boost::unordered_set<Model> MCSat::sampleSat(const Model& initialModel, const Domain& d, boost::mt19937& rng) {
boost::unordered_set<Model> models;
models.insert(initialModel); // always include the initial model
// transform domain into a SAT problem
Domain dSat;
for (Domain::fact_const_iterator it = d.facts_begin(); it != d.facts_end(); it++) {
dSat.addFact(*it);
}
for (Domain::formula_const_iterator it = d.formulas_begin(); it != d.formulas_end(); it++) {
ELSentence s = *it;
s.setHasInfWeight(true);
dSat.addFormula(s);
}
dSat.addAtoms(d.atoms_begin(), d.atoms_end());
// perform UP (if possible)
Domain reduced;
if (useUnitPropagation_) {
try {
reduced = MCSat::applyUP(dSat);
} catch (contradiction& c) {
return models; // can't continue, just return our models which has only one item.
}
} else {
reduced = dSat;
}
// rewrite infinite weighted formulas so they have singular weight
reduced = reduced.replaceInfForms();
// do some random restarts and hope for different models
MWSSolver walksatSolver(walksatIterations_, walksatRandomMoveProb_, &reduced);
for (unsigned int i = 1; i <= walksatNumRandomRestarts_; i++) {
Model iterInitModel = reduced.randomModel(rng); // TODO: better way to make random models
if (reduced.formulas_size() == 0) {
// just add the random model and continue
models.insert(reduced.randomModel(rng));
continue;
}
//std::cout << "--\nFormulas for maxwalksat: ";
//std::copy(reduced.formulas_begin(), reduced.formulas_end(), std::ostream_iterator<ELSentence>(std::cout, ", "));
//std::cout << std::endl;
Model iterModel = walksatSolver.run(rng, iterInitModel);
if (reduced.isFullySatisfied(iterModel)) models.insert(iterModel);
}
return models;
}
void MCSat::run(boost::mt19937& rng) { // TODO: setup using random initial models
if (d_ == 0) {
throw std::logic_error("MCSat::run() - Domain not set");
}
if (sampleStrategy_ == 0) {
throw std::logic_error("MCSat::run() - SampleStrategy not set");
}
samples_.clear();
samples_.reserve(numSamples_);
//std::cout << "initial domain: ";
//d_->printDebugDescription(std::cout);
// first, run unit propagation on our domain to get a new reduced one.
Domain reduced;
if (useUnitPropagation_) {
reduced = MCSat::applyUP(*d_);
} else {
reduced = *d_;
}
//std::cout << "reduced domain: ";
//reduced.printDebugDescription(std::cout);
Model prevModel = (useRandomInitialModels_ ? reduced.randomModel(rng) : reduced.defaultModel());
// do a starting run on the whole problem as our initial sample
//boost::unordered_set<Model> initModels = sampleSat(prevModel, reduced);
//prevModel = *initModels.begin();
Domain prevDomain = reduced;
if (burnInIterations_ == 0) samples_.push_back(prevModel);
unsigned int totalIterations = numSamples_+burnInIterations_;
for (unsigned int iteration = 1; iteration < totalIterations; iteration++) {
std::vector<ELSentence> newSentences;
if ( totalIterations < 20 ||
iteration % (totalIterations / 20) == 0) {
std::cout << (((double)iteration) / ((double) totalIterations))*100 << "% done." << std::endl;
}
sampleStrategy_->sampleSentences(prevModel, reduced, rng, newSentences);
// if (iteration == 1) {
// std::cout << "initial sampled sentences: ";
// std::copy(newSentences.begin(), newSentences.end(), std::ostream_iterator<ELSentence>(std::cout, "\n"));
// std::cout << "initial model:";
