/// <summary>
/// Sets the rigid relations from the initial state and the defined operators. The relations in the initial state that are
/// identified as rigid are moved to this structure and they are removed from the initial state.
/// </summary>
/// <param name="initialState">Initial state in the planning problem.</param>
/// <param name="operators">Operators in the planning problem.</param>
public void SetInitialState(IState initialState, LiftedOperators operators)
{
Clear();
RigidRelationsBuilder builder = new RigidRelationsBuilder();
HashSet <IAtom> rigidRelations = builder.Build(initialState, operators);
foreach (var rigidRelation in rigidRelations)
{
initialState.RemovePredicate(rigidRelation);
Add(rigidRelation);
}
}
/// <summary>
/// Constructs the PDDL planning problem from the input data.
/// </summary>
/// <param name="inputData">Input data.</param>
public Problem(InputData.PDDLInputData inputData)
{
DomainName = inputData.Domain.Name;
ProblemName = inputData.Problem.Name;
OriginalInputData = inputData;
IdManager = new IdManager(inputData);
EvaluationManager = new EvaluationManager(new GroundingManager(inputData, IdManager));
Operators = new LiftedOperators(inputData.Domain.Actions, IdManager, EvaluationManager);
InitialState = new State(inputData.Problem.Init, IdManager);
GoalConditions = new Conditions(inputData.Problem.Goal, null, IdManager, EvaluationManager);
RigidRelations = new RigidRelations(InitialState, Operators);
TransitionsGenerator = new Lazy <TransitionsGenerator>(() => new TransitionsGenerator(this));
EvaluationManager.SetRigidRelations(RigidRelations);
}
/// <summary>
/// Builds the collection of rigid relations in the PDDL planning problem.
/// </summary>
/// <param name="initialState">Initial state of the planning problem.</param>
/// <param name="operators">Operators of the planning problem.</param>
/// <returns>Set of relations of the initial state that are always true.</returns>
public HashSet <IAtom> Build(IState initialState, LiftedOperators operators)
{
PredicatesInfluencedByOperators = new HashSet <int>();
foreach (var oper in operators)
{
foreach (var effect in oper.Effects)
{
effect.Accept(this);
}
}
HashSet <IAtom> rigidRelations = new HashSet <IAtom>();
foreach (var predicate in initialState.GetPredicates())
{
if (!PredicatesInfluencedByOperators.Contains(predicate.GetNameId()))
{
rigidRelations.Add(predicate);
}
}
return(rigidRelations);
}
/// <summary>
/// Constructs the rigid relations from the initial state and the defined operators.
/// </summary>
/// <param name="initialState">Initial state in the planning problem.</param>
/// <param name="operators">Operators in the planning problem.</param>
public RigidRelations(IState initialState, LiftedOperators operators)
{
SetInitialState(initialState, operators);
}
