forked from wisdompoet/universal-pddl-parser
/
Action.cpp
102 lines (80 loc) · 2.18 KB
/
Action.cpp
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#include "Domain.h"
void Action::PDDLPrint( std::ostream & s, unsigned indent, const TokenStruct< std::string > & ts, Domain & d ) {
s << "( :ACTION " << name << "\n";
s << " :PARAMETERS ";
TokenStruct< std::string > astruct;
printParams( 0, s, astruct, d );
s << " :PRECONDITION\n";
if ( pre ) pre->PDDLPrint( s, 1, astruct, d );
else s << "\t()";
s << "\n";
s << " :EFFECT\n";
if ( eff ) eff->PDDLPrint( s, 1, astruct, d );
else s << "\t()";
s << "\n";
s << ")\n";
}
void Action::parseConditions( Filereader & f, TokenStruct< std::string > & ts, Domain & d ) {
f.next();
f.assert( ":" );
std::string s = f.getToken();
if ( s == "PRECONDITION" ) {
f.next();
f.assert( "(" );
if ( f.getChar() != ')' ) {
pre = createCondition( f, d );
pre->parse( f, ts, d );
}
else ++f.c;
f.next();
f.assert( ":" );
s = f.getToken();
}
if ( s != "EFFECT" ) f.tokenExit( s );
f.next();
f.assert( "(" );
if ( f.getChar() != ')' ) {
eff = createCondition( f, d );
eff->parse( f, ts, d );
}
else ++f.c;
f.next();
f.assert( ")" );
}
void Action::parse( Filereader & f, TokenStruct< std::string > & ts, Domain & d ) {
f.next();
f.assert( ":PARAMETERS" );
f.assert( "(" );
TokenStruct< std::string > astruct = f.parseTypedList( true, d.types );
params = d.convertTypes( astruct.types );
parseConditions( f, astruct, d );
}
CondVec Action::precons() {
And * a = dynamic_cast< And * >( pre );
if ( a ) return a->conds;
CondVec precons;
if ( pre ) precons.push_back( pre );
return precons;
}
GroundVec Action::addEffects() {
GroundVec adds;
And * a = dynamic_cast< And * >( eff );
for ( unsigned i = 0; a && i < a->conds.size(); ++i ) {
Ground * g = dynamic_cast< Ground * >( a->conds[i] );
if ( g ) adds.push_back( g );
}
Ground * g = dynamic_cast< Ground * >( eff );
if ( g ) adds.push_back( g );
return adds;
}
GroundVec Action::deleteEffects() {
GroundVec deletes;
And * a = dynamic_cast< And * >( eff );
for ( unsigned i = 0; a && i < a->conds.size(); ++i ) {
Not * n = dynamic_cast< Not * >( a->conds[i] );
if ( n ) deletes.push_back( n->cond );
}
Not * n = dynamic_cast< Not * >( eff );
if ( n ) deletes.push_back( n->cond );
return deletes;
}