// std::cout << prevModel;
// for (Domain::formula_const_iterator it = prevDomain.formulas_begin();
// it != prevDomain.formulas_end();
// it++) {
// std::cout << "formula " << *it << " is satisfied at: " << it->dSatisfied(prevModel, prevDomain) << std::endl;
// }
// std::cin.get();
// }
// make a new domain using new Sentences
Domain curDomain;
curDomain.setMaxInterval(prevDomain.maxInterval());
for (Domain::fact_const_iterator it = prevDomain.facts_begin(); it != prevDomain.facts_end(); it++) {
curDomain.addFact(*it);
}
for (std::vector<ELSentence>::const_iterator it = newSentences.begin(); it != newSentences.end(); it++) {
curDomain.addFormula(*it);
}
curDomain.addAtoms(prevDomain.atoms_begin(), prevDomain.atoms_end());
//
// if (iteration == burnInIterations_ + numSamples_/2) {
// std::cout << "ITERATION: " << iteration << std::endl;
// std::cout << "curDomain";
// curDomain.printDebugDescription(std::cout);
// std::cout << "sampled sentences: ";
// std::copy(newSentences.begin(), newSentences.end(), std::ostream_iterator<ELSentence>(std::cout, "\n"));
// }
boost::unordered_set<Model> curModels = sampleSat(prevModel, curDomain, rng);
assert(!curModels.empty());
// choose a random model
boost::uniform_int<std::size_t> pickModel(0, curModels.size()-1);
boost::unordered_set<Model>::size_type index = pickModel(rng);
boost::unordered_set<Model>::const_iterator it = curModels.begin();
while (index > 0) {
it++;
index--;
}
// add the model
if (iteration >= burnInIterations_) samples_.push_back(*it);
prevModel = *it;
prevDomain = curDomain;
}
}
int main(int argc, char* argv[]) {
// build the variable map from our configuration
po::options_description options("Allowed options");
options.add_options()
("help", "this message")
("disable-up", "disable unit propagation")
("analyze", po::value<std::string>(), "analyse previously-generated output")
("seed", po::value<unsigned int>(), "rng seed")
("name", po::value<std::string>(), "job name (used for file naming)");
po::variables_map vm;
po::store(po::command_line_parser(argc, argv).options(options).run(), vm);
po::notify(vm);
if (vm.count("help")) {
std::cout << "Usage: volleyball-mcsat [OPTION]..." << std::endl;
std::cout << options << std::endl;
return EXIT_FAILURE;
}
if (vm.count("analyze")) {
return analyzeOutput(vm["analyze"].as<std::string>());
}
boost::mt19937 rng;
if (vm.count("rng")) {
rng.seed(vm["rng"].as<unsigned int>());
} else {
rng.seed((time(NULL) * 32)^getpid());
}
// disable debug logging
FileLog::globalLogLevel() = LOG_ERROR;
std::string facts("# Video002.mat\n"
"# BackLeft\n"
"D-Squat(backleft) @ [1:133]\n"
"\n"
"# BackMiddle\n"
"D-Squat(backmiddle) @ [1:133]\n"
"D-Squat(backmiddle) @ [156:164]\n"
"D-Squat(backmiddle) @ [329:352]\n"
"\n"
"# BackRight\n"
"D-Squat(backright) @ [1:31]\n"
"D-Squat(backright) @ [71:122]\n"
"D-Squat(backright) @ [303:327]\n"
"\n"
"# FrontLeft\n"
"D-Spike(frontleft) @ [377:393]\n"
"D-Block(frontleft) @ [214:224]\n"
"D-Squat(frontleft) @ [1:136]\n"
"\n"
"# FrontMiddle\n"
"D-Spike(frontmiddle) @ [223:238]\n"
"D-Spike(frontmiddle) @ [409:423]\n"
"D-Block(frontmiddle) @ [304:319]\n"
"D-Squat(frontmiddle) @ [23:116]\n"
"\n"
"# FrontRight\n"
"D-Set(frontright) @ [199:209]\n"
"D-Set(frontright) @ [365:389]\n"
"D-Squat(frontright) @ [43:117]\n"
"\n"
"# RefNet\n"
