private CompoundFormula AddKnowledgePredicatesToFormula(Formula f, HashSet <Predicate> lKnowPredicates)
{
CompoundFormula cf = new CompoundFormula("and");
HashSet <Predicate> lPredicates = new HashSet <Predicate>();
f.GetAllPredicates(lPredicates);
foreach (Predicate p in lPredicates)
{
if (lKnowPredicates.Contains(p))
{
KnowPredicate kp = new KnowPredicate(p);
cf.AddOperand(new PredicateFormula(kp));
}
}
if (f is CompoundFormula && ((CompoundFormula)f).Operator == "and")
{
foreach (Formula fSub in ((CompoundFormula)f).Operands)
{
cf.AddOperand(fSub);
}
}
else
{
cf.AddOperand(f);
}
return(cf);
}
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 AddReasoningAction(HashSet <Predicate> lPreconditions, HashSet <Predicate> lEffects, Dictionary <List <Predicate>, List <Predicate> > dActions)
{
List <Predicate> lKnowPreconditions = new List <Predicate>();
foreach (GroundedPredicate p in lPreconditions)
{
KnowPredicate pKnow = new KnowPredicate(p);
lKnowPreconditions.Add(pKnow);
lKnowPreconditions.Add(p);
}
List <Predicate> lKnowEffects = new List <Predicate>();
foreach (GroundedPredicate p in lEffects)
{
KnowPredicate pKnow = new KnowPredicate(p);
lKnowEffects.Add(pKnow);
}
if (dActions.ContainsKey(lKnowPreconditions))
{
if (dActions.Comparer.Equals(lKnowEffects, dActions[lKnowPreconditions]))
{
return;
}
throw new NotImplementedException();
}
dActions[lKnowPreconditions] = lKnowEffects;
}
public override Formula GetKnowledgeFormula(List <string> lAlwaysKnown, bool bKnowWhether, HashSet <Predicate> lNegativePreconditions)
{
CompoundFormula cf = new CompoundFormula("and");
if (Predicate.Name == Domain.OPTION_PREDICATE)
{
return(null);//we never know an option value
}
if (lAlwaysKnown.Contains(Predicate.Name))
{
cf.AddOperand(this);
}
else
{
if (bKnowWhether)
{
cf.AddOperand(new PredicateFormula(new KnowWhetherPredicate(Predicate)));
}
else
{
//cf.AddOperand(this);
Predicate pNot = new KnowPredicate(Predicate.Negate());
cf.AddOperand(pNot.Negate());
cf.AddOperand(new KnowPredicate(Predicate));// added by sagi 15.6 removed again, guy is right
//return new PredicateFormula(new KnowPredicate(Predicate)); sagi: removed for adding box moving, not only knowing..
}
}
if (lNegativePreconditions != null && lNegativePreconditions.Contains(Predicate.Canonical()))
{
Predicate pNot = Predicate.Clone();
pNot.Name = "Not" + pNot.Name;
if (Predicate.Negation)
{
cf.AddOperand(pNot);
}
else
{
cf.AddOperand(pNot.Negate());
}
}
return(cf);
}
public override Formula Ground(Dictionary <string, Constant> dBindings)
{
if (Predicate is ParameterizedPredicate)
{
ParameterizedPredicate ppred = (ParameterizedPredicate)Predicate;
GroundedPredicate gpred = ppred.Ground(dBindings);
return(new PredicateFormula(gpred));
}
if (Predicate is KnowPredicate)
{
KnowPredicate kp = (KnowPredicate)Predicate;
GroundedPredicate gpred = kp.Ground(dBindings);
return(new PredicateFormula(gpred));
}
if (Predicate is KnowGivenPredicate)
{
throw new NotImplementedException();
}
return(this);
}
public MemoryStream WriteKnowledgeProblem(HashSet <Predicate> lObserved, HashSet <Predicate> lAllValues)
{
MemoryStream msProblem = new MemoryStream();
StreamWriter sw = new StreamWriter(msProblem);
