/// <summary>
/// (dd && list[0]) || (dd && list[1]) ...
/// [ REFS: 'result', DEREFS: dd, list ]
/// </summary>
/// <param name="dd"></param>
/// <param name="list"></param>
/// <returns></returns>
public static CUDDNode And(CUDDNode dd, List<CUDDNode> list)
{
CUDDNode result = CUDD.Constant(0);
foreach (CUDDNode dd1 in list)
{
CUDD.Ref(dd);
CUDDNode temp = CUDD.Function.And(dd, dd1);
result = CUDD.Function.Or(result, temp);
}
CUDD.Deref(dd);
return result;
}
public static CUDDNode NondetBoundedUntil(CUDDNode trans, CUDDNode nondetMask, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVars, CUDDNode yes, CUDDNode maybe, int bound, bool min)
{
DateTime startTime = DateTime.Now;
CUDDNode a, sol, tmp;
CUDD.Ref(trans, maybe);
a = CUDD.Function.Times(trans, maybe);
CUDD.Ref(yes);
sol = yes;
for (int i = 0; i < bound; i++)
{
tmp = CUDD.Matrix.MatrixMultiplyVector(a, sol, allRowVars, allColVars);
if (min)
{
CUDD.Ref(nondetMask);
tmp = CUDD.Function.Maximum(tmp, nondetMask);
tmp = CUDD.Abstract.MinAbstract(tmp, nondetVars);
}
else
{
tmp = CUDD.Abstract.MaxAbstract(tmp, nondetVars);
}
CUDD.Ref(yes);
tmp = CUDD.Function.Maximum(tmp, yes);
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("NondetBoundedUntil: " + bound + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(a);
return sol;
}
public static CUDDNode NondetInstReward(CUDDNode trans, CUDDNode stateReward, CUDDNode nondetMask, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVars, int bound, bool min, CUDDNode init)
{
DateTime startTime = DateTime.Now;
CUDDNode newNondetMask, sol, tmp;
CUDD.Ref(nondetMask);
newNondetMask = CUDD.Function.ITE(nondetMask, CUDD.PlusInfinity(), CUDD.Constant(0));
CUDD.Ref(stateReward);
sol = stateReward;
for(int i = 0; i < bound; i++)
{
tmp = CUDD.Matrix.MatrixMultiplyVector(trans, sol, allRowVars, allColVars);
if(min)
{
CUDD.Ref(newNondetMask);
tmp = CUDD.Function.Maximum(tmp, newNondetMask);
tmp = CUDD.Abstract.MinAbstract(tmp, nondetVars);
}
else
{
tmp = CUDD.Abstract.MaxAbstract(tmp, nondetVars);
}
//
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("NondetInstReward: " + bound + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(newNondetMask);
return sol;
}
/// <summary>
/// Print vector dd, suppos that all variables supporting dd belong to vars
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static void PrintVector(CUDDNode dd, CUDDVars vars)
{
PlatformInvoke.DD_PrintVector(manager, dd.Ptr, vars.GetArrayPointer(), vars.GetNumVars(), LOW);
}
/// <summary>
/// At each terminal, return dd1 if dd1 >= dd2; 0 if dd1 < dd2
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode Threshold(CUDDNode dd1, CUDDNode dd2)
{
return new CUDDNode(PlatformInvoke.DD_Thresholds(manager, dd1.Ptr, dd2.Ptr));
}
/// <summary>
/// Restrict a node according to the cube of variables.
/// [ REFS: 'result', DEREFS: dd, cube ]
/// </summary>
public static CUDDNode Restrict(CUDDNode dd, CUDDNode cube)
{
return new CUDDNode(PlatformInvoke.DD_Restrict(manager, dd.Ptr, cube.Ptr));
}
public static CUDDNode NondetUntil(CUDDNode trans, CUDDNode nondetMask, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVars, CUDDNode yes, CUDDNode maybe, bool min)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDDNode a, sol, tmp;
CUDD.Ref(trans, maybe);
a = CUDD.Function.Times(trans, maybe);
CUDD.Ref(yes);
sol = yes;
while (true)
{
numberOfIterations++;
tmp = CUDD.Matrix.MatrixMultiplyVector(a, sol, allRowVars, allColVars);
if (min)
{
CUDD.Ref(nondetMask);
tmp = CUDD.Function.Maximum(tmp, nondetMask);
tmp = CUDD.Abstract.MinAbstract(tmp, nondetVars);
}
else
{
tmp = CUDD.Abstract.MaxAbstract(tmp, nondetVars);
}
CUDD.Ref(yes);
tmp = CUDD.Function.Maximum(tmp, yes);
//check convergence
if(CUDD.IsEqual(tmp, sol))
{
CUDD.Deref(tmp);
break;
}
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("NondetUntil: " + numberOfIterations + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(a);
return sol;
}
/// <summary>
/// Forward search, check destination is reachable from source
/// Store all reachable states and check fix point
/// At step t, find all reachable states after t time units
/// Fix point: rechable(0, t) == rechable(0, t + 1)
/// (S x Tick x Trans*)*
/// [ REFS: '', DEREFS:]
/// </summary>
/// <param name="source"></param>
/// <param name="destination"></param>
/// <param name="discreteTransitions"></param>
/// <returns></returns>
public bool PathForward1(CUDDNode source, CUDDNode destination, List<CUDDNode> discreteTransitions, List<CUDDNode> tickTransitions, bool simulationUsed, CUDDNode simulationRel)
