private State ApplyAxiom(State s, List <Action> lActions, Domain d)
{
State sCurrent = s;
Predicate pNew = new GroundedPredicate("new");
Predicate pDone = new GroundedPredicate("done");
while (!sCurrent.Contains(pNew.Negate()) || !sCurrent.Contains(pDone))
{
Action a1 = d.GroundActionByName(new string[] { "pre-axiom", "" }, sCurrent.Predicates, false);
Action a2 = d.GroundActionByName(new string[] { "axiom", "" }, sCurrent.Predicates, false);
if (a1 != null && a2 != null)
{
sCurrent = sCurrent.Apply(a1);
sCurrent = sCurrent.Apply(a2);
lActions.Add(a1);
lActions.Add(a2);
}
}
Action a = d.GroundActionByName(new string[] { "observe-new-F", "" }, sCurrent.Predicates, false);
sCurrent = sCurrent.Apply(a);
lActions.Add(a);
a = d.GroundActionByName(new string[] { "fixpoint", "" }, sCurrent.Predicates, false);
sCurrent = sCurrent.Apply(a);
lActions.Add(a);
return(sCurrent);
}
private State ApplyCompute(State s, string sName, List <Action> lActions, Domain d)
{
State sCurrent = s;
Predicate pNew = new GroundedPredicate("new-" + sName);
Predicate pDone = new GroundedPredicate("done-" + sName);
int i = 0;
while (!sCurrent.Contains(pNew.Negate()) || !sCurrent.Contains(pDone) || i < 10)
{
Action a1 = d.GroundActionByName(new string[] { "pre-" + sName, "" }, sCurrent.Predicates, false);
Action a2 = d.GroundActionByName(new string[] { "compute-" + sName, "" }, sCurrent.Predicates, false);
if (a1 != null && a2 != null)
{
sCurrent = sCurrent.Apply(a1);
sCurrent = sCurrent.Apply(a2);
lActions.Add(a1);
lActions.Add(a2);
}
i++;
}
Action a = d.GroundActionByName(new string[] { "observe-new-" + sName + "-F", "" }, sCurrent.Predicates, false);
sCurrent = sCurrent.Apply(a);
lActions.Add(a);
a = d.GroundActionByName(new string[] { "post-" + sName, "" }, sCurrent.Predicates, false);
sCurrent = sCurrent.Apply(a);
lActions.Add(a);
return(sCurrent);
}
public override Predicate GenerateGiven(string sTag)
{
GroundedPredicate pGiven = new GroundedPredicate("Given" + Name);
foreach (Constant c in Constants)
{
pGiven.AddConstant(c);
}
pGiven.AddConstant(new Constant(Domain.TAG, sTag));
if (Negation)
{
return(pGiven.Negate());
}
return(pGiven);
}
private State ApplyCompute(State s, string sName, List<Action> lActions, Domain d)
{
State sCurrent = s;
Predicate pNew = new GroundedPredicate("new-" + sName);
Predicate pDone = new GroundedPredicate("done-" + sName);
int i = 0;
while (!sCurrent.Contains(pNew.Negate()) || !sCurrent.Contains(pDone) || i < 10)
{
Action a1 = d.GroundActionByName(new string[] { "pre-" + sName, "" }, sCurrent.Predicates, false);
Action a2 = d.GroundActionByName(new string[] { "compute-" + sName, "" }, sCurrent.Predicates, false);
if (a1 != null && a2 != null)
{
sCurrent = sCurrent.Apply(a1);
sCurrent = sCurrent.Apply(a2);
lActions.Add(a1);
lActions.Add(a2);
}
i++;
}
Action a = d.GroundActionByName(new string[] { "observe-new-" + sName + "-F", "" }, sCurrent.Predicates, false);
sCurrent = sCurrent.Apply(a);
lActions.Add(a);
a = d.GroundActionByName(new string[] { "post-" + sName, "" }, sCurrent.Predicates, false);
sCurrent = sCurrent.Apply(a);
lActions.Add(a);
return sCurrent;
}
private State ApplyAxiom(State s, List<Action> lActions, Domain d)
{
State sCurrent = s;
Predicate pNew = new GroundedPredicate("new");
Predicate pDone = new GroundedPredicate("done");