sw.WriteLine("(define (problem K" + Name + ")");
sw.WriteLine("(:domain K" + Domain.Name + ")");
sw.WriteLine(";;" + SDRPlanner.Translation);
sw.WriteLine("(:init"); //ff doesn't like the and (and");
foreach (GroundedPredicate gp in lObserved)
{
if (gp.Name == "Choice")
{
continue;
}
sw.WriteLine(gp);
if (!Domain.AlwaysKnown(gp))
{
Predicate kp = new KnowPredicate(gp);
sw.WriteLine(kp);
}
}
HashSet <Predicate> lHidden = new HashSet <Predicate>(lAllValues.Except(lObserved));
foreach (GroundedPredicate gp in lHidden)
{
sw.WriteLine(gp);
}
sw.WriteLine(")");
HashSet <Predicate> lGoalPredicates = Goal.GetAllPredicates();
CompoundFormula cfGoal = new CompoundFormula("and");
foreach (Predicate p in lGoalPredicates)
{
if (Domain.AlwaysKnown(p))
{
cfGoal.AddOperand(p);
}
else
{
cfGoal.AddOperand(new KnowPredicate(p));
}
}
CompoundFormula cfAnd = new CompoundFormula(cfGoal);
sw.WriteLine("(:goal " + cfAnd.Simplify() + ")");
//sw.WriteLine("))");
sw.WriteLine(")");
sw.Flush();
return(msProblem);
}
public MemoryStream WriteKnowledgeProblem(HashSet <Predicate> lObserved, HashSet <Predicate> lHidden, int cMinMishaps, int cMishaps, bool bRemoveNegativePreconditions)
{
MemoryStream msProblem = new MemoryStream();
StreamWriter sw = new StreamWriter(msProblem);
sw.WriteLine("(define (problem K" + Name + ")");
sw.WriteLine("(:domain K" + Domain.Name + ")");
sw.WriteLine(";;" + SDRPlanner.Translation);
sw.WriteLine("(:init"); //ff doesn't like the and (and");
string sKP = "", sP = "";
HashSet <string> lNegativePreconditons = new HashSet <string>();
if (bRemoveNegativePreconditions)
{
foreach (Predicate p in Domain.IdentifyNegativePreconditions())
{
lNegativePreconditons.Add(p.Name);
}
}
foreach (GroundedPredicate gp in lObserved)
{
if (gp.Name == "Choice")
{
continue;
}
if (Domain.AlwaysKnown(gp))
{
sw.WriteLine(gp);
}
if (!Domain.AlwaysKnown(gp))
{
Predicate kp = new KnowPredicate(gp);
sw.WriteLine(kp);
}
if (gp.Negation && bRemoveNegativePreconditions && lNegativePreconditons.Contains(gp.Name))
{
Predicate np = gp.Negate().Clone();
np.Name = "Not" + gp.Name;
sw.WriteLine(np);
}
}
if (bRemoveNegativePreconditions)
{
foreach (GroundedPredicate gp in lHidden)
{
Predicate nkp = gp.Clone();
nkp.Name = "NotK" + gp.Name;
sw.WriteLine(nkp);
Predicate nknp = gp.Clone();
nknp.Name = "NotKN" + gp.Name;
sw.WriteLine(nknp);
}
}
if (cMinMishaps > cMishaps)
{
sw.WriteLine("(MishapCount m" + cMishaps + ")");
}
if (SDRPlanner.AddActionCosts)
{
sw.WriteLine("(= (total-cost) 0)");
}
sw.WriteLine(")");
HashSet <Predicate> lGoalPredicates = Goal.GetAllPredicates();
CompoundFormula cfGoal = new CompoundFormula("and");
foreach (Predicate p in lGoalPredicates)
{
if (Domain.AlwaysKnown(p))
{
cfGoal.AddOperand(p);
}
else
{
cfGoal.AddOperand(new KnowPredicate(p));
}
}
CompoundFormula cfAnd = new CompoundFormula(cfGoal);
if (cMinMishaps > cMishaps && SDRPlanner.Translation != SDRPlanner.Translations.Conformant)
{
GroundedPredicate gp = new GroundedPredicate("MishapCount");
gp.AddConstant(new Constant("mishaps", "m" + cMinMishaps));
cfAnd.AddOperand(gp);
}
sw.WriteLine("(:goal " + cfAnd.Simplify() + ")");
if (MetricStatement != null)
{
sw.WriteLine(MetricStatement);
}
sw.WriteLine(")");
sw.Flush();
return(msProblem);
}