{
numLoopDiscrete = 0;
//
bool reachable = false;
CUDD.Ref(source);
CUDDNode allReachableFromInit = (simulationUsed) ? SuccessorsStartWithSimulation(source, discreteTransitions, simulationRel) :
SuccessorsStart(source, discreteTransitions);
CUDD.Ref(allReachableFromInit);
CUDDNode currentReachableFromInit = allReachableFromInit;
CUDDNode commonNode = CUDD.Constant(0);
int numberOfLoop = 0;
do
{
numberOfLoop++;
Debug.Write(numberOfLoop + " ");
currentReachableFromInit = Successors(currentReachableFromInit, tickTransitions);
currentReachableFromInit = (simulationUsed)? SuccessorsStartWithSimulation(currentReachableFromInit, discreteTransitions, simulationRel):
SuccessorsStart(currentReachableFromInit, discreteTransitions);
//Check 2 directions have intersection
CUDD.Ref(destination, currentReachableFromInit);
CUDD.Deref(commonNode);
commonNode = CUDD.Function.And(destination, currentReachableFromInit);
if (!commonNode.Equals(CUDD.ZERO))
{
reachable = true;
break;
}
//find fixpoint
CUDD.Ref(currentReachableFromInit, allReachableFromInit);
CUDDNode allReachabeFromInitTemp = CUDD.Function.Or(currentReachableFromInit, allReachableFromInit);
if (allReachabeFromInitTemp.Equals(allReachableFromInit))
{
//reachable = false;
CUDD.Deref(allReachabeFromInitTemp);
break;
}
else
{
currentReachableFromInit = CUDD.Function.Different(currentReachableFromInit, allReachableFromInit);
allReachableFromInit = allReachabeFromInitTemp;
}
} while (true);
Debug.WriteLine("\nTA Path Forward 1: " + (numberOfLoop + 1) + " loops.");
Debug.WriteLine("Discrete loops: " + numLoopDiscrete);
Debug.WriteLine("Avarage Discrete loops: " + ((double) numLoopDiscrete/(numberOfLoop + 1)));
CUDD.Deref(allReachableFromInit, currentReachableFromInit, commonNode);
if(simulationUsed)
{
CUDD.Deref(simulationRel);
}
//
return reachable;
}
/// <summary>
/// Return (f and g) abstract vars
/// [ REFS: 'result', DEREFS: f ]
/// </summary>
public static CUDDNode MinAbstract(CUDDNode f, CUDDVars vars)
{
return new CUDDNode(PlatformInvoke.DD_MinAbstract(manager, f.Ptr, vars.GetArrayPointer(), vars.GetNumVars()));
}
/// <summary>
/// Solve the linear equation system Ax = b with Jacobi
/// Sometimes we can use Jacobi to solve the recursive definition
/// x = Ax + b. We will convert this to (I - A)x = b and use Jacobi to solve.
/// Experiments show that Jacobi converges faster
/// [ REFS: 'result', DEREFS: ]
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="init">initial solution</param>
/// <param name="reach"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="omega">jor parameter</param>
/// <returns></returns>
public static CUDDNode Jacobi(CUDDNode a, CUDDNode b, CUDDNode init, CUDDNode reach, CUDDVars allRowVars, CUDDVars allColVars, double omega)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDDNode id = CUDD.Matrix.Identity(allRowVars, allColVars);
CUDD.Ref(reach);
id = CUDD.Function.And(id, reach);
CUDD.Ref(id, a);
CUDDNode diags = CUDD.Function.Times(id, a);
diags = CUDD.Abstract.SumAbstract(diags, allColVars);
//
CUDD.Ref(id, a);
CUDDNode newA = CUDD.Function.ITE(id, CUDD.Constant(0), a);
newA = CUDD.Function.Times(CUDD.Constant(-1), newA);
// divide a,b by diagonal
CUDD.Ref(diags);
newA = CUDD.Function.Divide(newA, diags);
CUDD.Ref(b, diags);
CUDDNode newB = CUDD.Function.Divide(b, diags);
// print out some memory usage
Debug.WriteLine("Iteration matrix MTBDD... [nodes = " + CUDD.GetNumNodes(newA) + "]");
Debug.WriteLine("Diagonals MTBDD... [nodes = " + CUDD.GetNumNodes(diags) + "]");
CUDD.Ref(init);
CUDDNode sol = init;
while(true)
{
numberOfIterations++;
CUDDNode tmp = CUDD.Matrix.MatrixMultiplyVector(newA, sol, allRowVars, allColVars);
CUDD.Ref(newB);
tmp = CUDD.Function.Plus(tmp, newB);
if(omega != 1)
{
tmp = CUDD.Function.Times(tmp, CUDD.Constant(omega));
CUDD.Ref(sol);
tmp = CUDD.Function.Plus(tmp, CUDD.Function.Times(sol, CUDD.Constant(1 - omega)));
}
if(CUDD.IsEqual(tmp, sol))
{
CUDD.Deref(tmp);
break;
}
CUDD.Deref(sol);
sol = tmp;
}
CUDD.Deref(id, diags, newA, newB);
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("Jacobi: " + numberOfIterations + " iterations in " + runningTime + " seconds");
return sol;
}
/// <summary>
/// [ REFS: 'result', DEREFS: ]
/// </summary>
/// <param name="trans"></param>
/// <param name="stateReward"></param>
/// <param name="transReward"></param>
/// <param name="reach"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="maybe"></param>
/// <param name="inf"></param>