while (!sCurrent.Contains(pNew.Negate()) || !sCurrent.Contains(pDone))
{
Action a1 = d.GroundActionByName(new string[] { "pre-axiom", "" }, sCurrent.Predicates, false);
Action a2 = d.GroundActionByName(new string[] { "axiom", "" }, sCurrent.Predicates, false);
if (a1 != null && a2 != null)
{
sCurrent = sCurrent.Apply(a1);
sCurrent = sCurrent.Apply(a2);
lActions.Add(a1);
lActions.Add(a2);
}
}
Action a = d.GroundActionByName(new string[] { "observe-new-F", "" }, sCurrent.Predicates, false);
sCurrent = sCurrent.Apply(a);
lActions.Add(a);
a = d.GroundActionByName(new string[] { "fixpoint", "" }, sCurrent.Predicates, false);
sCurrent = sCurrent.Apply(a);
lActions.Add(a);
return sCurrent;
}
public static List<string> MasterMindHeuristic(PartiallySpecifiedState pssCurrent, Domain domain)
{
List<Constant> lColors = new List<Constant>();
List<Constant> lPegs = new List<Constant>();
List<Constant> lValues = new List<Constant>();
foreach (Constant c in domain.Constants)
{
if (c.Type.ToLower() == "color")
lColors.Add(c);
if (c.Type.ToLower() == "peg")
lPegs.Add(c);
if (c.Type.ToLower() == "value")
lValues.Add(c);
}
//DateTime dtStart = DateTime.Now;
//BeliefState bs = pssCurrent.m_bsInitialBelief;
//State s = bs.ChooseState(true);
//List<Predicate> l = bs.RunSatSolver();
//Console.WriteLine((DateTime.Now - dtStart).TotalSeconds);
Permute(lColors);
List<Constant> lGuessColors = new List<Constant>();
for (int iPeg = 0; iPeg < lPegs.Count; iPeg++)
{
/*
//foreach (GroundedPredicate gp in s.Predicates)
foreach (GroundedPredicate gp in l)
{
if (gp.ToString().StartsWith("(on p" + iPeg) && gp.Negation == false)
{
lGuessColors.Add(gp.Constants[1]);
}
}
*/
foreach (Constant cColor in lColors)
{
GroundedPredicate gp = new GroundedPredicate("on");
gp.AddConstant(lPegs[iPeg]);
gp.AddConstant(cColor);
if (!pssCurrent.Observed.Contains(gp.Negate()))
{
lGuessColors.Add(cColor);
break;
}
}
lColors.Remove(lGuessColors.Last());
}
if (lGuessColors.Count == lPegs.Count)
{
List<string> lActions = new List<string>();
string sGuess = "guess-all";
foreach (Constant c in lGuessColors)
sGuess += " " + c.Name;
lActions.Add(sGuess);
lActions.Add("evaluate-guess");
foreach (Constant cValue in lValues)
{
lActions.Add("observe-LocationHits " + cValue.Name);
lActions.Add("observe-ColorHits " + cValue.Name);
}
return lActions;
}
return null;
}
private bool ConsistentWith(HashSet<GroundedPredicate> hsObservations, GroundedPredicate gpReasoned)
{
HashSet<Predicate> hsLearned = new HashSet<Predicate>(hsObservations);
if (!Hidden.Contains(gpReasoned.Canonical()))
if (Observed.Contains(gpReasoned.Negate()))
return false;
List<CompoundFormula> lHidden = new List<CompoundFormula>(m_bsInitialBelief.Hidden);
bool bDone = false;
while (!bDone)
{
bDone = true;
for (int i = 0; i < lHidden.Count; i++)
{
CompoundFormula cf = lHidden[i];
if (cf != null)
{
Formula fReduced = cf.Reduce(hsLearned);
if (fReduced.IsFalse(null))
return false;
if (fReduced.IsTrue(null))
{
lHidden[i] = null;
continue;
}
if (fReduced is PredicateFormula)
{
Predicate p = ((PredicateFormula)fReduced).Predicate;
if (gpReasoned.Equals(p.Negate()))
return false;
if (hsLearned.Add(p))
bDone = false;
lHidden[i] = null;
}
else
{
CompoundFormula cfReduced = (CompoundFormula)fReduced;
if (cfReduced.IsSimpleConjunction())
