public override Formula Negate()
{
CompoundFormula cfNegate = new ParametrizedFormula(this);
foreach (Formula fOperand in Operands)
{
cfNegate.AddOperand(fOperand.Negate());
}
return(cfNegate);
}
public override Formula PartiallyGround(Dictionary <string, Constant> dBindings)
{
ParametrizedFormula cfGrounded = new ParametrizedFormula(this);
foreach (Formula fSub in Operands)
{
Formula fGrounded = fSub.PartiallyGround(dBindings);
cfGrounded.AddOperand(fGrounded);
}
return(cfGrounded);
}
public override Formula Simplify()
{
if (Simplified)
{
return(this);
}
ParametrizedFormula pf = new ParametrizedFormula(this);
foreach (Formula f in Operands)
{
pf.AddOperand(f.Simplify());
}
return(pf);
}
private Formula ReadGroundedFormula(CompoundExpression exp, Domain d)
{
bool bPredicate = true;
if (IsUniversalQuantifier(exp))
{
CompoundExpression eParameter = (CompoundExpression)exp.SubExpressions[0];
CompoundExpression eBody = (CompoundExpression)exp.SubExpressions[1];
string sParameter = eParameter.Type;
string sType = eParameter.SubExpressions[1].ToString();
Dictionary <string, string> dParameterNameToType = new Dictionary <string, string>();
dParameterNameToType[sParameter] = sType;
ParametrizedFormula cfQuantified = new ParametrizedFormula(exp.Type);
cfQuantified.Parameters[sParameter] = sType;
Formula fBody = ReadFormula(eBody, dParameterNameToType, true, d);
cfQuantified.AddOperand(fBody);
return(cfQuantified);
}
foreach (Expression eSub in exp.SubExpressions)
{
if (eSub is CompoundExpression)
{
bPredicate = false;
break;
}
}
if (bPredicate)
{
return(new PredicateFormula(ReadGroundedPredicate(exp, d)));
}
else
{
CompoundFormula cf = new CompoundFormula(exp.Type);
int iExpression = 0;
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
Formula f = ReadGroundedFormula((CompoundExpression)exp.SubExpressions[iExpression], d);
cf.AddOperand(f);
}
if (cf.Operator == "not" && cf.Operands[0] is PredicateFormula)
{
return(new PredicateFormula(((PredicateFormula)cf.Operands[0]).Predicate.Negate()));
}
return(cf);
}
}
private Formula ReadFormula(CompoundExpression exp, Dictionary <string, string> dParameterNameToType, bool bParamterized, Domain d)
{
bool bPredicate = true;
//Console.WriteLine(exp);
if (d != null && d.IsFunctionExpression(exp.Type))
{
Predicate p = ReadFunctionExpression(exp, dParameterNameToType, d);
return(new PredicateFormula(p));
}
else if (IsUniversalQuantifier(exp))
{
CompoundExpression eParameter = (CompoundExpression)exp.SubExpressions[0];
CompoundExpression eBody = (CompoundExpression)exp.SubExpressions[1];
string sParameter = eParameter.Type;
string sType = eParameter.SubExpressions[1].ToString();
dParameterNameToType[sParameter] = sType;
ParametrizedFormula cfQuantified = new ParametrizedFormula(exp.Type);
cfQuantified.Parameters[sParameter] = sType;
Formula fBody = ReadFormula(eBody, dParameterNameToType, true, d);
cfQuantified.AddOperand(fBody);
return(cfQuantified);
}
else if (exp.Type == "probabilistic")
{
ProbabilisticFormula pf = new ProbabilisticFormula();
int iExpression = 0;
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression += 2)
{
//if (exp.SubExpressions[iExpression] is StringExpression)
// throw new InvalidDataException();
string sProb = exp.SubExpressions[iExpression].ToString();
double dProb = 0.0;
if (sProb.Contains("/"))