/// <returns></returns>
public static CUDDNode ProbReachReward(CUDDNode trans, CUDDNode stateReward, CUDDNode transReward, CUDDNode reach, CUDDVars allRowVars, CUDDVars allColVars, CUDDNode maybe, CUDDNode inf)
{
CUDD.Ref(trans, maybe);
CUDDNode a = CUDD.Function.Times(trans, maybe);
CUDD.Ref(stateReward, maybe);
CUDDNode newStateReward = CUDD.Function.Times(stateReward, maybe);
CUDD.Ref(transReward, a);
CUDDNode newTransRewards = CUDD.Function.Times(transReward, a);
newTransRewards = CUDD.Abstract.SumAbstract(newTransRewards, allColVars);
CUDDNode allReward = CUDD.Function.Plus(newStateReward, newTransRewards);
//
CUDDNode tmp = CUDD.Matrix.Identity(allRowVars, allColVars);
CUDD.Ref(reach);
tmp = CUDD.Function.And(tmp, reach);
a = CUDD.Function.Minus(tmp, a);
CUDDNode sol = Jacobi(a, allReward, allReward, reach, allRowVars, allColVars, 1);
// set reward for infinity states to infinity
CUDD.Ref(inf);
sol = CUDD.Function.ITE(inf, CUDD.PlusInfinity(), sol);
//
CUDD.Deref(a, allReward);
return sol;
}
/// <summary>
/// Return string of number of nodes, terminals, minterms
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static string GetInfoBriefString(CUDDNode dd, int numVars)
{
return("[" + GetNumNodes(dd) + "," + GetNumTerminals(dd) + "," + GetNumMinterms(dd, numVars) + "]");
}
/// <summary>
/// Print the variables on which a DD depends.
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static void PrintSupport(CUDDNode dd)
{
PlatformInvoke.DD_PrintSupport(manager, dd.Ptr);
}
/// <summary>
/// Return string of number of nodes, terminals, minterms
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static string GetInfoString(CUDDNode dd, int numVars)
{
return(GetNumNodes(dd) + " nodes (" + GetNumTerminals(dd) + " terminal), " + GetNumMinterms(dd, numVars) + " minterms");
}
/// <summary>
/// Print about number of nodes, terminals, minterms
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static void PrintInfoBrief(CUDDNode dd, int numVars)
{
PlatformInvoke.DD_PrintInfoBrief(manager, dd.Ptr, numVars);
}
public static int PrintBDDTree(CUDDNode node, string filename = "BDDTree.dot")
{
return(PlatformInvoke.Cudd_PrintBDDTree(manager, node.Ptr, filename));
}
/// <summary>
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static void PrintTerminalsAndNumbers(CUDDNode dd, int numVars)
{
PlatformInvoke.DD_PrintTerminalsAndNumbers(manager, dd.Ptr, numVars);
}
/// <summary>
/// Print terminals of DD
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static void PrintTerminals(CUDDNode dd)
{
PlatformInvoke.DD_PrintTerminals(manager, dd.Ptr);
}
/// <summary>
/// [ REFS: 'result', DEREFS: ]
/// </summary>
/// <param name="trans"></param>
/// <param name="stateReward"></param>
/// <param name="transReward"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="bound"></param>
/// <returns></returns>
public static CUDDNode ProbCumulReward(CUDDNode trans, CUDDNode stateReward, CUDDNode transReward, CUDDVars allRowVars, CUDDVars allColVars, int bound)
{
DateTime startTime = DateTime.Now;
// multiply transition rewards by transition probs and sum rows
// then combine state and transition rewards and put in a vector
CUDD.Ref(transReward, trans);
CUDDNode allReward = CUDD.Function.Times(transReward, trans);
allReward = CUDD.Abstract.SumAbstract(allReward, allColVars);
CUDD.Ref(stateReward);
allReward = CUDD.Function.Plus(stateReward, allReward);
// initial solution is zero
CUDDNode sol = CUDD.Constant(0);
for (int i = 0; i < bound; i++)
{
CUDDNode tmp = CUDD.Matrix.MatrixMultiplyVector(trans, sol, allRowVars, allColVars);
// add in (combined state and transition) rewards
CUDD.Ref(allReward);
tmp = CUDD.Function.Plus(tmp, allReward);
CUDD.Deref(sol);
sol = tmp;
}
//
CUDD.Deref(allReward);
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("ProbCumulReward: " + bound + " iterations in " + runningTime + " seconds");
//
return sol;
}
/// <summary>
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static void PrintMatrix(CUDDNode dd, CUDDVars rVars, int numRowVars, CUDDVars cVars, int numColVars, int accuracy)
{
PlatformInvoke.DD_PrintMatrix(manager, dd.Ptr, rVars.GetArrayPointer(), numRowVars, cVars.GetArrayPointer(), numColVars, accuracy);
}
/// <summary>
/// Forward search, check destination is reachable from source
/// NOT store all reachable states, use some special condition to terminate
/// At step t, find all reachable states after t time units
/// Fix point when rechable(t1 + a, t1 + a) is a subset of rechable(t1, t1)