{
HashSet<Predicate> hsPredicates = cfReduced.GetAllPredicates();
foreach (Predicate p in hsPredicates)
{
if (gpReasoned.Equals(p.Negate()))
return false;
if (hsLearned.Add(p))
bDone = false;
}
lHidden[i] = null;
}
else
lHidden[i] = cfReduced;
}
}
}
}
bool bLearned = hsLearned.Contains(gpReasoned);
return bLearned;
}
public override Predicate GenerateGiven(string sTag)
{
GroundedPredicate pGiven = new GroundedPredicate("Given" + Name);
foreach (Constant c in Constants)
pGiven.AddConstant(c);
pGiven.AddConstant(new Constant(Domain.TAG, sTag));
if (Negation)
return pGiven.Negate();
return pGiven;
}
public static List <string> MasterMindHeuristic(PartiallySpecifiedState pssCurrent, Domain domain)
{
List <Constant> lColors = new List <Constant>();
List <Constant> lPegs = new List <Constant>();
List <Constant> lValues = new List <Constant>();
foreach (Constant c in domain.Constants)
{
if (c.Type.ToLower() == "color")
{
lColors.Add(c);
}
if (c.Type.ToLower() == "peg")
{
lPegs.Add(c);
}
if (c.Type.ToLower() == "value")
{
lValues.Add(c);
}
}
//DateTime dtStart = DateTime.Now;
//BeliefState bs = pssCurrent.m_bsInitialBelief;
//State s = bs.ChooseState(true);
//List<Predicate> l = bs.RunSatSolver();
//Console.WriteLine((DateTime.Now - dtStart).TotalSeconds);
Permute(lColors);
List <Constant> lGuessColors = new List <Constant>();
for (int iPeg = 0; iPeg < lPegs.Count; iPeg++)
{
/*
* //foreach (GroundedPredicate gp in s.Predicates)
* foreach (GroundedPredicate gp in l)
* {
* if (gp.ToString().StartsWith("(on p" + iPeg) && gp.Negation == false)
* {
* lGuessColors.Add(gp.Constants[1]);
* }
*
*
* }
*/
foreach (Constant cColor in lColors)
{
GroundedPredicate gp = new GroundedPredicate("on");
gp.AddConstant(lPegs[iPeg]);
gp.AddConstant(cColor);
if (!pssCurrent.Observed.Contains(gp.Negate()))
{
lGuessColors.Add(cColor);
break;
}
}
lColors.Remove(lGuessColors.Last());
}
if (lGuessColors.Count == lPegs.Count)
{
List <string> lActions = new List <string>();
string sGuess = "guess-all";
foreach (Constant c in lGuessColors)
{
sGuess += " " + c.Name;
}
lActions.Add(sGuess);
lActions.Add("evaluate-guess");
foreach (Constant cValue in lValues)
{
lActions.Add("observe-LocationHits " + cValue.Name);
lActions.Add("observe-ColorHits " + cValue.Name);
}
return(lActions);
}
return(null);
}
public static List <string> MineSweeperHeuristic(PartiallySpecifiedState pssCurrent, Domain d, Formula fObserve)
{
int[,] aBoard;
aBoard = new int[Size, Size];
List <string> lActions = new List <string>();
List <int> lUnknown = new List <int>();
for (int iX = 0; iX < Size; iX++)
{
for (int iY = 0; iY < Size; iY++)
{
GroundedPredicate gp = GetPredicate("opened", iX, iY);
if (pssCurrent.Observed.Contains(gp))
{
aBoard[iX, iY] = 1;//opened
}
else
{
gp = GetPredicate("mine-at", iX, iY);
if (pssCurrent.Observed.Contains(gp))
{
gp = GetPredicate("flagged", iX, iY);
if (pssCurrent.Observed.Contains(gp))
{
aBoard[iX, iY] = 4;//flagged mine
}
else
{
aBoard[iX, iY] = 2;//unflagged mine
}
}
else if (pssCurrent.Observed.Contains(gp.Negate()))
{
aBoard[iX, iY] = 3;//no mine
}
}
}
}
List <int> lCandidates = new List <int>();
for (int iX = 0; iX < Size; iX++)
{
for (int iY = 0; iY < Size; iY++)
{
if (aBoard[iX, iY] == 0 || aBoard[iX, iY] == 3)
{
lCandidates.Add((iX) * 1000 + iY);
