Effect *instantiate_Effect( Effect *e )
{
Effect *res = NULL, *tmp, *i;
Literal *tt, *l;
int j;
for ( i = e; i; i = i->next ) {
tmp = new_Effect();
tmp->eff_p = i->eff_p;/* july06: copy over eff prob */
for ( j = 0; j < i->num_vars; j++ ) {
tmp->var_types[j] = i->var_types[j];
}
tmp->num_vars = i->num_vars;
tmp->conditions = instantiate_wff( i->conditions );
if ( tmp->conditions->connective == FAL ) {
free_partial_Effect( tmp );
continue;
}
for ( l = i->effects; l; l = l->next ) {
tt = new_Literal();
tt->negated = l->negated;
tt->fact.predicate = l->fact.predicate;
for ( j = 0; j < garity[tt->fact.predicate]; j++ ) {
tt->fact.args[j] = l->fact.args[j];
if ( tt->fact.args[j] < 0 &&
linst_table[DECODE_VAR( tt->fact.args[j] )] != -1 ) {
tt->fact.args[j] = linst_table[DECODE_VAR( tt->fact.args[j] )];
}
}
tt->next = tmp->effects;
if ( tmp->effects ) {
tmp->effects->prev = tt;
}
tmp->effects = tt;
}
tmp->next = res;
if ( res ) {
res->prev = tmp;
}
res = tmp;
}
return res;
}
void create_hard_pseudo_effects( PseudoAction *a, Effect *e, int curr_var )
{
int par, t, i, m;
WffNode *tmp1, *w, *ww;
PseudoActionEffect *tmp2;
if ( curr_var < e->num_vars ) {
par = a->operator->num_vars + curr_var;
t = e->var_types[curr_var];
for ( i = 0; i < gtype_size[t]; i++ ) {
linst_table[par] = gtype_consts[t][i];
create_hard_pseudo_effects( a, e, curr_var + 1 );
linst_table[par] = -1;
}
return;
}
tmp1 = instantiate_wff( e->conditions );
if ( tmp1->connective == FAL ) {
free_WffNode( tmp1 );
return;
}
dnf( &tmp1 );
cleanup_wff( &tmp1 );
/* only debugging, REMOVE LATER
*/
if ( is_dnf( tmp1 ) == -1 ) {
printf("\n\nILLEGAL DNF %s AFTER INSTANTIATION\n\n", a->operator->name);
print_Wff( tmp1, 0 );
exit( 1 );
}
switch ( tmp1->connective ) {
case OR:
for ( w = tmp1->sons; w; w = w->next ) {
tmp2 = new_PseudoActionEffect();
if ( w->connective == AND ) {
m = 0;
for ( ww = w->sons; ww; ww = ww->next ) m++;
tmp2->conditions = ( Fact * ) calloc( m, sizeof( Fact ) );
tmp2->num_conditions = m;
m = 0;
for ( ww = w->sons; ww; ww = ww->next ) {
tmp2->conditions[m].predicate = ww->fact->predicate;
for ( i = 0; i < garity[ww->fact->predicate]; i++ ) {
tmp2->conditions[m].args[i] = ww->fact->args[i];
}
m++;
}
} else {
tmp2->conditions = ( Fact * ) calloc( 1, sizeof( Fact ) );
tmp2->num_conditions = 1;
tmp2->conditions[0].predicate = w->fact->predicate;
for ( i = 0; i < garity[w->fact->predicate]; i++ ) {
tmp2->conditions[0].args[i] = w->fact->args[i];
}
}
make_instantiate_literals( tmp2, e->effects );
tmp2->next = a->effects;
a->effects = tmp2;
a->num_effects++;
}
break;
case AND:
tmp2 = new_PseudoActionEffect();
m = 0;
for ( w = tmp1->sons; w; w = w->next ) m++;
tmp2->conditions = ( Fact * ) calloc( m, sizeof( Fact ) );
tmp2->num_conditions = m;
m = 0;
for ( w = tmp1->sons; w; w = w->next ) {