/// Rabbit algorithm (S x Tick x Trans*)*
/// [ REFS: '', DEREFS:]
/// </summary>
/// <param name="source"></param>
/// <param name="destination"></param>
/// <param name="discreteTransitions"></param>
/// <returns></returns>
public bool PathForward2(CUDDNode source, CUDDNode destination, List<CUDDNode> discreteTransitions, List<CUDDNode> tickTransitions)
{
//
bool reachable = false;
CUDD.Ref(source);
CUDDNode currentReachableFromInit = SuccessorsStart(source, discreteTransitions);
CUDDNode previousReachableFromInit = CUDD.Constant(0);
int s, p;
s = p = 0;
CUDDNode commonNode = CUDD.Constant(0);
int numberOfLoop = 0;
while (!CUDD.IsSubSet(previousReachableFromInit, currentReachableFromInit))
{
numberOfLoop++;
Debug.Write(numberOfLoop + " ");
if(p <= s/2)
{
p = s;
CUDD.Deref(previousReachableFromInit);
CUDD.Ref(currentReachableFromInit);
previousReachableFromInit = currentReachableFromInit;
}
currentReachableFromInit = Successors(currentReachableFromInit, tickTransitions);
currentReachableFromInit = SuccessorsStart(currentReachableFromInit, discreteTransitions);
s++;
//Check 2 directions have intersection
CUDD.Ref(destination, currentReachableFromInit);
CUDD.Deref(commonNode);
commonNode = CUDD.Function.And(destination, currentReachableFromInit);
if (!commonNode.Equals(CUDD.ZERO))
{
reachable = true;
break;
}
}
Debug.WriteLine("\nTA Path Forward 2: " + numberOfLoop + " loops.");
CUDD.Deref(currentReachableFromInit, previousReachableFromInit, commonNode);
//
return reachable;
}
/// <summary>
/// return 1 if node1 is 1 and node2 is 0, others return 0.
/// belong dd1 but not belong dd2
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode Different(CUDDNode dd1, CUDDNode dd2)
{
return(new CUDDNode(PlatformInvoke.DD_Different(manager, dd1.Ptr, dd2.Ptr)));
}
/// <summary>
/// [ REFS: 'result', DEREFS: states]
/// </summary>
/// <param name="states"></param>
/// <param name="simulationRel"></param>
/// <returns></returns>
private CUDDNode GetSimulatedStates(CUDDNode states, CUDDNode simulationRel)
{
CUDD.Ref(simulationRel);
return CUDD.Abstract.ThereExists(CUDD.Function.And(SwapRowColVars(states), simulationRel), AllColVars);
}
/// <summary>
/// Return the ratio ADD of dd1, dd2
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode BitwiseOr(CUDDNode dd1, CUDDNode dd2)
{
return(new CUDDNode(PlatformInvoke.DD_BitwiseOr(manager, dd1.Ptr, dd2.Ptr)));
}
/// <summary>
/// Or Abstract variables in vars, dd must be 0-1 ADD.
/// result will not contain boolean variables in vars
/// [ REFS: 'result', DEREFS: dd ]
/// </summary>
public static CUDDNode ThereExists(CUDDNode dd, CUDDVars vars)
{
return new CUDDNode(PlatformInvoke.DD_ThereExists(manager, dd.Ptr, vars.GetArrayPointer(), vars.GetNumVars()));
}
/// <summary>
/// At each terminal, return 1 if dd1 > dd2; 0 otherwise
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode Greater(CUDDNode dd1, CUDDNode dd2)
{
return(new CUDDNode(PlatformInvoke.DD_ApplyGreater(manager, dd1.Ptr, dd2.Ptr)));
}
/// <summary>
/// Return Pmin(phi1 U phi2) = 1
/// </summary>
/// <param name="trans01"></param>
/// <param name="reach"></param>
/// <param name="nondetMask"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="nondetVar"></param>
/// <param name="no"></param>
/// <param name="b2"></param>
/// <returns></returns>
public static CUDDNode Prob1A(CUDDNode trans01, CUDDNode reach, CUDDNode nondetMask, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVar, CUDDNode no, CUDDNode b2)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDD.Ref(reach, no);
CUDDNode notNo = CUDD.Function.And(reach, CUDD.Function.Not(no));
CUDD.Ref(b2, notNo);
CUDDNode sol = CUDD.Function.Or(b2, notNo);
while (true)
{
numberOfIterations++;
CUDD.Ref(sol);
CUDDNode tmp = CUDD.Variable.SwapVariables(sol, allRowVars, allColVars);
CUDD.Ref(trans01);
tmp = CUDD.Abstract.ForAll(CUDD.Function.Implies(trans01, tmp), allColVars);
CUDD.Ref(nondetMask);
tmp = CUDD.Function.Or(tmp, nondetMask);
tmp = CUDD.Abstract.ForAll(tmp, nondetVar);
CUDD.Ref(notNo);
tmp = CUDD.Function.And(notNo, tmp);
CUDD.Ref(b2);
tmp = CUDD.Function.Or(b2, tmp);
if (tmp.Equals(sol))
{
CUDD.Deref(tmp);
break;
}
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("Prob1A: " + numberOfIterations + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(notNo);
return sol;
}
/// <summary>
/// At each terminal, return 1 if dd1 <= dd2; 0 otherwise
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode LessEqual(CUDDNode dd1, CUDDNode dd2)
{
