public void ApplyOffline(Action a, out Formula fObserve, out PartiallySpecifiedState psTrueState, out PartiallySpecifiedState psFalseState)
{
psTrueState = null;
psFalseState = null;
fObserve = null;
a = a.ApplyObserved(m_lObserved); //for removing all generaly known items from the computations.
Formula fPreconditions = a.Preconditions;
if (fPreconditions != null && !IsApplicable(a))
return;
PartiallySpecifiedState bsNew = new PartiallySpecifiedState(this, a);
ChildCount = 1;
if (a.Effects != null)
{
if (a.HasConditionalEffects)
{
List<CompoundFormula> lApplicableConditions = ApplyKnown(a.GetConditions());
bsNew.ApplyKnowledgeLoss(lApplicableConditions);
HashSet<Predicate> lAddEffects = new HashSet<Predicate>(), lRemoveEffects = new HashSet<Predicate>();
a.GetApplicableEffects(m_lObserved, lAddEffects, lRemoveEffects, true);
//first removing then adding
foreach (Predicate p in lRemoveEffects)
bsNew.AddEffect(p);
foreach (Predicate p in lAddEffects)
bsNew.AddEffect(p);
//bsNew.UpdateHidden(a, m_lObserved);
bsNew.UpdateHidden();
}
else
{
bsNew.AddEffects(a.Effects);
}
}
if (a.Observe != null)
{
PartiallySpecifiedState bsTrue = bsNew.Clone();
PartiallySpecifiedState bsFalse = bsNew.Clone();
bsTrue.GeneratingObservation = a.Observe;
bsFalse.GeneratingObservation = a.Observe.Negate();
ChildCount = 0;
if (ConsistentWith(bsTrue.GeneratingObservation, false))
{
HashSet<int> hsModifiedTrue = bsTrue.m_bsInitialBelief.ReviseInitialBelief(bsTrue.GeneratingObservation, bsTrue);
if (hsModifiedTrue.Count > 0)
{
bsTrue.PropogateObservedPredicates();
}
bsTrue.AddObserved(a.Observe);
psTrueState = bsTrue;
ChildCount++;
}
else
psTrueState = null;
if (ConsistentWith(bsFalse.GeneratingObservation, false))
{
HashSet<int> hsModifiedFalse = bsFalse.m_bsInitialBelief.ReviseInitialBelief(bsFalse.GeneratingObservation, bsFalse);
if (hsModifiedFalse.Count > 0)
{
bsFalse.PropogateObservedPredicates();
}
bsFalse.AddObserved(a.Observe.Negate());
psFalseState = bsFalse;
ChildCount++;
}
else
psFalseState = null;
}
else
psTrueState = bsNew;
}
private PartiallySpecifiedState Apply(Action aOrg, out Formula fObserve, bool bPropogateOnly)
{
//Debug.WriteLine("Executing " + a.Name);
fObserve = null;
if (aOrg is ParametrizedAction)
return null;
DateTime dtStart = DateTime.Now;
Action a = aOrg.ApplyObserved(m_lObserved);
//no need to check pre during propogation - they were already confirmed the first time
if (!bPropogateOnly && a.Preconditions != null && !IsApplicable(a))
return null;
a.ComputeRegressions();
tsPre += DateTime.Now - dtStart;
dtStart = DateTime.Now;
State sNew = null;
if (!bPropogateOnly && UnderlyingEnvironmentState != null)
sNew = UnderlyingEnvironmentState.Apply(a);
CompoundFormula cfAndChoices = null;
if (!bPropogateOnly && a.ContainsNonDeterministicEffect)
{
a = a.RemoveNonDeterminism(Time, out cfAndChoices);
}
PartiallySpecifiedState bsNew = new PartiallySpecifiedState(this, a);
if (sNew != null)
{
bsNew.UnderlyingEnvironmentState = sNew;
if (!bPropogateOnly && bsNew.Time != sNew.Time)
Debug.WriteLine("BUGBUG");
}
if (a.Effects != null)
{
if (a.HasConditionalEffects)
{
List<CompoundFormula> lApplicableConditions = ApplyKnown(a.GetConditions());
bsNew.ApplyKnowledgeLoss(lApplicableConditions);
HashSet<Predicate> lAddEffects = new HashSet<Predicate>(), lRemoveEffects = new HashSet<Predicate>();
a.GetApplicableEffects(m_lObserved,lAddEffects, lRemoveEffects, true);
//first removing then adding
foreach (Predicate p in lRemoveEffects)
bsNew.AddEffect(p);
foreach (Predicate p in lAddEffects)
bsNew.AddEffect(p);
//bsNew.UpdateHidden(a, m_lObserved);
bsNew.UpdateHidden();
}
else
{
bsNew.AddEffects(a.Effects);
}
}
//if(m_sPredecessor != null)//the first one holds all knowns, to avoid propogation from the initial belief
// RemoveDuplicateObserved(bsNew.m_lObserved);//if p is true at t+1 and p is true at t, there is no point in maintaining the copy at t
tsEffects += DateTime.Now - dtStart;
dtStart = DateTime.Now;
if (!bPropogateOnly && a.Observe != null)
{
//first applying the action (effects) and then observing
fObserve = bsNew.UnderlyingEnvironmentState.Observe(a.Observe);
bsNew.GeneratingObservation = fObserve;
bsNew.AddObserved(fObserve);
/*
if (ReviseInitialBelief(fObserve))
bsNew.PropogateObservedPredicates();
* */
HashSet<int> hsModified = m_bsInitialBelief.ReviseInitialBelief(fObserve, this);
if (hsModified.Count > 0)
{
if (!SDRPlanner.OptimizeMemoryConsumption)
bsNew.PropogateObservedPredicates();
}
}
tsObs += DateTime.Now - dtStart;
if (bsNew != null && cfAndChoices != null)
m_bsInitialBelief.AddInitialStateFormula(cfAndChoices);
if (!bPropogateOnly && bsNew.Time != sNew.Time)
Debug.WriteLine("BUGBUG");
return bsNew;
}
