void
VariableSet::changeHand(const Hand *h, bool sticky)
{
if (sticky) {
assert(mHand->getNumDOF() == h->getNumDOF());
assert(mHand->getEigenGrasps()->getSize() == h->getEigenGrasps()->getSize());
}
mHand = h;
if (!sticky) {
clearVariables();
createVariables();
}
}
SystemParser::SystemParser(const char* filename, unsigned int verbosity, LeafType leaf_type)
{
// Open the document
TiXmlDocument document = TiXmlDocument(filename);
if (!document.LoadFile()) {
throw ParseError("[ERROR] Could not load the input file.");
}
// Get the root node of the XML-document
TiXmlNode* rootNode = document.RootElement();
if (rootNode == NULL) {
throw ParseError("[ERROR] Could not access the root node of the XML-tree");
}
// Find out the type of the transition system (lts, ctmc, imc)
const std::string type_str = readStringAttribute(rootNode, "type");
if (type_str == "lts") system_type = lts_type;
else if (type_str == "ctmc") system_type = ctmc_type;
else if (type_str == "imc") system_type = imc_type;
else system_type = lts_type;
this->leaf_type = leaf_type;
// Traverse the children of the root node and collect the pointers to the parts we need.
TiXmlNode* varinfoNode = NULL;
TiXmlNode* initialstateNode = NULL;
TiXmlNode* transNode = NULL;
TiXmlNode* markovtransNode = NULL;
TiXmlNode* initialpartitionNode = NULL;
TiXmlNode* tauNode = NULL;
for (TiXmlNode* currentNode = rootNode->FirstChild();
currentNode != NULL;
currentNode = currentNode->NextSibling()) {
if (currentNode->ToElement() == NULL) continue;
const char* const name = currentNode->ToElement()->Value();
if (strcmp(name, "variables") == 0) {
varinfoNode = currentNode;
} else if (strcmp(name, "dd") == 0) {
std::string bdd_type = readStringAttribute(currentNode, "type");
if (bdd_type == "initial_state") {
initialstateNode = currentNode;
} else if (bdd_type == "trans") {
transNode = currentNode;
} else if (bdd_type == "markov_trans") {
markovtransNode = currentNode;
} else if (bdd_type == "tau") {
tauNode = currentNode;
}
} else if (strcmp(name, "initial_partition") == 0) {
initialpartitionNode = currentNode;
}
}
// Check if we have found the variable information
if (varinfoNode == NULL) {
throw ParseError("[ERROR] No variable information found!");
}
// Check if the correct information exists for the system type
switch (system_type) {
case lts_type:
if (markovtransNode != NULL) {
throw ParseError("[ERROR] LTS must not have any Markov transitions!");
}
if (transNode == NULL) {
throw ParseError("[ERROR] LTS must have an interactive transition relation!");
}
break;
case ctmc_type:
if (transNode != NULL) {
throw ParseError("[ERROR] CTMCs must not have any interactive transitions!");
}
if (markovtransNode == NULL) {
throw ParseError("[ERROR] CTMCs must have a Markov transition relation!");
}
break;
case imc_type:
if (transNode == NULL) {
throw ParseError("[ERROR] IMCs must have an interactive transition relation!");
}
if (markovtransNode == NULL) {
throw ParseError("[ERROR] IMCs must have a Markov transition relation!");
}
break;
}
// Parse the variable information and create the BDD variables
// together with an appropriate order for refinement
if (verbosity > 0) std::cout << "[INFO] Creating BDD variables ... " << std::flush;
createVariables(varinfoNode);
if (verbosity > 0) std::cout << "finished." << std::endl;
// Build the BDDs/ADDs for all parts
if (verbosity > 0) std::cout << "[INFO] Building BDDs ... " << std::flush;
std::vector<std::pair<Bdd, Bdd>> transitions;
Bdd _transitions = Bdd::bddZero();
if (transNode != NULL) {
_transitions = nodeToBdd(transNode);
transitions.push_back(std::make_pair(_transitions, varS * varT));
}
Mtbdd markov_transitions;
if (markovtransNode != NULL) markov_transitions = nodeToMtbdd(markovtransNode);
Bdd tau;
if (tauNode != NULL) tau = nodeToBdd(tauNode);
else {
// Default value of tau: 0
int action_bits = sylvan_set_count(varA.GetBDD());
std::vector<uint8_t> tau_value;
for (int i=0; i<action_bits; i++) tau_value.push_back(0);
tau = Bdd::bddCube(varA, tau_value);
}
Bdd initial_state;
if (initialstateNode != NULL) initial_state = nodeToBdd(initialstateNode);
Bdd states = computeStateSpace(_transitions, markov_transitions);
std::vector<Bdd> initial_partition;
if (initialpartitionNode != NULL) {
for (TiXmlNode* currentNode = initialpartitionNode->FirstChild();
currentNode != NULL; currentNode = currentNode->NextSibling()) {
initial_partition.push_back(nodeToBdd(currentNode));
}
}
if (initial_partition.size() == 0) initial_partition.push_back(states);
if (verbosity > 0) std::cout << "finished." << std::endl;
// Fill the right system with information
switch (system_type) {
case lts_type:
lts.transitions = transitions;
lts.states = states;
lts.tau = tau;
lts.initialStates = initial_state;
lts.initialPartition = initial_partition;
lts.varS = varS;
lts.varT = varT;
lts.varA = varA;
break;
case imc_type:
imc.transitions = transitions;
imc.markov_transitions = markov_transitions;
imc.states = states;
imc.tau = tau;
imc.initialStates = initial_state;
imc.initialPartition = initial_partition;
imc.varS = varS;
imc.varT = varT;
imc.varA = varA;
break;
case ctmc_type:
ctmc.markov_transitions = markov_transitions;
ctmc.states = states;
ctmc.initialStates = initial_state;
ctmc.initialPartition = initial_partition;
ctmc.varS = varS;
ctmc.varT = varT;
break;
default:
break;
}
}