return(new CUDDNode(PlatformInvoke.DD_ApplyLessEqual(manager, dd1.Ptr, dd2.Ptr)));
}
/// <summary>
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static void PrintMinterm(CUDDNode dd)
{
Console.WriteLine("--------------------------Start");
PlatformInvoke.Cudd_PrintMinterm(manager, dd.Ptr);
Console.WriteLine("--------------------------End");
}
/// <summary>
/// At each terminal, return dd1 if dd1 >= dd2; 0 if dd1 < dd2
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode Threshold(CUDDNode dd1, CUDDNode dd2)
{
return(new CUDDNode(PlatformInvoke.DD_Thresholds(manager, dd1.Ptr, dd2.Ptr)));
}
/// <summary>
/// Rounds off the discriminants of an ADD. The discriminants are rounded off to N digits after the decimal.
/// [ REFS: 'result', DEREFS: dd ]
/// </summary>
public static CUDDNode RoundOff(CUDDNode dd, int numberOfDigits)
{
return new CUDDNode(PlatformInvoke.DD_RoundOff(manager, dd.Ptr, numberOfDigits));
}
/// <summary>
/// Natural logarithm of an ADD
/// [ REFS: 'result', DEREFS: dd]
/// </summary>
public static CUDDNode Log(CUDDNode dd)
{
return(new CUDDNode(PlatformInvoke.DD_Log(manager, dd.Ptr)));
}
/// <summary>
/// Xor 0-1 ADDs, difficult to know the result if not 0-1 ADDs, refer the C++ code
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode Xor(CUDDNode dd1, CUDDNode dd2)
{
return new CUDDNode(PlatformInvoke.DD_Xor(manager, dd1.Ptr, dd2.Ptr));
}
/// <summary>
/// Restrict a node according to the cube of variables.
/// [ REFS: 'result', DEREFS: dd, cube ]
/// </summary>
public static CUDDNode Restrict(CUDDNode dd, CUDDNode cube)
{
return(new CUDDNode(PlatformInvoke.DD_Restrict(manager, dd.Ptr, cube.Ptr)));
}
/// <summary>
/// (dd && list[0]) || (dd && list[1]) ...
/// [ REFS: 'result', DEREFS: dd, list ]
/// </summary>
/// <param name="dd"></param>
/// <param name="list"></param>
/// <returns></returns>
public static List<CUDDNode> And(List<CUDDNode> list, CUDDNode dd)
{
List<CUDDNode> result = new List<CUDDNode>();
foreach (CUDDNode dd1 in list)
{
CUDD.Ref(dd);
CUDDNode temp = CUDD.Function.And(dd, dd1);
if (temp.Equals(CUDD.ZERO))
{
CUDD.Deref(temp);
}
else
{
result.Add(temp);
}
}
CUDD.Deref(dd);
return result;
}
/// <summary>
/// Create node with root node dd1, its then node is dd2 and its else node is dd3.
/// This procedure assumes that dd1 is a 0-1 ADD.
/// [ REFS: 'result', DEREFS: dd1, dd2, dd3 ].
/// </summary>
public static CUDDNode ITE(CUDDNode dd1, CUDDNode dd2, CUDDNode dd3)
{
return(new CUDDNode(PlatformInvoke.DD_ITE(manager, dd1.Ptr, dd2.Ptr, dd3.Ptr)));
}
/// <summary>
/// [ REFS: 'result', DEREFS: ]
/// </summary>
/// <param name="trans"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="yes"></param>
/// <param name="maybe"></param>
/// <param name="bound"></param>
/// <returns></returns>
public static CUDDNode ProbBoundedUntil(CUDDNode trans, CUDDVars allRowVars, CUDDVars allColVars, CUDDNode yes, CUDDNode maybe, int bound)
{
DateTime startTime = DateTime.Now;
CUDDNode a, sol, tmp;
CUDD.Ref(trans, maybe);
a = CUDD.Function.Times(trans, maybe);
CUDD.Ref(yes);
sol = yes;
for (int i = 1; i <= bound; i++)
{
tmp = CUDD.Matrix.MatrixMultiplyVector(a, sol, allRowVars, allColVars);
CUDD.Ref(yes);
tmp = CUDD.Function.Maximum(tmp, yes);
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("ProbBoundedUntil: " + bound + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(a);
return sol;
}
/// <summary>
/// At each terminal, return dd1 % dd2, non-negative when dd2 > 0
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode ModuloNonNegative(CUDDNode dd1, CUDDNode dd2)
{
return(new CUDDNode(PlatformInvoke.DD_ModuloNonNegative(manager, dd1.Ptr, dd2.Ptr)));
}
/// <summary>
/// [ REFS: 'result', DEREFS: ]
/// </summary>
/// <param name="trans"></param>
/// <param name="stateReward"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="bound"></param>
/// <returns></returns>
public static CUDDNode ProbInstReward(CUDDNode trans, CUDDNode stateReward, CUDDVars allRowVars, CUDDVars allColVars, int bound)
{
DateTime startTime = DateTime.Now;
// initial solution is the state rewards
CUDD.Ref(stateReward);
CUDDNode sol = stateReward;
for (int iters = 0; iters < bound; iters++)
{
CUDDNode tmp = CUDD.Matrix.MatrixMultiplyVector(trans, sol, allRowVars, allColVars);
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("ProbInstReward: " + bound + " iterations in " + runningTime + " seconds");
return sol;
}
/// <summary>
/// Rounds off the discriminants of an ADD. The discriminants are rounded off to N digits after the decimal.