}
else if (aBoard[iX, iY] == 2)
{
lActions.Add("flag p" + iX + "-" + iY);
}
}
}
if (lCandidates.Count > 0)
{
int iChosen = lCandidates[RandomGenerator.Next(lCandidates.Count)];
int iChosenX = iChosen / 1000;
int iChosenY = iChosen % 1000;
lActions.Add("open-cell-" + iChosenX + "-" + iChosenY);
//lActions.Add("open-cell p" + iChosenX + "-" + iChosenY);
lActions.Add("observe-dead");
for (int i = 0; i < 9; i++)
{
lActions.Add("observe-mine-count p" + iChosenX + "-" + iChosenY + " v" + i);
}
Shootings++;
}
/*
* else if (lUnknown.Count > 0)
* {
* int iChosen = lUnknown[RandomGenerator.Next(lUnknown.Count)];
* int iChosenX = iChosen / 1000;
* int iChosenY = iChosen % 1000;
* lActions.Add("shoot p-" + iChosenX + " p-" + iChosenY);
* Shootings++;
* }
*/
return(lActions);
}
public List<Action> SplitConditions(List<Predicate> lAdditionalPredicates)
{
List<Action> lActions = new List<Action>();
ParametrizedAction aNewAdd = new ParametrizedAction(Name + "-Add");
ParametrizedAction aNewRemove = new ParametrizedAction(Name + "-Remove");
ParametrizedAction aNewTranslateRemove = new ParametrizedAction(Name + "-TranslateRemove");
ParametrizedAction aNewTranslateAdd = new ParametrizedAction(Name + "-TranslateAdd");
ParametrizedPredicate ppInFirst = new ParametrizedPredicate("P1-" + Name);
ParametrizedPredicate ppInSecond = new ParametrizedPredicate("P2-" + Name);
ParametrizedPredicate ppInThird = new ParametrizedPredicate("P3-" + Name);
GroundedPredicate gpNotInAction = new GroundedPredicate("NotInAction");
if (this is ParametrizedAction)
{
foreach (Parameter p in ((ParametrizedAction)this).Parameters)
{
aNewAdd.AddParameter(p);
aNewRemove.AddParameter(p);
aNewTranslateAdd.AddParameter(p);
aNewTranslateRemove.AddParameter(p);
ppInFirst.AddParameter(p);
ppInSecond.AddParameter(p);
ppInThird.AddParameter(p);
}
}
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
CompoundFormula cfPreconditions = new CompoundFormula("and");
cfPreconditions.AddOperand(Preconditions);
cfPreconditions.AddOperand(gpNotInAction);
if (Effects == null)
throw new NotImplementedException();
HashSet<Predicate> lKnowEffects = new HashSet<Predicate>();
CompoundFormula cfAddEffects = new CompoundFormula("and");
CompoundFormula cfRemoveEffects = new CompoundFormula("and");
CompoundFormula cfTranslateAddEffects = new CompoundFormula("and");
CompoundFormula cfTranslateRemoveEffects = new CompoundFormula("and");
List<Predicate> lRequireTranslation = new List<Predicate>();
foreach (Formula f in lObligatory)
{
f.GetAllPredicates(lKnowEffects);
cfAddEffects.AddOperand(f); //unconditional effects cannot conflict anyhow
}
if (lConditions.Count > 0)
{
lAdditionalPredicates.Add(ppInFirst);
lAdditionalPredicates.Add(ppInSecond);
lAdditionalPredicates.Add(ppInThird);
aNewRemove.Preconditions = cfPreconditions;
cfRemoveEffects.AddOperand(ppInFirst);
cfRemoveEffects.AddOperand(gpNotInAction.Negate());
aNewAdd.Preconditions = new PredicateFormula(ppInFirst);
cfAddEffects.AddOperand(ppInSecond);
cfAddEffects.AddOperand(ppInFirst.Negate());
aNewTranslateRemove.Preconditions = new PredicateFormula(ppInSecond);
cfTranslateRemoveEffects.AddOperand(ppInSecond.Negate());
cfTranslateRemoveEffects.AddOperand(ppInThird);
aNewTranslateAdd.Preconditions = new PredicateFormula(ppInThird);