tmp2->conditions[m].predicate = w->fact->predicate;
for ( i = 0; i < garity[w->fact->predicate]; i++ ) {
tmp2->conditions[m].args[i] = w->fact->args[i];
}
m++;
}
make_instantiate_literals( tmp2, e->effects );
tmp2->next = a->effects;
a->effects = tmp2;
a->num_effects++;
break;
case ATOM:
tmp2 = new_PseudoActionEffect();
tmp2->conditions = ( Fact * ) calloc( 1, sizeof( Fact ) );
tmp2->num_conditions = 1;
tmp2->conditions[0].predicate = tmp1->fact->predicate;
for ( i = 0; i < garity[tmp1->fact->predicate]; i++ ) {
tmp2->conditions[0].args[i] = tmp1->fact->args[i];
}
make_instantiate_literals( tmp2, e->effects );
tmp2->next = a->effects;
a->effects = tmp2;
a->num_effects++;
break;
case TRU:
tmp2 = new_PseudoActionEffect();
make_instantiate_literals( tmp2, e->effects );
tmp2->next = a->effects;
a->effects = tmp2;
a->num_effects++;
break;
default:
printf("\n\nillegal connective %d in parsing DNF precond.\n\n",
tmp1->connective);
exit( 1 );
}
free_WffNode( tmp1 );
}
WffNode *instantiate_wff( WffNode *w )
{
WffNode *res = NULL, *tmp, *i;
int j, c0, c1, m, h;
Bool ok;
switch ( w->connective ) {
case AND:
m = 0;
i = w->sons;
while ( i ) {
tmp = instantiate_wff( i );
if ( tmp->connective == FAL ) {
free_WffNode( res );
return tmp;
}
if ( tmp->connective == TRU ) {
free( tmp );
i = i->next;
continue;
}
tmp->next = res;
if ( res ) {
res->prev = tmp;
}
res = tmp;
i = i->next;
m++;
}
if ( m == 0 ) {
res = new_WffNode( TRU );
break;
}
if ( m == 1 ) {
break;
}
tmp = new_WffNode( AND );
tmp->sons = res;
res = tmp;
break;
case OR:
m = 0;
i = w->sons;
while ( i ) {
tmp = instantiate_wff( i );
if ( tmp->connective == TRU ) {
free_WffNode( res );
return tmp;
}
if ( tmp->connective == FAL ) {
free( tmp );
i = i->next;
continue;
}
tmp->next = res;
if ( res ) {
res->prev = tmp;
}
res = tmp;
i = i->next;
m++;
}
if ( m == 0 ) {
res = new_WffNode( FAL );
break;
}
if ( m == 1 ) {
break;
}
tmp = new_WffNode( OR );
tmp->sons = res;
res = tmp;
break;
case NOT:
/* must be non-equality
*/
c0 = ( w->son->fact->args[0] < 0 ) ?
linst_table[DECODE_VAR( w->son->fact->args[0] )] : w->son->fact->args[0];
c1 = ( w->son->fact->args[1] < 0 ) ?
linst_table[DECODE_VAR( w->son->fact->args[1] )] : w->son->fact->args[1];
if ( c0 < 0 ||
c1 < 0 ) {
/* ef param while checking ef conds in inst op
*/
res = new_WffNode( ATOM );
res->fact = new_Fact();
res->fact->predicate = -2;
res->fact->args[0] = ( c0 < 0 ) ? w->son->fact->args[0] : c0;
res->fact->args[1] = ( c1 < 0 ) ? w->son->fact->args[1] : c1;
break;
}
if ( c0 != c1 ) {
res = new_WffNode( TRU );
} else {
res = new_WffNode( FAL );
}
break;
case ATOM:
res = new_WffNode( ATOM );
res->fact = new_Fact();
res->fact->predicate = w->fact->predicate;
ok = TRUE;
for ( j = 0; j < garity[res->fact->predicate]; j++ ) {
h = ( w->fact->args[j] < 0 ) ?
