public static void AddObservedNegativeConditions(UnityProblemCompiler UPC)
{
foreach (var ga in GroundActionFactory.GroundActions)
{
foreach (var precon in ga.Preconditions)
{
// if the precon is signed positive, ignore
if (precon.Sign)
{
continue;
}
// if initially the precondition reveresed is true, ignore
if (UPC.initialPredicateList.Contains(precon.GetReversed()))
{
continue;
}
// then this precondition is negative and its positive correlate isn't in the initial state
var obsPred = new Predicate("obs", new List <ITerm>()
{
precon as ITerm
}, true);
if (UPC.initialPredicateList.Contains(obsPred as IPredicate))
{
continue;
}
UPC.initialPredicateList.Add(obsPred as IPredicate);
}
}
}
public static void CreateSteps(UnityProblemCompiler UPC, List <UnityTimelineDecomp> DecompositionSchemata)
{
foreach (var unitydecomp in DecompositionSchemata)
{
if (unitydecomp.NumGroundDecomps == 0)
{
unitydecomp.Read();
unitydecomp.Assemble();
unitydecomp.Filter();
Debug.Log("Read,Assemble, and Filter for unity decomp: " + unitydecomp.name);
}
}
var compositeSteps = GroundDecompositionsToCompositeSteps(DecompositionSchemata);
AddCompositeStepsToGroundActionFactory(UPC.initialPredicateList, UPC.goalPredicateList, compositeSteps);
}