cfTranslateAddEffects.AddOperand(ppInThird.Negate());
cfTranslateAddEffects.AddOperand(gpNotInAction);
Dictionary<Predicate, Predicate> dTaggedPredicates = new Dictionary<Predicate, Predicate>();
foreach (CompoundFormula cfCondition in lConditions)
{
CompoundFormula cfAddCondition, cfRemoveCondition;
cfCondition.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
aNewAdd.Effects = cfAddEffects.Simplify();
aNewRemove.Effects = cfRemoveEffects.Simplify();
lActions.Add(aNewRemove);
lActions.Add(aNewAdd);
foreach (KeyValuePair<Predicate, Predicate> pair in dTaggedPredicates)
{
CompoundFormula cfWhen = new CompoundFormula("when");
CompoundFormula cfAnd = new CompoundFormula("and");
cfWhen.AddOperand(pair.Key);
cfAnd.SimpleAddOperand(pair.Value);
cfAnd.SimpleAddOperand(pair.Key.Negate());
cfWhen.SimpleAddOperand(cfAnd);
if (pair.Value.Negation)
cfTranslateRemoveEffects.AddOperand(cfWhen);
else
cfTranslateAddEffects.AddOperand(cfWhen);
}
aNewTranslateAdd.Effects = cfTranslateAddEffects;
aNewTranslateRemove.Effects = cfTranslateRemoveEffects;
lActions.Add(aNewTranslateRemove);
lActions.Add(aNewTranslateAdd);
}
else
throw new NotImplementedException();
if (Observe != null)
{
throw new NotImplementedException();
}
return lActions;
}
public Action ReplaceNonDeterministicEffectsWithOptions(List<string> lAlwaysKnown, int cMaxOptions)
{
Action aNew = Clone();
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
//currently only handling non-determinism in conditional effects
CompoundFormula cfEffects = new CompoundFormula("and");
foreach (Formula f in lObligatory)
{
if (f is PredicateFormula)
cfEffects.AddOperand(f);
else
{
CompoundFormula cf = (CompoundFormula)f;
if (cf.Operator == "oneof" || cf.Operator == "or")
{
lConditions.Add(cf);
}
else
cfEffects.AddOperand(cf);
}
}
foreach (CompoundFormula cfCondition in lConditions)
{
Formula fDeterministicCondition = null;
if (cfCondition.ContainsNonDeterministicEffect())
{
//BUGBUG - may cause problems when we have different number of options for each condition - not sure!
if (cMaxOptions < cfCondition.GetMaxNonDeterministicOptions())
cMaxOptions = cfCondition.GetMaxNonDeterministicOptions();
int[] aPermutation = Permutation(cMaxOptions);
foreach (int iOption in aPermutation)
{
fDeterministicCondition = cfCondition.ChooseOption(iOption);
GroundedPredicate gpOption = new GroundedPredicate("option");
gpOption.AddConstant(new Constant(Domain.OPTION, "opt" + iOption));
if (cfCondition.Operator == "when")
{
((CompoundFormula)((CompoundFormula)fDeterministicCondition).Operands[0]).AddOperand(gpOption);
cfEffects.AddOperand(fDeterministicCondition);
}
else
{
CompoundFormula cfWhen = new CompoundFormula("when");
cfWhen.AddOperand(gpOption);
cfWhen.AddOperand(fDeterministicCondition);
cfEffects.AddOperand(cfWhen);
}
}
}
else
cfEffects.AddOperand(cfCondition);
}
for (int iOption = 0; iOption < cMaxOptions; iOption++)
{
GroundedPredicate gpCurrentOption = new GroundedPredicate("option");
gpCurrentOption.AddConstant(new Constant(Domain.OPTION, "opt" + iOption));
GroundedPredicate gpNextOption = new GroundedPredicate("option");
gpNextOption.AddConstant(new Constant(Domain.OPTION, "opt" + (iOption + 1) % cMaxOptions));
CompoundFormula cfWhen = new CompoundFormula("when");
cfWhen.AddOperand(gpCurrentOption);