/// [ REFS: 'result', DEREFS: dd ]
/// </summary>
public static CUDDNode RoundOff(CUDDNode dd, int numberOfDigits)
{
return(new CUDDNode(PlatformInvoke.DD_RoundOff(manager, dd.Ptr, numberOfDigits)));
}
/// <summary>
/// [ REFS: 'result', DEREFS: ]
/// </summary>
/// <param name="trans"></param>
/// <param name="reach"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="yes"></param>
/// <param name="maybe"></param>
/// <returns></returns>
public static CUDDNode ProbUntil(CUDDNode trans, CUDDNode reach, CUDDVars allRowVars, CUDDVars allColVars, CUDDNode yes, CUDDNode maybe)
{
CUDD.Ref(trans, maybe);
CUDDNode a = CUDD.Function.Times(trans, maybe);
CUDDNode tmp = CUDD.Matrix.Identity(allRowVars, allColVars);
CUDD.Ref(reach);
tmp = CUDD.Function.And(tmp, reach);
a = CUDD.Function.Minus(tmp, a);
CUDD.Ref(yes);
CUDDNode b = yes;
CUDDNode sol = Jacobi(a, b, b, reach, allRowVars, allColVars, 1);
CUDD.Deref(a, b);
return sol;
}
/// <summary>
/// And 0-1 ADDs, difficult to know the result if not 0-1 ADDs, refer the C++ code
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode And(CUDDNode dd1, CUDDNode dd2)
{
return(new CUDDNode(PlatformInvoke.DD_And(manager, dd1.Ptr, dd2.Ptr)));
}
/// <summary>
/// Forward search, check destination is reachable from source
/// (S x (Tick + Trans)*)
/// [ REFS: '', DEREFS:]
/// </summary>
/// <param name="source"></param>
/// <param name="destination"></param>
/// <param name="transitions"></param>
/// <returns></returns>
public bool PathForward3(CUDDNode source, CUDDNode destination, List<CUDDNode> transitions)
{
//
bool reachable = false;
CUDDNode allReachableFromInit, currentReachableFromInit;
CUDD.Ref(source, source);
allReachableFromInit = currentReachableFromInit = source;
CUDDNode commonNode = CUDD.Constant(0);
int numberOfLoop = 0;
do
{
numberOfLoop++;
Debug.Write(numberOfLoop + " ");
currentReachableFromInit = Successors(currentReachableFromInit, transitions);
//Check 2 directions have intersection
CUDD.Ref(destination, currentReachableFromInit);
CUDD.Deref(commonNode);
commonNode = CUDD.Function.And(destination, currentReachableFromInit);
if (!commonNode.Equals(CUDD.ZERO))
{
reachable = true;
break;
}
//find fixpoint
CUDD.Ref(currentReachableFromInit, allReachableFromInit);
CUDDNode allReachabeFromInitTemp = CUDD.Function.Or(currentReachableFromInit, allReachableFromInit);
if (allReachabeFromInitTemp.Equals(allReachableFromInit))
{
//reachable = false;
CUDD.Deref(allReachabeFromInitTemp);
break;
}
else
{
currentReachableFromInit = CUDD.Function.Different(currentReachableFromInit, allReachableFromInit);
allReachableFromInit = allReachabeFromInitTemp;
}
} while (true);
Debug.WriteLine("\nTA Path Forward 3: " + numberOfLoop + " loops.");
CUDD.Deref(allReachableFromInit, currentReachableFromInit, commonNode);
//
return reachable;
}
/// <summary>
/// Increases the reference count of a node, if it is not saturated
/// [ REFS: dd, DEREFS: 'none' ]
/// </summary>
public static void Ref(CUDDNode dd)
{
PlatformInvoke.Cudd_Ref(dd.Ptr);
}
/// <summary>
/// return all states reachable from start and Start
/// P ◦ R*
/// [ REFS: 'result', DEREFS:start]
/// </summary>
/// <param name="start"></param>
/// <param name="transition"></param>
/// <returns></returns>
public CUDDNode SuccessorsStartWithSimulation(CUDDNode start, List<CUDDNode> transition, CUDDNode simulationRel)
{
CUDDNode allReachableStates = GetSimulatedStates(start, simulationRel);
CUDD.Ref(allReachableStates);
CUDDNode currentStep = allReachableStates;
int numberOfLoop = 0;
while (true)
{
numberOfLoop++;
Debug.Write(numberOfLoop + " ");
currentStep = Successors(currentStep, transition);
currentStep = GetSimulatedStates(currentStep, simulationRel);
CUDD.Ref(allReachableStates, currentStep);
CUDDNode allReachableTemp = CUDD.Function.Or(allReachableStates, currentStep);