"D-Flag(refnet) @ [462:541]\n"
"\n"
"# RefBack\n"
"D-Flag(refback) @ [451:541]\n"
"\n"
"# Group\n"
"D-Huddle() @ [484:541]\n"
"\n"
"# Ball\n"
"D-BallTrajectory() @ [113:153]\n"
"D-BallTrajectory() @ [159:164]\n"
"D-BallTrajectory() @ [173:228]\n"
"D-BallTrajectory() @ [307:312]\n"
"D-BallTrajectory() @ [322:337]\n"
"D-BallTrajectory() @ [341:381]\n"
"D-BallTrajectory() @ [387:392]\n"
"D-BallTrajectory() @ [421:436]\n"
"\n"
"D-BallGoingOut() @ [270:270]\n"
"D-BallGoingOut() @ [393:393]\n"
"\n"
"D-BallGoingin() @ [303:303]\n"
"D-BallGoingin() @ [412:412]\n"
"\n"
"D-BallContact(frontleft) @ [233:233]\n"
"D-BallContact(frontleft) @ [419:419]\n"
"\n"
"D-BallContact(frontright) @ [201:201]\n"
"D-BallContact(frontright) @ [382:382]\n"
"\n"
"D-BallContact(backleft) @ [163:163]\n"
"D-BallContact(backleft) @ [344:344]\n"
"\n"
"D-BallContact(them) @ [108:108]\n"
"D-BallContact(them) @ [127:127]\n"
"D-BallContact(them) @ [244:244]\n"
"D-BallContact(them) @ [260:260]\n"
"D-BallContact(them) @ [310:310]\n"
"D-BallContact(them) @ [425:425]\n"
"D-BallContact(them) @ [441:441]\n"
"\n"
);
std::string formulas("1: [ D-BallContact(backleft) -> BallContact(backleft) ]\n"
"1: [ D-BallContact(backright) -> BallContact(backright) ]\n"
"1: [ D-BallContact(backmiddle) -> BallContact(backmiddle) ]\n"
"1: [ D-BallContact(frontleft) -> BallContact(frontleft) ]\n"
"1: [ D-BallContact(frontright) -> BallContact(frontright) ]\n"
"1: [ D-BallContact(frontmiddle) -> BallContact(frontmiddle) ]\n"
"1: [ BallContact(backleft) -> D-BallContact(backleft) ]\n"
"1: [ BallContact(backright) -> D-BallContact(backright) ]\n"
"1: [ BallContact(backmiddle) -> D-BallContact(backmiddle) ]\n"
"1: [ BallContact(frontleft) -> D-BallContact(frontleft) ]\n"
"1: [ BallContact(frontright) -> D-BallContact(frontright) ]\n"
"1: [ BallContact(frontmiddle) -> D-BallContact(frontmiddle) ]\n"
"1: [ D-Spike(backleft) -> Spike(backleft) ]\n"
"1: [ D-Spike(backright) -> Spike(backright) ]\n"
"1: [ D-Spike(backmiddle) -> Spike(backmiddle) ]\n"
"1: [ D-Spike(frontleft) -> Spike(frontleft) ]\n"
"1: [ D-Spike(frontright) -> Spike(frontright) ]\n"
"1: [ D-Spike(frontmiddle) -> Spike(frontmiddle) ]\n"
"1: [ Spike(backleft) -> D-Spike(backleft) ]\n"
"1: [ Spike(backright) -> D-Spike(backright) ]\n"
"1: [ Spike(backmiddle) -> D-Spike(backmiddle) ]\n"
"1: [ Spike(frontleft) -> D-Spike(frontleft) ]\n"
"1: [ Spike(frontright) -> D-Spike(frontright) ]\n"
"1: [ Spike(frontmiddle) -> D-Spike(frontmiddle) ]\n"
"1: [ D-Set(backleft) -> Set(backleft) ]\n"
"1: [ D-Set(backright) -> Set(backright) ]\n"
"1: [ D-Set(backmiddle) -> Set(backmiddle) ]\n"
"1: [ D-Set(frontleft) -> Set(frontleft) ]\n"
"1: [ D-Set(frontright) -> Set(frontright) ]\n"
"1: [ D-Set(frontmiddle) -> Set(frontmiddle) ]\n"
"1: [ Set(backleft) -> D-Set(backleft) ]\n"
"1: [ Set(backright) -> D-Set(backright) ]\n"
"1: [ Set(backmiddle) -> D-Set(backmiddle) ]\n"
"1: [ Set(frontleft) -> D-Set(frontleft) ]\n"
"1: [ Set(frontright) -> D-Set(frontright) ]\n"
"1: [ Set(frontmiddle) -> D-Set(frontmiddle) ]\n"
"1: [ D-Serve(backleft) -> Serve(backleft) ]\n"
"1: [ D-Serve(backright) -> Serve(backright) ]\n"
"1: [ D-Serve(backmiddle) -> Serve(backmiddle) ]\n"
"1: [ D-Serve(frontleft) -> Serve(frontleft) ]\n"
"1: [ D-Serve(frontright) -> Serve(frontright) ]\n"