linst_table[DECODE_VAR( w->fact->args[j] )] : w->fact->args[j];
if ( h < 0 ) {
ok = FALSE;
res->fact->args[j] = w->fact->args[j];
} else {
res->fact->args[j] = h;
}
}
if ( !ok ) {/* contains ef params */
break;
}
if ( !full_possibly_negative( res->fact ) ) {
free( res->fact );
res->fact = NULL;
res->connective = TRU;
break;
}
if ( !full_possibly_positive( res->fact ) ) {
free( res->fact );
res->fact = NULL;
res->connective = FAL;
break;
}
break;
case TRU:
case FAL:
res = new_WffNode( w->connective );
break;
default:
printf("\n\nillegal connective %d in instantiate formula\n\n",
w->connective);
exit( 1 );
}
return res;
}
void create_hard_mixed_operators( Operator *o, int curr_var )
{
int t, i, m;
WffNode *tmp1, *w, *ww;
MixedOperator *tmp2;
if ( curr_var < o->num_vars ) {
if ( o->removed[curr_var] ) {
/* param doesn't matter -- select any appropriate type constant
* at least one there; otherwise, op would not have been translated.
*/
linst_table[curr_var] = gtype_consts[o->var_types[curr_var]][0];
create_hard_mixed_operators( o, curr_var + 1 );
linst_table[curr_var] = -1;
return;
}
t = o->var_types[curr_var];
for ( i = 0; i < gtype_size[t]; i++ ) {
linst_table[curr_var] = gtype_consts[t][i];
create_hard_mixed_operators( o, curr_var + 1 );
linst_table[curr_var] = -1;
}
return;
}
tmp1 = instantiate_wff( o->preconds );
if ( tmp1->connective == FAL ) {
free_WffNode( tmp1 );
return;
}
dnf( &tmp1 );
cleanup_wff( &tmp1 );
if ( tmp1->connective == FAL ) {
free_WffNode( tmp1 );
return;
}
/* only debugging, REMOVE LATER
*/
if ( is_dnf( tmp1 ) == -1 ) {
printf("\n\nILLEGAL DNF %s AFTER INSTANTIATION\n\n", o->name);
print_Wff( tmp1, 0 );
exit( 1 );
}
switch ( tmp1->connective ) {
case OR:
for ( w = tmp1->sons; w; w = w->next ) {
tmp2 = new_MixedOperator( o );
for ( i = 0; i < o->num_vars; i++ ) {
tmp2->inst_table[i] = linst_table[i];
}
if ( w->connective == AND ) {
m = 0;
for ( ww = w->sons; ww; ww = ww->next ) m++;
tmp2->preconds = ( Fact * ) calloc( m, sizeof( Fact ) );
tmp2->num_preconds = m;
m = 0;
for ( ww = w->sons; ww; ww = ww->next ) {
tmp2->preconds[m].predicate = ww->fact->predicate;
for ( i = 0; i < garity[ww->fact->predicate]; i++ ) {
tmp2->preconds[m].args[i] = ww->fact->args[i];
}
m++;
}
} else {
tmp2->preconds = ( Fact * ) calloc( 1, sizeof( Fact ) );
tmp2->num_preconds = 1;
tmp2->preconds[0].predicate = w->fact->predicate;
for ( i = 0; i < garity[w->fact->predicate]; i++ ) {
tmp2->preconds[0].args[i] = w->fact->args[i];
}
}
tmp2->effects = instantiate_Effect( o->effects );
tmp2->next = ghard_mixed_operators;
ghard_mixed_operators = tmp2;
gnum_hard_mixed_operators++;
}
break;
case AND:
tmp2 = new_MixedOperator( o );