if (allReachableTemp.Equals(allReachableStates))
{
CUDD.Deref(currentStep, allReachableTemp);
numLoopDiscrete += numberOfLoop;
Debug.WriteLine("\nSuccessor*: " + numberOfLoop + " loops.");
return allReachableStates;
}
else
{
currentStep = CUDD.Function.Different(currentStep, allReachableStates);
allReachableStates = allReachableTemp;
}
}
}
/// <summary>
/// Decreases the reference count of node
/// [ REFS: 'none', DEREFS: dd ]
/// </summary>
public static void Deref(CUDDNode dd)
{
PlatformInvoke.Cudd_RecursiveDeref(manager, dd.Ptr);
}
public CUDDNode(CUDDNode dd)
{
this.Ptr = dd.Ptr;
}
/// <summary>
/// Return max of ADD
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static double FindMax(CUDDNode dd)
{
return(PlatformInvoke.DD_FindMax(manager, dd.Ptr));
}
/// <summary>
/// Sum (ie. +) Abstract variables in vars
/// [ REFS: 'result', DEREFS: dd ]
/// </summary>
public static CUDDNode SumAbstract(CUDDNode dd, CUDDVars vars)
{
return new CUDDNode(PlatformInvoke.DD_SumAbstract(manager, dd.Ptr, vars.GetArrayPointer(), vars.GetNumVars()));
}
/// <summary>
/// Return the first cube making the ADD not 0
/// [ REFS: 'result', DEREFS: 'dd' ]
/// </summary>
public static CUDDNode RestrictToFirst(CUDDNode dd, CUDDVars vars)
{
return(new CUDDNode(PlatformInvoke.DD_RestrictToFirst(manager, dd.Ptr, vars.GetArrayPointer(), vars.GetNumVars())));
}
/// <summary>
/// Return number of terminals
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static int GetNumTerminals(CUDDNode dd)
{
return(PlatformInvoke.DD_GetNumTerminals(manager, dd.Ptr));
}
/// <summary>
/// Return number of minterm which made the ADD != 0
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static double GetNumMinterms(CUDDNode dd, int numVars)
{
return(PlatformInvoke.DD_GetNumMinterms(manager, dd.Ptr, numVars));
}
/// <summary>
/// Return Pmax(b1 U b2) = 0
/// </summary>
/// <param name="trans01"></param>
/// <param name="reach"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="nondetvars"></param>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <returns></returns>
public static CUDDNode Prob0A(CUDDNode trans01, CUDDNode reach, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetvars, CUDDNode b1, CUDDNode b2)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDD.Ref(b2);
CUDDNode sol = b2;
while (true)
{
numberOfIterations++;
CUDD.Ref(sol, trans01);
CUDDNode tmp = CUDD.Function.And(CUDD.Variable.SwapVariables(sol, allRowVars, allColVars), trans01);
tmp = CUDD.Abstract.ThereExists(tmp, allColVars);
tmp = CUDD.Abstract.ThereExists(tmp, nondetvars);
CUDD.Ref(b1);
tmp = CUDD.Function.And(b1, tmp);
CUDD.Ref(b2);
tmp = CUDD.Function.Or(b2, tmp);
if (tmp.Equals(sol))
{
CUDD.Deref(tmp);
break;
}
CUDD.Deref(sol);
sol = tmp;
}
CUDD.Ref(reach);
sol = CUDD.Function.And(reach, CUDD.Function.Not(sol));
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("Prob0A: " + numberOfIterations + " iterations in " + runningTime + " seconds");
return sol;
}
/// <summary>
/// Return the complement of node
/// [ REFS: 'result', DEREFS: 'dd' ]
/// </summary>
public static CUDDNode Not(CUDDNode dd)
{
return new CUDDNode(PlatformInvoke.DD_Not(manager, dd.Ptr));
}
/// <summary>
/// return Pmax(b1 U b2) = 1
/// </summary>
/// <param name="trans01"></param>
/// <param name="reach"></param>
/// <param name="allRowVars"></param>
/// <param name="allColVars"></param>
/// <param name="nondetVars"></param>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <param name="no"></param>
/// <returns></returns>
public static CUDDNode Prob1E(CUDDNode trans01, CUDDNode reach, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVars, CUDDNode b1, CUDDNode b2, CUDDNode no)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDD.Ref(reach, no);
CUDDNode u = CUDD.Function.And(reach, CUDD.Function.Not(no));
bool uDone = false;