"1: [ D-Serve(frontmiddle) -> Serve(frontmiddle) ]\n"
"1: [ Serve(backleft) -> D-Serve(backleft) ]\n"
"1: [ Serve(backright) -> D-Serve(backright) ]\n"
"1: [ Serve(backmiddle) -> D-Serve(backmiddle) ]\n"
"1: [ Serve(frontleft) -> D-Serve(frontleft) ]\n"
"1: [ Serve(frontright) -> D-Serve(frontright) ]\n"
"1: [ Serve(frontmiddle) -> D-Serve(frontmiddle) ]\n"
"1: [ D-Dig(backleft) -> Dig(backleft) ]\n"
"1: [ D-Dig(backright) -> Dig(backright) ]\n"
"1: [ D-Dig(backmiddle) -> Dig(backmiddle) ]\n"
"1: [ D-Dig(frontleft) -> Dig(frontleft) ]\n"
"1: [ D-Dig(frontright) -> Dig(frontright) ]\n"
"1: [ D-Dig(frontmiddle) -> Dig(frontmiddle) ]\n"
"1: [ Dig(backleft) -> D-Dig(backleft) ]\n"
"1: [ Dig(backright) -> D-Dig(backright) ]\n"
"1: [ Dig(backmiddle) -> D-Dig(backmiddle) ]\n"
"1: [ Dig(frontleft) -> D-Dig(frontleft) ]\n"
"1: [ Dig(frontright) -> D-Dig(frontright) ]\n"
"1: [ Dig(frontmiddle) -> D-Dig(frontmiddle) ]\n"
"1: [ D-Block(backleft) -> Block(backleft) ]\n"
"1: [ D-Block(backright) -> Block(backright) ]\n"
"1: [ D-Block(backmiddle) -> Block(backmiddle) ]\n"
"1: [ D-Block(frontleft) -> Block(frontleft) ]\n"
"1: [ D-Block(frontright) -> Block(frontright) ]\n"
"1: [ D-Block(frontmiddle) -> Block(frontmiddle) ]\n"
"1: [ Block(backleft) -> D-Block(backleft) ]\n"
"1: [ Block(backright) -> D-Block(backright) ]\n"
"1: [ Block(backmiddle) -> D-Block(backmiddle) ]\n"
"1: [ Block(frontleft) -> D-Block(frontleft) ]\n"
"1: [ Block(frontright) -> D-Block(frontright) ]\n"
"1: [ Block(frontmiddle) -> D-Block(frontmiddle) ]\n"
"1: [ D-Squat(backleft) -> Squat(backleft) ]\n"
"1: [ D-Squat(backright) -> Squat(backright) ]\n"
"1: [ D-Squat(backmiddle) -> Squat(backmiddle) ]\n"
"1: [ D-Squat(frontleft) -> Squat(frontleft) ]\n"
"1: [ D-Squat(frontright) -> Squat(frontright) ]\n"
"1: [ D-Squat(frontmiddle) -> Squat(frontmiddle) ]\n"
"1: [ Squat(backleft) -> D-Squat(backleft) ]\n"
"1: [ Squat(backright) -> D-Squat(backright) ]\n"
"1: [ Squat(backmiddle) -> D-Squat(backmiddle) ]\n"
"1: [ Squat(frontleft) -> D-Squat(frontleft) ]\n"
"1: [ Squat(frontright) -> D-Squat(frontright) ]\n"
"1: [ Squat(frontmiddle) -> D-Squat(frontmiddle) ]\n"
"1: [ D-Flag(refback) -> Flag(refback) ]\n"
"1: [ Flag(refback) -> D-Flag(refback) ]\n"
"1: [ D-Flag(refnet) -> Flag(refnet) ]\n"
"1: [ Flag(refnet) -> D-Flag(refnet) ]\n"
"1: [ D-BallContact(them) -> BallContact(them) ]\n"
"1: [ BallContact(them) -> D-BallContact(them) ]\n"
"1: [ D-Huddle() -> Huddle() ]\n"
"1: [ Huddle() -> D-Huddle() ]\n"
"1: [ D-BallTrajectory() -> BallTrajectory() ]\n"
"1: [ BallTrajectory() -> D-BallTrajectory() ]\n"
"1: [ D-BallGoingOut() -> BallGoingOut() ]\n"
"1: [ BallGoingOut() -> D-BallGoingOut() ]\n"
"1: [ D-BallGoingIn() -> BallGoingIn() ]\n"
"1: [ BallGoingIn() -> D-BallGoingIn() ]\n"
"1: [ D-BallGoingin() -> BallGoingin() ]\n"
"1: [ BallGoingin() -> D-BallGoingin() ]\n"
"\n"
"# a player can have at most one pose at a time\n"
"10: [ (Spike(backleft) ^ !Set(backleft) ^ !Serve(backleft) ^ !Dig(backleft) ^ !Block(backleft) ^ !Squat(backleft)) v (!Spike(backleft) ^ Set(backleft) ^ !Serve(backleft) ^ !Dig(backleft) ^ !Block(backleft) ^ !Squat(backleft)) v (!Spike(backleft) ^ !Set(backleft) ^ Serve(backleft) ^ !Dig(backleft) ^ !Block(backleft) ^ !Squat(backleft)) v (!Spike(backleft) ^ !Set(backleft) ^ !Serve(backleft) ^ Dig(backleft) ^ !Block(backleft) ^ !Squat(backleft)) v (!Spike(backleft) ^ !Set(backleft) ^ !Serve(backleft) ^ !Dig(backleft) ^ Block(backleft) ^ !Squat(backleft)) v (!Spike(backleft) ^ !Set(backleft) ^ !Serve(backleft) ^ !Dig(backleft) ^ !Block(backleft) ^ Squat(backleft)) v (!Spike(backleft) ^ !Set(backleft) ^ !Serve(backleft) ^ !Dig(backleft) ^ !Block(backleft) ^ !Squat(backleft)) ]\n"
