public Formula RegressDet(Action a)
{
Formula f = a.RegressDet(Predicate);
if (f != null)
{
return(f);
}
CompoundFormula cfAndNot = new CompoundFormula("and");
CompoundFormula cfOr = new CompoundFormula("or");
int iCondition = 0;
Predicate pNegate = Predicate.Negate();
foreach (CompoundFormula cfCondition in a.GetConditions())
{
HashSet <Predicate> lEffects = cfCondition.Operands[1].GetAllPredicates();
if (lEffects.Contains(Predicate))
{
cfOr.AddOperand(cfCondition.Operands[0].CreateRegression(Predicate, -1));
}
else if (lEffects.Contains(pNegate))
{
cfAndNot.AddOperand(cfCondition.Operands[0].CreateRegression(pNegate, -1).Negate());
}
iCondition++;
}
cfOr.AddOperand(this);
cfAndNot.AddOperand(cfOr);
return(cfAndNot.Simplify());
}
private Formula AddPreconditions(Action a)
{
CompoundFormula cfOr = new CompoundFormula("or");
CompoundFormula cfAnd = new CompoundFormula("and");
cfAnd.AddOperand(a.Preconditions);
cfAnd.AddOperand(Negate());
cfOr.AddOperand(cfAnd);
cfOr.AddOperand(this);
return(cfOr.Simplify());
}
public static void GetJointDomain(List <Domain> lDomains, List <Problem> lProblems, out Domain dJoint, out Problem pJoint)
{
dJoint = lDomains[0].Clone();
pJoint = lProblems[0].Clone();
pJoint.Domain = dJoint;
CompoundFormula cfAnd = new CompoundFormula("and");
cfAnd.AddOperand(pJoint.Goal);
for (int i = 1; i < lDomains.Count; i++)
{
dJoint.Actions.AddRange(lDomains[i].Actions);
dJoint.Predicates.UnionWith(lDomains[i].Predicates);
dJoint.Constants.UnionWith(lDomains[i].Constants);
foreach (Predicate pKnown in lProblems[i].Known)
{
pJoint.AddKnown(pKnown);
}
cfAnd.AddOperand(lProblems[i].Goal);
}
pJoint.Goal = cfAnd.Simplify();
}
public Formula RegressDetII(Action a)
{
CompoundFormula cfAndNot = new CompoundFormula("and");
CompoundFormula cfOr = new CompoundFormula("or");
foreach (CompoundFormula cfCondition in a.GetConditions())
{
HashSet <Predicate> lEffects = new HashSet <Predicate>();
cfCondition.Operands[1].GetAllPredicates(lEffects);
if (lEffects.Contains(Predicate))
{
cfOr.AddOperand(cfCondition.Operands[0]);
}
if (lEffects.Contains(Predicate.Negate()))
{
cfAndNot.AddOperand(cfCondition.Operands[0].Negate());
}
}
cfAndNot.AddOperand(this);
cfOr.AddOperand(cfAndNot);
return(cfOr.Simplify());
}
public Formula RegressII(Action a)
{
CompoundFormula cfAndNot = new CompoundFormula("and");
CompoundFormula cfOr = new CompoundFormula("or");
/*
* if (a.Effects is PredicateFormula)
* {
* if (a.Effects.Equals(this))
* return AddPreconditions(a);//assuming that an effect can't be both deterministic and conditional
* }
* else
* {
* CompoundFormula cfEffects = (CompoundFormula)a.Effects;
* if (cfEffects.Operator != "and")
* throw new NotImplementedException();
* foreach (Formula f in cfEffects.Operands)
* if (f.Equals(this))
* return AddPreconditions(a);//assuming that an effect can't be both deterministic and conditional
* }
* */
foreach (CompoundFormula cfCondition in a.GetConditions())
{
HashSet <Predicate> lEffects = new HashSet <Predicate>();
cfCondition.Operands[1].GetAllPredicates(lEffects);
if (lEffects.Contains(Predicate))
{
cfOr.AddOperand(cfCondition.Operands[0]);
}
if (lEffects.Contains(Predicate.Negate()))
{
cfAndNot.AddOperand(cfCondition.Operands[0].Negate());
}
}
cfAndNot.AddOperand(this);
cfOr.AddOperand(cfAndNot);
return(cfOr.Simplify());
}
public Formula RegressNonDet(Action a)
{
CompoundFormula cfAndNot = new CompoundFormula("and");
CompoundFormula cfOr = new CompoundFormula("or");
int iCondition = 0;
Predicate pNegate = Predicate.Negate();
foreach (CompoundFormula cfCondition in a.GetConditions())
{
HashSet <Predicate> lEffects = cfCondition.Operands[1].GetAllPredicates();
HashSet <Predicate> lOptionalEffects = cfCondition.Operands[1].GetAllOptionalPredicates();
if (lEffects.Contains(Predicate))
{
int iChoice = cfCondition.GetChoiceIndex(Predicate);
cfOr.AddOperand(cfCondition.Operands[0].CreateRegression(Predicate, iChoice));
a.SetChoice(iCondition, iChoice);
}
else if (lEffects.Contains(pNegate))
{
if (!lOptionalEffects.Contains(pNegate))
{
cfAndNot.AddOperand(cfCondition.Operands[0].Negate());
}
else
{
int iChoice = cfCondition.GetChoiceIndex(pNegate);
int iOtherChoice = cfCondition.GetOtherChoiceIndex(pNegate);
cfAndNot.AddOperand(cfCondition.Operands[0].CreateRegression(pNegate, iChoice).Negate());
a.SetChoice(iCondition, iOtherChoice);
}
}
iCondition++;
}
cfOr.AddOperand(this);
cfAndNot.AddOperand(cfOr);
return(cfAndNot.Simplify());
}
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);
}
public MemoryStream WriteKnowledgeProblem(HashSet <Predicate> lObserved, HashSet <Predicate> lHidden, int cMinMishaps, int cMishaps)
{
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 = "";
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);
}
}
foreach (GroundedPredicate gp in lHidden)
{
//GroundedPredicate kp = new GroundedPredicate(gp);
//kp.Name = "NotK" + kp.Name;
//sw.WriteLine(kp);
}
if (cMinMishaps > cMishaps)
{
sw.WriteLine("(MishapCount m" + cMishaps + ")");
}
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() + ")");
//sw.WriteLine("))");
sw.WriteLine(")");
sw.Flush();
return(msProblem);
}