while (!uDone)
{
CUDDNode v = CUDD.Constant(0);
bool vDone = false;
while (!vDone)
{
numberOfIterations++;
CUDD.Ref(u);
CUDDNode tmp = CUDD.Variable.SwapVariables(u, allRowVars, allColVars);
CUDD.Ref(trans01);
tmp = CUDD.Abstract.ForAll(CUDD.Function.Implies(trans01, tmp), allColVars);
CUDD.Ref(v);
CUDDNode tmp2 = CUDD.Variable.SwapVariables(v, allRowVars, allColVars);
CUDD.Ref(trans01);
tmp2 = CUDD.Abstract.ThereExists(CUDD.Function.And(tmp2, trans01), allColVars);
tmp = CUDD.Function.And(tmp, tmp2);
tmp = CUDD.Abstract.ThereExists(tmp, nondetVars);
CUDD.Ref(b1);
tmp = CUDD.Function.And(b1, tmp);
CUDD.Ref(b2);
tmp = CUDD.Function.Or(b2, tmp);
if (tmp.Equals(v))
{
vDone = true;
}
CUDD.Deref(v);
v = tmp;
}
if (v == u)
{
uDone = true;
}
CUDD.Deref(u);
u = v;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("Prob1E: " + numberOfIterations + " iterations in " + runningTime + " seconds");
return u;
}
/// <summary>
/// At each terminal, return 1 if dd1 != dd2; 0 if dd1 == dd2
/// [ REFS: 'result', DEREFS: dd1, dd2 ]
/// </summary>
public static CUDDNode NotEqual(CUDDNode dd1, CUDDNode dd2)
{
return new CUDDNode(PlatformInvoke.DD_ApplyNotEqual(manager, dd1.Ptr, dd2.Ptr));
}
public static CUDDNode NondetReachReward(CUDDNode trans, CUDDNode reach, CUDDNode stateReward, CUDDNode transReward, CUDDNode nondetMask, CUDDVars allRowVars, CUDDVars allColVars, CUDDVars nondetVars, CUDDNode infReward, CUDDNode maybeReward, bool min)
{
DateTime startTime = DateTime.Now;
int numberOfIterations = 0;
CUDDNode a, allReward, newNondetMask, sol, tmp;
// filter out rows (goal states and infinity states) from matrix
CUDD.Ref(trans, maybeReward);
a = CUDD.Function.Times(trans, maybeReward);
// also remove goal and infinity states from state rewards vector
CUDD.Ref(stateReward, maybeReward);
CUDDNode tempStateReward = CUDD.Function.Times(stateReward, maybeReward);
// multiply transition rewards by transition probs and sum rows
// (note also filters out unwanted states at the same time)
CUDD.Ref(transReward, a);
CUDDNode tempTransReward = CUDD.Function.Times(transReward, a);
tempTransReward = CUDD.Abstract.SumAbstract(tempTransReward, allColVars);
// combine state and transition rewards
allReward = CUDD.Function.Plus(tempStateReward, tempTransReward);
// need to change mask because rewards are not necessarily in the range 0..1
CUDD.Ref(nondetMask);
newNondetMask = CUDD.Function.ITE(nondetMask, CUDD.PlusInfinity(), CUDD.Constant(0));
// initial solution is infinity in 'inf' states, zero elsewhere
// note: ok to do this because cudd matrix-multiply (and other ops)
// treat 0 * inf as 0, unlike in IEEE 754 rules
CUDD.Ref(infReward);
sol = CUDD.Function.ITE(infReward, CUDD.PlusInfinity(), CUDD.Constant(0));
while(true)
{
numberOfIterations++;
tmp = CUDD.Matrix.MatrixMultiplyVector(a, sol, allRowVars, allColVars);
// add rewards
CUDD.Ref(allReward);
tmp = CUDD.Function.Plus(tmp, allReward);
if(min)
{
CUDD.Ref(newNondetMask);
tmp = CUDD.Function.Maximum(tmp, newNondetMask);
tmp = CUDD.Abstract.MinAbstract(tmp, nondetVars);
}
else
{
tmp = CUDD.Abstract.MaxAbstract(tmp, nondetVars);
}
CUDD.Ref(infReward);
tmp = CUDD.Function.ITE(infReward, CUDD.PlusInfinity(), tmp);
if (CUDD.IsEqual(tmp, sol))
{
CUDD.Deref(tmp);
break;
}
CUDD.Deref(sol);
sol = tmp;
}
DateTime endTime = DateTime.Now;
double runningTime = (endTime - startTime).TotalSeconds;
Debug.WriteLine("NondetReachReward: " + numberOfIterations + " iterations in " + runningTime + " seconds");
//
CUDD.Deref(a, allReward, newNondetMask);
return sol;
}
/// <summary>
/// [ REFS: 'none', DEREFS: 'none' ]
/// </summary>
public static void PrintVectorFiltered(CUDDNode dd, CUDDNode filter, CUDDVars vars, int numVars, int accuracy)
{
PlatformInvoke.DD_PrintVectorFiltered(manager, dd.Ptr, filter.Ptr, vars.GetArrayPointer(), numVars);
}