"10: [ (Spike(backright) ^ !Set(backright) ^ !Serve(backright) ^ !Dig(backright) ^ !Block(backright) ^ !Squat(backright)) v (!Spike(backright) ^ Set(backright) ^ !Serve(backright) ^ !Dig(backright) ^ !Block(backright) ^ !Squat(backright)) v (!Spike(backright) ^ !Set(backright) ^ Serve(backright) ^ !Dig(backright) ^ !Block(backright) ^ !Squat(backright)) v (!Spike(backright) ^ !Set(backright) ^ !Serve(backright) ^ Dig(backright) ^ !Block(backright) ^ !Squat(backright)) v (!Spike(backright) ^ !Set(backright) ^ !Serve(backright) ^ !Dig(backright) ^ Block(backright) ^ !Squat(backright)) v (!Spike(backright) ^ !Set(backright) ^ !Serve(backright) ^ !Dig(backright) ^ !Block(backright) ^ Squat(backright)) v (!Spike(backright) ^ !Set(backright) ^ !Serve(backright) ^ !Dig(backright) ^ !Block(backright) ^ !Squat(backright)) ]\n"
"10: [ (Spike(backmiddle) ^ !Set(backmiddle) ^ !Serve(backmiddle) ^ !Dig(backmiddle) ^ !Block(backmiddle) ^ !Squat(backmiddle)) v (!Spike(backmiddle) ^ Set(backmiddle) ^ !Serve(backmiddle) ^ !Dig(backmiddle) ^ !Block(backmiddle) ^ !Squat(backmiddle)) v (!Spike(backmiddle) ^ !Set(backmiddle) ^ Serve(backmiddle) ^ !Dig(backmiddle) ^ !Block(backmiddle) ^ !Squat(backmiddle)) v (!Spike(backmiddle) ^ !Set(backmiddle) ^ !Serve(backmiddle) ^ Dig(backmiddle) ^ !Block(backmiddle) ^ !Squat(backmiddle)) v (!Spike(backmiddle) ^ !Set(backmiddle) ^ !Serve(backmiddle) ^ !Dig(backmiddle) ^ Block(backmiddle) ^ !Squat(backmiddle)) v (!Spike(backmiddle) ^ !Set(backmiddle) ^ !Serve(backmiddle) ^ !Dig(backmiddle) ^ !Block(backmiddle) ^ Squat(backmiddle)) v (!Spike(backmiddle) ^ !Set(backmiddle) ^ !Serve(backmiddle) ^ !Dig(backmiddle) ^ !Block(backmiddle) ^ !Squat(backmiddle)) ]\n"
"10: [ (Spike(frontleft) ^ !Set(frontleft) ^ !Serve(frontleft) ^ !Dig(frontleft) ^ !Block(frontleft) ^ !Squat(frontleft)) v (!Spike(frontleft) ^ Set(frontleft) ^ !Serve(frontleft) ^ !Dig(frontleft) ^ !Block(frontleft) ^ !Squat(frontleft)) v (!Spike(frontleft) ^ !Set(frontleft) ^ Serve(frontleft) ^ !Dig(frontleft) ^ !Block(frontleft) ^ !Squat(frontleft)) v (!Spike(frontleft) ^ !Set(frontleft) ^ !Serve(frontleft) ^ Dig(frontleft) ^ !Block(frontleft) ^ !Squat(frontleft)) v (!Spike(frontleft) ^ !Set(frontleft) ^ !Serve(frontleft) ^ !Dig(frontleft) ^ Block(frontleft) ^ !Squat(frontleft)) v (!Spike(frontleft) ^ !Set(frontleft) ^ !Serve(frontleft) ^ !Dig(frontleft) ^ !Block(frontleft) ^ Squat(frontleft)) v (!Spike(frontleft) ^ !Set(frontleft) ^ !Serve(frontleft) ^ !Dig(frontleft) ^ !Block(frontleft) ^ !Squat(frontleft)) ]\n"