for ( i = 0; i < o->num_vars; i++ ) {
tmp2->inst_table[i] = linst_table[i];
}
m = 0;
for ( w = tmp1->sons; w; w = w->next ) m++;
tmp2->preconds = ( Fact * ) calloc( m, sizeof( Fact ) );
tmp2->num_preconds = m;
m = 0;
for ( w = tmp1->sons; w; w = w->next ) {
tmp2->preconds[m].predicate = w->fact->predicate;
for ( i = 0; i < garity[w->fact->predicate]; i++ ) {
tmp2->preconds[m].args[i] = w->fact->args[i];
}
m++;
}
tmp2->effects = instantiate_Effect( o->effects );
tmp2->next = ghard_mixed_operators;
ghard_mixed_operators = tmp2;
gnum_hard_mixed_operators++;
break;
case ATOM:
tmp2 = new_MixedOperator( o );
for ( i = 0; i < o->num_vars; i++ ) {
tmp2->inst_table[i] = linst_table[i];
}
tmp2->preconds = ( Fact * ) calloc( 1, sizeof( Fact ) );
tmp2->num_preconds = 1;
tmp2->preconds[0].predicate = tmp1->fact->predicate;
for ( i = 0; i < garity[tmp1->fact->predicate]; i++ ) {
tmp2->preconds[0].args[i] = tmp1->fact->args[i];
}
tmp2->effects = instantiate_Effect( o->effects );
tmp2->next = ghard_mixed_operators;
ghard_mixed_operators = tmp2;
gnum_hard_mixed_operators++;
break;
case TRU:
tmp2 = new_MixedOperator( o );
for ( i = 0; i < o->num_vars; i++ ) {
tmp2->inst_table[i] = linst_table[i];
}
tmp2->effects = instantiate_Effect( o->effects );
tmp2->next = ghard_mixed_operators;
ghard_mixed_operators = tmp2;
gnum_hard_mixed_operators++;
break;
default:
printf("\n\nillegal connective %d in parsing DNF precond.\n\n",
tmp1->connective);
exit( 1 );
}
free_WffNode( tmp1 );
}
WffNode *instantiate_wff( WffNode *w )
{
WffNode *res = NULL, *tmp, *i;
int j, m, h;
Bool ok, ct;
switch ( w->connective ) {
case AND:
m = 0;
i = w->sons;
while ( i ) {
tmp = instantiate_wff( i );
if ( tmp->connective == FAL ) {
free_WffNode( res );
return tmp;
}
if ( tmp->connective == TRU ) {
free( tmp );
i = i->next;
continue;
}
tmp->next = res;
if ( res ) {
res->prev = tmp;
}
res = tmp;
i = i->next;
m++;
}
if ( m == 0 ) {
res = new_WffNode( TRU );
break;
}
if ( m == 1 ) {
break;
}
tmp = new_WffNode( AND );
tmp->sons = res;
res = tmp;
break;
case OR:
m = 0;
i = w->sons;
while ( i ) {
tmp = instantiate_wff( i );
if ( tmp->connective == TRU ) {
free_WffNode( res );
return tmp;
}
if ( tmp->connective == FAL ) {
free( tmp );
i = i->next;
continue;
}
tmp->next = res;
if ( res ) {
res->prev = tmp;
}
res = tmp;
i = i->next;
m++;
}
if ( m == 0 ) {
res = new_WffNode( FAL );
break;
}
if ( m == 1 ) {
break;
}
tmp = new_WffNode( OR );
tmp->sons = res;
res = tmp;
break;
case ATOM:
res = new_WffNode( ATOM );
res->fact = new_Fact();
res->fact->predicate = w->fact->predicate;
ok = TRUE;
for ( j = 0; j < garity[res->fact->predicate]; j++ ) {
h = ( w->fact->args[j] < 0 ) ?