CompoundFormula cfAnd = new CompoundFormula("and");
cfAnd.AddOperand(gpCurrentOption.Negate());
cfAnd.AddOperand(gpNextOption);
cfWhen.AddOperand(cfAnd);
cfEffects.AddOperand(cfWhen);
}
aNew.Effects = cfEffects;
if (Observe != null)//assuming that there can't be any observations
throw new NotImplementedException();
return aNew;
}
public List<Action> KnowWhetherTagCompilationSplitConditions(Dictionary<string, List<Predicate>> dTags, Domain d, List<string> lIncludedTags,
List<string> lExcludedTags, List<Predicate> lAdditionalPredicates)
{
string sName = Name + "-KW";
foreach (string sTag in lIncludedTags)
sName += "-" + sTag;
ParametrizedAction aNewState = new ParametrizedAction(sName + "-State");
ParametrizedAction aNewKnowledgeGain = new ParametrizedAction(sName + "-KnowledgeGain");
ParametrizedAction aNewKnowledgeLoss = new ParametrizedAction(sName + "-KnowledgeLoss");
ParametrizedPredicate ppInFirst = new ParametrizedPredicate("P1-" + sName);
ParametrizedPredicate ppInSecond = new ParametrizedPredicate("P2-" + sName);
GroundedPredicate gpNotInAction = new GroundedPredicate("NotInAction");
if (this is ParametrizedAction)
{
foreach (Parameter p in ((ParametrizedAction)this).Parameters)
{
aNewKnowledgeLoss.AddParameter(p);
aNewKnowledgeGain.AddParameter(p);
aNewState.AddParameter(p);
ppInFirst.AddParameter(p);
ppInSecond.AddParameter(p);
}
}
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
CompoundFormula cfPreconditions = new CompoundFormula("and");
Formula cfKWPreconditions = GetKnowWhetherPreconditions(dTags, d, lIncludedTags, lExcludedTags);
cfPreconditions.AddOperand(cfKWPreconditions); //knowledge loss is the first action, so it will have all the preconditions
cfPreconditions.AddOperand(gpNotInAction);
if (Effects == null)
throw new NotImplementedException();
HashSet<Predicate> lKnowEffects = new HashSet<Predicate>();
CompoundFormula cfStateEffects = new CompoundFormula("and");
CompoundFormula cfKnowledgeLossEffects = new CompoundFormula("and");
CompoundFormula cfKnowledgeGainEffects = new CompoundFormula("and");
//CompoundFormula cfMandatoryEffects = new CompoundFormula("and");
foreach (Formula f in lObligatory)
{
f.GetAllPredicates(lKnowEffects);
}
if (lKnowEffects.Count > 0)
{
foreach (string sTag in lIncludedTags)
{
//~KNot t|?t -> effects|t
CompoundFormula cfKEffects = new CompoundFormula("and");
foreach (Predicate p in lKnowEffects)
{
Predicate pAdd = p.GenerateGiven(sTag);
cfKEffects.AddOperand(pAdd);
if (!d.AlwaysKnown(p))
{
pAdd = p.GenerateKnowGiven(sTag, true);
cfKEffects.AddOperand(pAdd);
}
}
cfStateEffects.SimpleAddOperand(cfKEffects);
}
}
List<Action> lActions = new List<Action>();
if (lConditions.Count > 0)
{
lAdditionalPredicates.Add(ppInFirst);
lAdditionalPredicates.Add(ppInSecond);
aNewKnowledgeLoss.Preconditions = cfPreconditions;
aNewKnowledgeGain.Preconditions = new PredicateFormula(ppInFirst);
aNewState.Preconditions = new PredicateFormula(ppInSecond);
cfKnowledgeLossEffects.AddOperand(ppInFirst);
cfKnowledgeLossEffects.AddOperand(gpNotInAction.Negate());
cfKnowledgeGainEffects.AddOperand(ppInSecond);
cfKnowledgeGainEffects.AddOperand(ppInFirst.Negate());
cfStateEffects.AddOperand(ppInSecond.Negate());
cfStateEffects.AddOperand(gpNotInAction);
foreach (CompoundFormula cfCondition in lConditions)
{