"10: [ (Spike(frontright) ^ !Set(frontright) ^ !Serve(frontright) ^ !Dig(frontright) ^ !Block(frontright) ^ !Squat(frontright)) v (!Spike(frontright) ^ Set(frontright) ^ !Serve(frontright) ^ !Dig(frontright) ^ !Block(frontright) ^ !Squat(frontright)) v (!Spike(frontright) ^ !Set(frontright) ^ Serve(frontright) ^ !Dig(frontright) ^ !Block(frontright) ^ !Squat(frontright)) v (!Spike(frontright) ^ !Set(frontright) ^ !Serve(frontright) ^ Dig(frontright) ^ !Block(frontright) ^ !Squat(frontright)) v (!Spike(frontright) ^ !Set(frontright) ^ !Serve(frontright) ^ !Dig(frontright) ^ Block(frontright) ^ !Squat(frontright)) v (!Spike(frontright) ^ !Set(frontright) ^ !Serve(frontright) ^ !Dig(frontright) ^ !Block(frontright) ^ Squat(frontright)) v (!Spike(frontright) ^ !Set(frontright) ^ !Serve(frontright) ^ !Dig(frontright) ^ !Block(frontright) ^ !Squat(frontright)) ]\n"
"10: [ (Spike(frontmiddle) ^ !Set(frontmiddle) ^ !Serve(frontmiddle) ^ !Dig(frontmiddle) ^ !Block(frontmiddle) ^ !Squat(frontmiddle)) v (!Spike(frontmiddle) ^ Set(frontmiddle) ^ !Serve(frontmiddle) ^ !Dig(frontmiddle) ^ !Block(frontmiddle) ^ !Squat(frontmiddle)) v (!Spike(frontmiddle) ^ !Set(frontmiddle) ^ Serve(frontmiddle) ^ !Dig(frontmiddle) ^ !Block(frontmiddle) ^ !Squat(frontmiddle)) v (!Spike(frontmiddle) ^ !Set(frontmiddle) ^ !Serve(frontmiddle) ^ Dig(frontmiddle) ^ !Block(frontmiddle) ^ !Squat(frontmiddle)) v (!Spike(frontmiddle) ^ !Set(frontmiddle) ^ !Serve(frontmiddle) ^ !Dig(frontmiddle) ^ Block(frontmiddle) ^ !Squat(frontmiddle)) v (!Spike(frontmiddle) ^ !Set(frontmiddle) ^ !Serve(frontmiddle) ^ !Dig(frontmiddle) ^ !Block(frontmiddle) ^ Squat(frontmiddle)) v (!Spike(frontmiddle) ^ !Set(frontmiddle) ^ !Serve(frontmiddle) ^ !Dig(frontmiddle) ^ !Block(frontmiddle) ^ !Squat(frontmiddle)) ]\n"
"\n"
"# only one player can contact the ball at a time\n"
"10: [ BallContact(backleft) -> !BallContact(backright) ]\n"
"10: [ BallContact(backleft) -> !BallContact(backmiddle) ]\n"
"10: [ BallContact(backleft) -> !BallContact(frontleft) ]\n"
"10: [ BallContact(backleft) -> !BallContact(frontright) ]\n"
"10: [ BallContact(backleft) -> !BallContact(frontmiddle) ]\n"
"10: [ BallContact(backleft) -> !BallContact(them) ]\n"
"10: [ BallContact(backright) -> !BallContact(backleft) ]\n"
"10: [ BallContact(backright) -> !BallContact(backmiddle) ]\n"
"10: [ BallContact(backright) -> !BallContact(frontleft) ]\n"
"10: [ BallContact(backright) -> !BallContact(frontright) ]\n"
"10: [ BallContact(backright) -> !BallContact(frontmiddle) ]\n"
"10: [ BallContact(backright) -> !BallContact(them) ]\n"
"10: [ BallContact(backmiddle) -> !BallContact(backleft) ]\n"
"10: [ BallContact(backmiddle) -> !BallContact(backright) ]\n"
"10: [ BallContact(backmiddle) -> !BallContact(frontleft) ]\n"
"10: [ BallContact(backmiddle) -> !BallContact(frontright) ]\n"
"10: [ BallContact(backmiddle) -> !BallContact(frontmiddle) ]\n"
"10: [ BallContact(backmiddle) -> !BallContact(them) ]\n"
"10: [ BallContact(frontleft) -> !BallContact(backleft) ]\n"
"10: [ BallContact(frontleft) -> !BallContact(backright) ]\n"
"10: [ BallContact(frontleft) -> !BallContact(backmiddle) ]\n"
"10: [ BallContact(frontleft) -> !BallContact(frontright) ]\n"
"10: [ BallContact(frontleft) -> !BallContact(frontmiddle) ]\n"
"10: [ BallContact(frontleft) -> !BallContact(them) ]\n"
"10: [ BallContact(frontright) -> !BallContact(backleft) ]\n"
"10: [ BallContact(frontright) -> !BallContact(backright) ]\n"
"10: [ BallContact(frontright) -> !BallContact(backmiddle) ]\n"
"10: [ BallContact(frontright) -> !BallContact(frontleft) ]\n"
"10: [ BallContact(frontright) -> !BallContact(frontmiddle) ]\n"
"10: [ BallContact(frontright) -> !BallContact(them) ]\n"
