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 );
}
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 );
}
void create_final_goal_state( void )
{
WffNode *w, *ww;
int m, i, adr;
Action *tmp;
/*
* DEA - University of Brescia
*/
// set_relevants_in_wff( &ggoal );
if (set_relevants_in_wff (&ggoal))
return;
/*
* End of DEA
*/
cleanup_wff( &ggoal );
if ( ggoal->connective == TRU ) {
/*
* DEA - University of Brescia
*/
// printf("\nff: goal can be simplified to TRUE. The empty plan solves it\n\n");
printf ("\n%s: goal can be simplified to TRUE. The empty plan solves it\n\n", NAMEPRG);
/*
* End of DEA
*/
exit( 1 );
}
if ( ggoal->connective == FAL ) {
/*
* DEA - University of Brescia
*/
if (GpG.inst_duplicate_param == FALSE)
printf("\n%s: create_final_goal_state(): goal can be simplified to FALSE. \n Please run %s with option '-same_objects' \n\n", NAMEPRG, NAMEPRG);
else
printf("\n%s: create_final_goal_state(): goal can be simplified to FALSE.\n No plan will solve it\n\n", NAMEPRG);
// printf("\nff: goal can be simplified to FALSE. No plan will solve it\n\n");
/*
* End of DEA
*/
exit( 1 );
}
switch ( ggoal->connective ) {
case OR:
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\nincrease MAX_RELEVANT_FACTS! (current value: %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = -3;
gnum_relevant_facts++;
for ( w = ggoal->sons; w; w = w->next ) {
tmp = new_Action();
if ( w->connective == AND ) {
m = 0;
for ( ww = w->sons; ww; ww = ww->next ) m++;
tmp->preconds = ( int * ) calloc( m, sizeof( int ) );
tmp->num_preconds = 0;
for ( ww = w->sons; ww; ww = ww->next ) {
lp = ww->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = ww->fact->args[i];
}
adr = fact_adress();
tmp->preconds[tmp->num_preconds++] = lindex[lp][adr];
}
} else {
tmp->preconds = ( int * ) calloc( 1, sizeof( int ) );
tmp->num_preconds = 1;
lp = w->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = w->fact->args[i];
}
adr = fact_adress();
tmp->preconds[0] = lindex[lp][adr];
}
tmp->effects = ( ActionEffect * ) calloc( 1, sizeof( ActionEffect ) );
tmp->num_effects = 1;
tmp->effects[0].conditions = NULL;
tmp->effects[0].num_conditions = 0;
tmp->effects[0].dels = NULL;
tmp->effects[0].num_dels = 0;
tmp->effects[0].adds = ( int * ) calloc( 1, sizeof( int ) );
tmp->effects[0].adds[0] = gnum_relevant_facts - 1;
tmp->effects[0].num_adds = 1;
tmp->next = gactions;
gactions = tmp;
gnum_actions++;
lnum_effects++;
}
ggoal_state.F[0] = gnum_relevant_facts - 1;
ggoal_state.num_F = 1;
break;
case AND:
for ( w = ggoal->sons; w; w = w->next ) {
lp = w->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = w->fact->args[i];
}
adr = fact_adress();
ggoal_state.F[ggoal_state.num_F++] = lindex[lp][adr];
}
break;
case ATOM:
ggoal_state.num_F = 1;
lp = ggoal->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = ggoal->fact->args[i];
}
adr = fact_adress();
ggoal_state.F[0] = lindex[lp][adr];
break;
default:
printf("\n\nwon't get here: non ATOM,AND,OR in fully simplified goal\n\n");
exit( 1 );
}
}