CompoundFormula cfK = null, cfAnd = null;
HashSet<Predicate> lConditionEffects = cfCondition.Operands[1].GetAllPredicates();
cfAnd = new CompoundFormula("and");
foreach (string sTag in lIncludedTags)
{
cfK = CreateTaggedCondition(cfCondition, d, sTag);
if (cfK != null)
{
cfStateEffects.SimpleAddOperand(cfK);
}
}
cfK = CreateTaggedKnowledgeWhetherGainConditions(cfCondition, d, lIncludedTags);
if (cfK != null)
{
cfKnowledgeGainEffects.SimpleAddOperand(cfK);
}
cfK = CreateTaggedKnowledgeWhetherLossCondition(cfCondition, d, lIncludedTags);
if (cfK != null && cfK.Operands.Count > 0)
{
cfKnowledgeLossEffects.SimpleAddOperand(cfK);
}
}
aNewKnowledgeGain.Effects = cfKnowledgeGainEffects.Simplify();
aNewKnowledgeLoss.Effects = cfKnowledgeLossEffects.Simplify();
lActions.Add(aNewKnowledgeLoss);
lActions.Add(aNewKnowledgeGain);
}
else
{
aNewState.Preconditions = cfPreconditions;
}
aNewState.Effects = cfStateEffects.Simplify();
lActions.Add(aNewState);
if (Observe != null)
{
throw new NotImplementedException();
}
return lActions;
}
public List<Action> KnowCompilationSplitConditions(Dictionary<string, List<Predicate>> dTags, List<string> lAlwaysKnown, List<Predicate> lAdditionalPredicates)
{
List<Action> lActions = new List<Action>();
ParametrizedAction aNewAdd = new ParametrizedAction(Name + "-Add");
ParametrizedAction aNewRemove = new ParametrizedAction(Name + "-Remove");
ParametrizedAction aNewTranslateAdd = new ParametrizedAction(Name + "-TranslateAdd");
ParametrizedAction aNewTranslateRemove = new ParametrizedAction(Name + "-TranslateRemove");
ParametrizedPredicate ppInFirst = new ParametrizedPredicate("P1-" + Name);
ParametrizedPredicate ppInSecond = new ParametrizedPredicate("P2-" + Name);
ParametrizedPredicate ppInThird = new ParametrizedPredicate("P3-" + Name);
GroundedPredicate gpNotInAction = new GroundedPredicate("NotInAction");
if (this is ParametrizedAction)
{
foreach (Parameter p in ((ParametrizedAction)this).Parameters)
{
aNewAdd.AddParameter(p);
aNewRemove.AddParameter(p);
aNewTranslateAdd.AddParameter(p);
aNewTranslateRemove.AddParameter(p);
ppInFirst.AddParameter(p);
ppInSecond.AddParameter(p);
ppInThird.AddParameter(p);
}
}
List<CompoundFormula> lConditions = new List<CompoundFormula>();
List<Formula> lObligatory = new List<Formula>();
SplitEffects(lConditions, lObligatory);
CompoundFormula cfPreconditions = new CompoundFormula("and");
HashSet<Predicate> lKnowPreconditions = new HashSet<Predicate>();
if (Preconditions != null)
{
Preconditions.GetAllPredicates(lKnowPreconditions);
cfPreconditions.AddOperand(Preconditions);
foreach (Predicate p in lKnowPreconditions)
if (!lAlwaysKnown.Contains(p.Name))
cfPreconditions.AddOperand(new PredicateFormula(new KnowPredicate(p)));
}
cfPreconditions.AddOperand(gpNotInAction);
if (Effects == null)
throw new NotImplementedException();
HashSet<Predicate> lKnowEffects = new HashSet<Predicate>();
CompoundFormula cfAddEffects = new CompoundFormula("and");
CompoundFormula cfRemoveEffects = new CompoundFormula("and");
CompoundFormula cfTranslateAddEffects = new CompoundFormula("and");
CompoundFormula cfTranslateRemoveEffects = new CompoundFormula("and");
List<Predicate> lRequireTranslation = new List<Predicate>();
foreach (Formula f in lObligatory)
{
f.GetAllPredicates(lKnowEffects);