"10: [ BallContact(frontmiddle) -> !BallContact(backleft) ]\n"
"10: [ BallContact(frontmiddle) -> !BallContact(backright) ]\n"
"10: [ BallContact(frontmiddle) -> !BallContact(backmiddle) ]\n"
"10: [ BallContact(frontmiddle) -> !BallContact(frontleft) ]\n"
"10: [ BallContact(frontmiddle) -> !BallContact(frontright) ]\n"
"10: [ BallContact(frontmiddle) -> !BallContact(them) ]\n"
"10: [ BallContact(them) -> !BallContact(backleft) ]\n"
"10: [ BallContact(them) -> !BallContact(backright) ]\n"
"10: [ BallContact(them) -> !BallContact(backmiddle) ]\n"
"10: [ BallContact(them) -> !BallContact(frontleft) ]\n"
"10: [ BallContact(them) -> !BallContact(frontright) ]\n"
"10: [ BallContact(them) -> !BallContact(frontmiddle) ]\n"
"\n"
// "# if the backleft player served, nobody posed before that action\n"
// "10: Serve(backleft) -> !(<>{<} [Spike(backleft) v Set(backleft) v Serve(backleft) v Dig(backleft) v Block(backleft) v Squat(backleft)])\n"
// "10: Serve(backleft) -> !(<>{<} [Spike(backright) v Set(backright) v Serve(backright) v Dig(backright) v Block(backright) v Squat(backright)])\n"
// "10: Serve(backleft) -> !(<>{<} [Spike(backmiddle) v Set(backmiddle) v Serve(backmiddle) v Dig(backmiddle) v Block(backmiddle) v Squat(backmiddle)])\n"
// "10: Serve(backleft) -> !(<>{<} [Spike(frontleft) v Set(frontleft) v Serve(frontleft) v Dig(frontleft) v Block(frontleft) v Squat(frontleft)])\n"
// "10: Serve(backleft) -> !(<>{<} [Spike(frontright) v Set(frontright) v Serve(frontright) v Dig(frontright) v Block(frontright) v Squat(frontright)])\n"
// "10: Serve(backleft) -> !(<>{<} [Spike(frontmiddle) v Set(frontmiddle) v Serve(frontmiddle) v Dig(frontmiddle) v Block(frontmiddle) v Squat(frontmiddle)])\n"
// "\n"
// "# if a huddle occurs, it\'s the final pose\n"
// "10: Huddle() -> !(<>{>} [Spike(backleft) v Set(backleft) v Serve(backleft) v Dig(backleft) v Block(backleft) v Squat(backleft)])\n"
// "10: Huddle() -> !(<>{>} [Spike(backright) v Set(backright) v Serve(backright) v Dig(backright) v Block(backright) v Squat(backright)])\n"
// "10: Huddle() -> !(<>{>} [Spike(backmiddle) v Set(backmiddle) v Serve(backmiddle) v Dig(backmiddle) v Block(backmiddle) v Squat(backmiddle)])\n"
// "10: Huddle() -> !(<>{>} [Spike(frontleft) v Set(frontleft) v Serve(frontleft) v Dig(frontleft) v Block(frontleft) v Squat(frontleft)])\n"
// "10: Huddle() -> !(<>{>} [Spike(frontright) v Set(frontright) v Serve(frontright) v Dig(frontright) v Block(frontright) v Squat(frontright)])\n"
// "10: Huddle() -> !(<>{>} [Spike(frontmiddle) v Set(frontmiddle) v Serve(frontmiddle) v Dig(frontmiddle) v Block(frontmiddle) v Squat(frontmiddle)])\n"
// "\n"
"# if a player contacts the ball, they are in some sort of pose\n"
"10: [ BallContact(backleft) -> Spike(backleft) v Set(backleft) v Serve(backleft) v Dig(backleft) v Block(backleft) v Squat(backleft) ]\n"
"10: [ BallContact(backright) -> Spike(backright) v Set(backright) v Serve(backright) v Dig(backright) v Block(backright) v Squat(backright) ]\n"
"10: [ BallContact(backmiddle) -> Spike(backmiddle) v Set(backmiddle) v Serve(backmiddle) v Dig(backmiddle) v Block(backmiddle) v Squat(backmiddle) ]\n"
"10: [ BallContact(frontleft) -> Spike(frontleft) v Set(frontleft) v Serve(frontleft) v Dig(frontleft) v Block(frontleft) v Squat(frontleft) ]\n"
