
CompoundFormula cfEffects = null;
if (Contains(ka.Preconditions))
{
if (a.Effects != null)
{
cfEffects = AddKnowledgePredicatesToFormula(a.Effects, lKnowPredicates);
}
else
{
cfEffects = new CompoundFormula("and");
}
if (a.Observe != null)
{
HashSet<Predicate> lPredicates = new HashSet<Predicate>();
a.Observe.GetAllPredicates(lPredicates);
foreach (Predicate p in lPredicates)
{
cfEffects.AddOperand(new PredicateFormula(new KnowPredicate(p)));
}
ka.Observe = null;
}
ka.SetEffects(cfEffects);
if(!Contains(ka.Effects))
AvailableActions.Add(ka);
}
}
}
private Action CreateReasoningAction(Predicate pEffect, HashSet<Predicate> lPredicates)
{
KnowPredicate kpEffect = new KnowPredicate(pEffect);
if (Predicates.Contains(kpEffect))
return null;
Action a = new KnowledgeAction("Reasoning_" + pEffect.ToString());
a.Preconditions = new CompoundFormula("and");
foreach (Predicate pOther in lPredicates)
{
if (pOther != pEffect)
{
KnowPredicate kp = new KnowPredicate(pOther);
if (!Predicates.Contains(kp))
return null;
((CompoundFormula)a.Preconditions).AddOperand(new PredicateFormula(kp));
}
}
CompoundFormula cfEffects = new CompoundFormula("and");
cfEffects.AddOperand(new PredicateFormula(kpEffect));
a.SetEffects(cfEffects);
return a;
}