cfAddEffects.AddOperand(f); //unconditional effects cannot conflict anyhow
}
foreach (Predicate p in lKnowEffects)
{
if (!lAlwaysKnown.Contains(p.Name))
{
Predicate pKEffect = new KnowPredicate(p);
cfAddEffects.AddOperand(pKEffect);
pKEffect = new KnowPredicate(p.Negate());
cfRemoveEffects.AddOperand(pKEffect.Negate());
foreach (string sTag in dTags.Keys)
{
pKEffect = p.GenerateKnowGiven(sTag);
cfAddEffects.AddOperand(pKEffect);
pKEffect = p.Negate().GenerateKnowGiven(sTag);
cfRemoveEffects.AddOperand(pKEffect.Negate());
}
}
}
if (lConditions.Count > 0)
{
lAdditionalPredicates.Add(ppInFirst);
lAdditionalPredicates.Add(ppInSecond);
lAdditionalPredicates.Add(ppInThird);
aNewRemove.Preconditions = cfPreconditions;
cfRemoveEffects.AddOperand(ppInFirst);
cfRemoveEffects.AddOperand(gpNotInAction.Negate());
aNewAdd.Preconditions = new PredicateFormula(ppInFirst);
cfAddEffects.AddOperand(ppInSecond);
cfAddEffects.AddOperand(ppInFirst.Negate());
aNewTranslateRemove.Preconditions = new PredicateFormula(ppInSecond);
cfTranslateRemoveEffects.AddOperand(ppInSecond.Negate());
cfTranslateRemoveEffects.AddOperand(ppInThird);
aNewTranslateAdd.Preconditions = new PredicateFormula(ppInThird);
cfTranslateAddEffects.AddOperand(ppInThird.Negate());
cfTranslateAddEffects.AddOperand(gpNotInAction);
Dictionary<Predicate, Predicate> dTaggedPredicates = new Dictionary<Predicate,Predicate>();
foreach (CompoundFormula cfCondition in lConditions)
{
CompoundFormula cfAddCondition, cfRemoveCondition;
cfCondition.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
CompoundFormula cfK = CreateKnowledgeGainCondition(cfCondition, lAlwaysKnown, false);
if (cfK != null)
{
cfK.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
cfK = CreateKnowledgeLossCondition(cfCondition, lAlwaysKnown);
if (cfK != null)
{
cfK.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
foreach (string sTag in dTags.Keys)
{
cfK = CreateTaggedKnowledgeGainCondition(cfCondition, sTag, lAlwaysKnown, false);
if (cfK != null)
{
cfK.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
cfK = CreateTaggedKnowledgeLossCondition(cfCondition, sTag, lAlwaysKnown);
if (cfK != null)
{
cfK.SplitAddRemove(dTaggedPredicates, out cfAddCondition, out cfRemoveCondition);
if (cfAddCondition != null)
cfAddEffects.AddOperand(cfAddCondition);
if (cfRemoveCondition != null)
cfRemoveEffects.AddOperand(cfRemoveCondition);
}
}
}
aNewAdd.Effects = cfAddEffects.Simplify();
aNewRemove.Effects = cfRemoveEffects.Simplify();
lActions.Add(aNewRemove);
lActions.Add(aNewAdd);
foreach (KeyValuePair<Predicate, Predicate> pair in dTaggedPredicates)
{
CompoundFormula cfWhen = new CompoundFormula("when");
CompoundFormula cfAnd = new CompoundFormula("and");
cfWhen.AddOperand(pair.Key);
cfAnd.SimpleAddOperand(pair.Value);
cfAnd.SimpleAddOperand(pair.Key.Negate());
cfWhen.SimpleAddOperand(cfAnd);
if (pair.Value.Negation)
cfTranslateRemoveEffects.AddOperand(cfWhen);
else
cfTranslateAddEffects.AddOperand(cfWhen);
}
aNewTranslateAdd.Effects = cfTranslateAddEffects;
aNewTranslateRemove.Effects = cfTranslateRemoveEffects;
lActions.Add(aNewTranslateRemove);
lActions.Add(aNewTranslateAdd);
}
else
{
Action aK = AddTaggedConditions(dTags, lAlwaysKnown);
lActions.Add(aK);
}
if (Observe != null)
{
throw new NotImplementedException();
}
return lActions;
}