"10: [ BallContact(frontright) -> Spike(frontright) v Set(frontright) v Serve(frontright) v Dig(frontright) v Block(frontright) v Squat(frontright) ]\n"
"10: [ BallContact(frontmiddle) -> Spike(frontmiddle) v Set(frontmiddle) v Serve(frontmiddle) v Dig(frontmiddle) v Block(frontmiddle) v Squat(frontmiddle) ]\n"
"\n"
// "# if a player served, nobody on our team will touch the ball before the opponents\n"
// "10: Serve(backleft) ^{<} BallContact(them) -> (<>{d} BallContact(them)) v (!<>{d} [BallContact(backright) v BallContact(backmiddle) v BallContact(frontleft) v BallContact(frontright) v BallContact(frontmiddle)])\n"
// "\n"
"# only the back left player may serve\n"
"10: [ !Serve(backright) ^ !Serve(backmiddle) ^ !Serve(frontleft) ^ !Serve(frontright) ^ !Serve(frontmiddle) ]\n"
"\n"
"# only players in the front row may spike\n"
"10: [ !Spike(backleft) ^ !Spike(backright) ^ !Spike(backmiddle) ]\n"
"\n"
);
Domain d = loadDomainWithStreams(facts, formulas);
std::set<unsigned int> timePoints;
for (Domain::fact_const_iterator it = d.facts_begin(); it != d.facts_end(); it++) {
SISet set = it->second;
for (SISet::const_iterator siIt = set.begin(); siIt != set.end(); siIt++) {
SpanInterval si = *siIt;
timePoints.insert(si.start().start());
timePoints.insert(si.start().finish());
timePoints.insert(si.finish().start());
timePoints.insert(si.finish().finish());
}
}
std::cout << "found " << timePoints.size() << " timepoints." << std::endl;
MCSat mcSatSolver(&d);
mcSatSolver.setBurnInIterations(1);
mcSatSolver.setNumSamples(1);
if (vm.count("disable-up")) {
mcSatSolver.setUseUnitPropagation(false);
} else {
mcSatSolver.setUseUnitPropagation(true);
}
std::cout << "running mcSatSolver with " << mcSatSolver.burnInIterations() << " burn in iterations and a sample size of " << mcSatSolver.numSamples() << std::endl;
std::string prefix = (vm.count("name") ? vm["name"].as<std::string>() : "mcsat-volleyball");
std::cout << "saving random seed..." << std::endl;
{
std::string rngFilename = prefix + "-seed.txt.gz";
io::file_descriptor_sink rngOutFile(rngFilename.c_str(), std::ios_base::out | std::ios_base::trunc | std::ios_base::binary);
if (!rngOutFile.is_open()){
std::cerr << "unable to open file " + rngFilename + "for RNG writing." << std::endl;
} else {
// gzip it using boost iostreams
io::filtering_ostream rngOut;
rngOut.push(io::gzip_compressor());
rngOut.push(rngOutFile);
rngOut << rng;
}
}
//std::cout << "rng = " << rng << std::endl;
std::cout << "starting run..." << std::endl;
mcSatSolver.setSampleStrategy(new MCSatSampleLiquidlyStrategy());
std::clock_t start = std::clock();
mcSatSolver.run(rng);
std::clock_t end = std::clock();
std::cout << "ran in " << (end - start)/CLOCKS_PER_SEC << " seconds." << std::endl;
std::cout << "saving model file..." << std::endl;
{
std::string outFilename = prefix + "-model.dat.gz";
io::file_descriptor_sink outFile(outFilename.c_str(), std::ios_base::out | std::ios_base::trunc | std::ios_base::binary);
if (!outFile.is_open()) {
std::cerr << "unable to open file " + outFilename + " for model writing." << std::endl;
} else {
io::filtering_ostream dataOut;
dataOut.push(io::gzip_compressor());
dataOut.push(outFile);
boost::archive::text_oarchive tout(dataOut);
registerAllPELTypes(tout);
tout << mcSatSolver;
}
}
}
