public List <Action> GenActions(Conjunction thePre)
{
List <Action> actions = new List <Action>();
foreach (Operator op in m_ops)
{
List <Action> temp = op.GenActions(thePre);
if (temp != null)
{
actions.AddRange(temp);
}
}
return(actions);
}
//public Action()
//{
// this.m_preCondition = new Conjunction();
// this.m_addEffects = new Conjunction();
// this.m_delEffects = new Conjunction();
// this.m_preEdges = new List<Proposition>();
// this.m_addProps = new List<Proposition>();
// this.m_delProps = new List<Proposition>();
//}
public Action(string h, string pre, string add, string del)
{
this.m_head = h;
this.m_preCondition = new Conjunction(pre);
this.m_addEffects = new Conjunction(add);
this.m_delEffects = new Conjunction(del);
this.m_preEdges = new List <Proposition>();
this.m_addProps = new List <Proposition>();
this.m_delProps = new List <Proposition>();
// foamliu, 2009/01/22, 与本 action 互斥的 actions.
this.m_mutexActions = new List <Action>();
}
/// <summary>
/// foamliu, 2009/01/21, 添加 No-op actions.
/// </summary>
private void AddNoops()
{
Conjunction conj = m_prev.Conjunction;
foreach (string s in conj.Literals)
{
// 创建 No-op action.
Action theAct = new Action("NOOP: " + s);
theAct.PreCondition.Literals.Add(s);
theAct.AddEffects.Literals.Add(s);
this.m_actions.Add(theAct);
// 把这个 no-op 加入当前行为层.
Proposition theProp = m_prev.GetProposition(s);
theProp.AddPreEdge(theAct);
theAct.AddPreProp(theProp);
// 把这个命题加入下个命题层.
theProp = m_next.AddProposition(s);
theProp.AddAddEdge(theAct);
theAct.AddAddProp(theProp);
}
}
/// <summary>
/// foamliu, 2009/01/20.
/// 是否相同的合取, 顺序不重要.
/// </summary>
/// <param name="obj"></param>
/// <returns></returns>
public override bool Equals(object obj)
{
if (!(obj is Conjunction))
{
return(false);
}
Conjunction theCnj = (Conjunction)obj;
if (theCnj.Literals.Count != this.Literals.Count)
{
return(false);
}
foreach (string item in theCnj.Literals)
{
if (!this.Literals.Contains(item))
{
return(false);
}
}
return(true);
}
/// <summary>
/// foamliu, 2009/01/21, 替换合取式中的变量.
/// 比如, conj为:
/// ON (?obj, ?from) & Clear (?obj) & Clear (?to)
/// un为:
/// * --------------------------
/// * var | value
/// * --------------------------
/// * ?obj | b1
/// * ?from | b2
/// * ?to | b3
/// * --------------------------
/// 则返回:
/// ON (b1, b2) & Clear (b1) & Clear (b3)
///
/// </summary>
/// <param name="conj"></param>
/// <param name="un"></param>
/// <returns></returns>
public static string Substitute(Conjunction conj, Unifier un)
{
//StringBuilder sb = new StringBuilder();
//foreach (string literal in conj.Literals)
//{
// string[] tokens = Util.Split(literal);
// foreach (string token in tokens)
// {
// if (token.StartsWith("?"))
// {
// // 是变量, 取对应值.
// sb.Append(un.Get(token));
// }
// else
// {
// // 不是变量, 直接加上去.
// sb.Append(token);
// }
// }
// sb.Append(" & ");
//}
//// 去掉结尾的 " & ".
//string s = sb.ToString();
//return s.Substring(0, s.Length - 3);
string s = conj.ToString();
foreach (string var in un.Table.Keys)
{
string val = un.Table[var];
s = s.Replace(var, val);
}
return(s);
}
/// <summary>
/// foamliu, 2009/01/20.
/// 找到所有这样的 actions: 它们的 Preconditions 在 thePre 里.
///
/// </summary>
/// <param name="thePre"></param>
/// <returns></returns>
public List <Action> GenActions(Conjunction thePre)
{
List <Action> actions = new List <Action>();
List <string> vars = m_opHead.ParaList.Vars;
foreach (string s in m_validUnifiers)
{
Unifier un = new Unifier(vars, s);
string aPre = Util.Substitute(m_pre, un);
Conjunction conj = new Conjunction(aPre);
if (thePre.Contains(conj))
{
// 创建一个 action
string aHead = Util.Substitute(m_opHead, un);
string aAdd = Util.Substitute(m_add, un);
string aDel = Util.Substitute(m_del, un);
actions.Add(new Action(aHead, aPre, aAdd, aDel));
}
}
return(actions);
}
public GraphPlan()
{
this.m_objects = new EntitySet();
this.m_initials = new Conjunction();
this.m_goal = new Conjunction();
}
public PropositionLayer()
{
this.m_props = new List <Proposition>();
this.m_dict = new Dictionary <string, Proposition>();
this.m_conj = new Conjunction();
}