{
string[] a = sProb.Split('/');
dProb = double.Parse(a[0]) / double.Parse(a[1]);
}
else
{
dProb = double.Parse(sProb);
}
Formula f = ReadFormula((CompoundExpression)exp.SubExpressions[iExpression + 1], dParameterNameToType, bParamterized, d);
pf.AddOption(f, dProb);
}
return(pf);
}
else
{
foreach (Expression eSub in exp.SubExpressions)
{
if (eSub is CompoundExpression)
{
bPredicate = false;
break;
}
}
if (bPredicate)
{
return(ReadPredicate(exp, dParameterNameToType, bParamterized, d));
}
else
{
CompoundFormula cf = new CompoundFormula(exp.Type);
int iExpression = 0;
for (iExpression = 0; iExpression < exp.SubExpressions.Count; iExpression++)
{
if (exp.SubExpressions[iExpression] is StringExpression)
{
throw new InvalidDataException();
}
Formula f = ReadFormula((CompoundExpression)exp.SubExpressions[iExpression], dParameterNameToType, bParamterized, d);
cf.SimpleAddOperand(f);
}
if (cf.Operator == "not" && cf.Operands[0] is PredicateFormula)
{
PredicateFormula fNegate = new PredicateFormula(((PredicateFormula)cf.Operands[0]).Predicate.Negate());
return(fNegate);
}
return(cf);
}
}
}
public ParametrizedFormula(ParametrizedFormula cf)
: this(cf.Operator)
{
Parameters = new Dictionary <string, string>(cf.Parameters);
}
private void GetApplicableEffects(Formula fEffects, HashSet <Predicate> lAdd, HashSet <Predicate> lDelete)
{
if (fEffects is PredicateFormula)
{
Predicate p = ((PredicateFormula)fEffects).Predicate;
if (p.Negation)
{
lDelete.Add(p);
}
else
{
lAdd.Add(p);
}
}
else if (fEffects is ProbabilisticFormula)
{
ProbabilisticFormula pf = (ProbabilisticFormula)fEffects;
double dRand = RandomGenerator.NextDouble();
double dInitialRand = dRand;
int iOption = 0;
while (iOption < pf.Options.Count && dRand > 0)
{
dRand -= pf.Probabilities[iOption];
iOption++;
}
if (dRand < 0.01)
{
iOption--;
GetApplicableEffects(pf.Options[iOption], lAdd, lDelete);
}
else //the no-op option was chosen
{
iOption = -1;
}
GroundedPredicate pChoice = new GroundedPredicate("Choice");
pChoice.AddConstant(new Constant("ActionIndex", "a" + Time));
pChoice.AddConstant(new Constant("ChoiceIndex", "c" + ChoiceCount + "." + iOption));
ChoiceCount++;
State s = this;
while (s != null)
{
s.m_lPredicates.Add(pChoice);
s = s.m_sPredecessor;
}
}
else
{
CompoundFormula cf = (CompoundFormula)fEffects;
if (cf.Operator == "oneof" || cf.Operator == "or")//BUGBUG - should treat or differently
{
int iRandomIdx = RandomGenerator.Next(cf.Operands.Count);
GetApplicableEffects(cf.Operands[iRandomIdx], lAdd, lDelete);
GroundedPredicate pChoice = new GroundedPredicate("Choice");
pChoice.AddConstant(new Constant("ActionIndex", "a" + Time));
pChoice.AddConstant(new Constant("ChoiceIndex", "c" + ChoiceCount + "." + iRandomIdx));
ChoiceCount++;
State s = this;
while (s != null)
{
s.m_lPredicates.Add(pChoice);
s = s.m_sPredecessor;
}
}
else if (cf.Operator == "and")
{
foreach (Formula f in cf.Operands)
{
GetApplicableEffects(f, lAdd, lDelete);
}
}
else if (cf.Operator == "when")
{
if (Contains(cf.Operands[0]))
{
GetApplicableEffects(cf.Operands[1], lAdd, lDelete);
}
}
else if (cf is ParametrizedFormula)
{
ParametrizedFormula pf = (ParametrizedFormula)cf;
foreach (Formula fNew in pf.Ground(Problem.Domain.Constants))
{
GetApplicableEffects(fNew, lAdd, lDelete);
}
}
else
{
throw new NotImplementedException();
}
}
}