linst_table[DECODE_VAR( w->fact->args[j] )] : w->fact->args[j];
if ( h < 0 ) {
ok = FALSE;
res->fact->args[j] = w->fact->args[j];
} else {
res->fact->args[j] = h;
}
}
if ( !ok ) {/* contains ef params */
break;
}
if ( !full_possibly_negative( res->fact ) ) {
free( res->fact );
res->fact = NULL;
res->connective = TRU;
break;
}
if ( !full_possibly_positive( res->fact ) ) {
free( res->fact );
res->fact = NULL;
res->connective = FAL;
break;
}
break;
case COMP:
res = new_WffNode( COMP );
res->comp = w->comp;
res->lh = copy_Exp( w->lh );
res->rh = copy_Exp( w->rh );
instantiate_exp( &(res->lh) );
instantiate_exp( &(res->rh) );
if ( res->lh->connective != NUMBER ||
res->rh->connective != NUMBER ) {
/* logical simplification only possible if both parts are numbers
*/
break;
}
ct = number_comparison_holds( res->comp, res->lh->value, res->rh->value );
if ( ct ) {
res->connective = TRU;
free_ExpNode( res->lh );
res->lh = NULL;
free_ExpNode( res->rh );
res->rh = NULL;
res->comp = -1;
} else {
res->connective = FAL;
free_ExpNode( res->lh );
res->lh = NULL;
free_ExpNode( res->rh );
res->rh = NULL;
res->comp = -1;
}
break;
case TRU:
case FAL:
res = new_WffNode( w->connective );
break;
default:
printf("\n\nillegal connective %d in instantiate formula\n\n",
w->connective);
exit( 1 );
}
return res;
}
Effect *instantiate_Effect( Effect *e )
{
Effect *res = NULL, *tmp, *i;
Literal *tt, *l;
NumericEffect *ne, *ttt;
int j;
for ( i = e; i; i = i->next ) {
tmp = new_Effect();
for ( j = 0; j < i->num_vars; j++ ) {
tmp->var_types[j] = i->var_types[j];
}
tmp->num_vars = i->num_vars;
tmp->conditions = instantiate_wff( i->conditions );
if ( tmp->conditions->connective == FAL ) {
free_partial_Effect( tmp );
continue;
}
for ( l = i->effects; l; l = l->next ) {
tt = new_Literal();
tt->negated = l->negated;
tt->fact.predicate = l->fact.predicate;
for ( j = 0; j < garity[tt->fact.predicate]; j++ ) {
tt->fact.args[j] = l->fact.args[j];
if ( tt->fact.args[j] < 0 &&
linst_table[DECODE_VAR( tt->fact.args[j] )] != -1 ) {
tt->fact.args[j] = linst_table[DECODE_VAR( tt->fact.args[j] )];
}
}
tt->next = tmp->effects;
if ( tmp->effects ) {
tmp->effects->prev = tt;
}
tmp->effects = tt;
}
for ( ne = i->numeric_effects; ne; ne = ne->next ) {
ttt = new_NumericEffect();
ttt->neft = ne->neft;
ttt->fluent.function = ne->fluent.function;
for ( j = 0; j < gf_arity[ttt->fluent.function]; j++ ) {
ttt->fluent.args[j] = ne->fluent.args[j];
if ( ttt->fluent.args[j] < 0 &&
linst_table[DECODE_VAR( ttt->fluent.args[j] )] != -1 ) {
ttt->fluent.args[j] = linst_table[DECODE_VAR( ttt->fluent.args[j] )];
}
}
ttt->rh = copy_Exp( ne->rh );
instantiate_exp( &(ttt->rh) );
ttt->next = tmp->numeric_effects;
if ( tmp->numeric_effects ) {
tmp->numeric_effects->prev = ttt;
}
tmp->numeric_effects = ttt;
}
tmp->next = res;
if ( res ) {
res->prev = tmp;
}
res = tmp;
}
return res;
}
