void print_Operator( Operator *o )
{
Effect *e;
Literal *l;
int i, m = 0;
printf("\n\n----------------Operator %s, translated form, step 1--------------\n", o->name);
for ( i = 0; i < o->num_vars; i++ ) {
printf("\nx%d (%s) of type %s, removed ? %s",
i, o->var_names[i], gtype_names[o->var_types[i]],
o->removed[i] ? "YES" : "NO");
}
printf("\ntotal params %d, real params %d\n",
o->num_vars, o->number_of_real_params);
printf("\nPreconds:\n");
print_Wff( o->preconds, 0 );
printf("\n\nEffects:");
for ( e = o->effects; e; e = e->next ) {
printf("\n\neffect %d, parameters %d", m++, e->num_vars);
for ( i = 0; i < e->num_vars; i++ ) {
printf("\nx%d (%s) of type %s",
o->num_vars + i, e->var_names[i], gtype_names[e->var_types[i]]);
}
printf("\nConditions, P %lf:\n", e->eff_p);/* july06 */
print_Wff( e->conditions, 0 );
printf("\nEffect Literals");
for ( l = e->effects; l; l = l->next ) {
if ( l->negated ) {
printf("\nNOT ");
} else {
printf("\n");
}
print_Fact( &(l->fact) );
}
}
}
void print_MixedOperator( MixedOperator *o )
{
int i, m;
Effect *e;
Literal *l;
printf("\n\n----------------Operator %s, mixed form--------------\n",
o->op->name);
for ( i = 0; i < o->op->num_vars; i++ ) {
printf("\nx%d = %s of type ", i, gconstants[o->inst_table[i]]);
print_type( o->op->var_types[i] );
}
printf("\nPreconds:\n");
for ( i = 0; i < o->num_preconds; i++ ) {
print_Fact( &(o->preconds[i]) );
printf("\n");
}
m = 0;
printf("\n\nEffects:");
for ( e = o->effects; e; e = e->next ) {
printf("\n\neffect %d, parameters %d", m++, e->num_vars);
for ( i = 0; i < e->num_vars; i++ ) {
printf("\nx%d of type %s",
o->op->num_vars + i, gtype_names[e->var_types[i]]);
}
printf("\nConditions, P %lf:\n", e->eff_p);/* july 06 */
print_Wff( e->conditions, 0 );
printf("\nEffect Literals");
for ( l = e->effects; l; l = l->next ) {
if ( l->negated ) {
printf("\nNOT ");
} else {
printf("\n");
}
print_Fact( &(l->fact) );
}
}
}
void print_MixedOperator( MixedOperator *o )
{
int i, m;
Effect *e;
NumericEffect *ne;
Literal *l;
printf("\n\n----------------Operator %s, mixed form--------------\n",
o->operator->name);
for ( i = 0; i < o->operator->num_vars; i++ ) {
printf("\nx%d = %s of type ", i, gconstants[o->inst_table[i]]);
print_type( o->operator->var_types[i] );
}
printf("\nPreconds:\n");
for ( i = 0; i < o->num_preconds; i++ ) {
print_Fact( &(o->preconds[i]) );
printf("\n");
}
for ( i = 0; i < o->num_numeric_preconds; i++ ) {
switch ( o->numeric_preconds_comp[i] ) {
case LE:
printf("(< ");
break;
case LEQ:
printf("(<= ");
break;
case EQ:
printf("(= ");
break;
case GEQ:
printf("(>= ");
break;
case GE:
printf("(> ");
break;
default:
printf("\nwrong comparator of Expnodes in mixedpre %d\n\n",
o->numeric_preconds_comp[i]);
exit( 1 );
}
print_ExpNode( o->numeric_preconds_lh[i] );
print_ExpNode( o->numeric_preconds_rh[i] );
printf(")\n");
}
m = 0;
printf("\n\nEffects:");
for ( e = o->effects; e; e = e->next ) {
printf("\n\neffect %d, parameters %d", m++, e->num_vars);
for ( i = 0; i < e->num_vars; i++ ) {
printf("\nx%d of type %s",
o->operator->num_vars + i, gtype_names[e->var_types[i]]);
}
printf("\nConditions\n");
print_Wff( e->conditions, 0 );
printf("\nEffect Literals");
for ( l = e->effects; l; l = l->next ) {
if ( l->negated ) {
printf("\nNOT ");
} else {
printf("\n");
}
print_Fact( &(l->fact) );
}
printf("\nNumeric Effects");
for ( ne = e->numeric_effects; ne; ne = ne->next ) {
switch ( ne->neft ) {
case ASSIGN:
printf("\nassign ");
break;
case SCALE_UP:
printf("\nscale-up ");
break;
case SCALE_DOWN:
printf("\nscale-down ");
break;
case INCREASE:
printf("\nincrease ");
break;
case DECREASE:
printf("\ndecrease ");
break;
default:
printf("\n\nprint effect: illegal neft %d\n\n", ne->neft);
exit( 1 );
}
print_Fluent( &(ne->fluent) );
print_ExpNode( ne->rh );
}
}
}
void print_Operator( Operator *o )
{
Effect *e;
Literal *l;
NumericEffect *ne;
int i, m = 0;
printf("\n\n----------------Operator %s, translated form, step 1--------------\n", o->name);
for ( i = 0; i < o->num_vars; i++ ) {
printf("\nx%d (%s) of type %s, removed ? %s",
i, o->var_names[i], gtype_names[o->var_types[i]],
o->removed[i] ? "YES" : "NO");
}
printf("\ntotal params %d, real params %d\n",
o->num_vars, o->number_of_real_params);
printf("\nPreconds:\n");
print_Wff( o->preconds, 0 );
printf("\n\nEffects:");
for ( e = o->effects; e; e = e->next ) {
printf("\n\neffect %d, parameters %d", m++, e->num_vars);
for ( i = 0; i < e->num_vars; i++ ) {
printf("\nx%d (%s) of type %s",
o->num_vars + i, e->var_names[i], gtype_names[e->var_types[i]]);
}
printf("\nConditions\n");
print_Wff( e->conditions, 0 );
printf("\nEffect Literals");
for ( l = e->effects; l; l = l->next ) {
if ( l->negated ) {
printf("\nNOT ");
} else {
printf("\n");
}
print_Fact( &(l->fact) );
}
printf("\nNumeric Effects");
for ( ne = e->numeric_effects; ne; ne = ne->next ) {
switch ( ne->neft ) {
case ASSIGN:
printf("\nassign ");
break;
case SCALE_UP:
printf("\nscale-up ");
break;
case SCALE_DOWN:
printf("\nscale-down ");
break;
case INCREASE:
printf("\nincrease ");
break;
case DECREASE:
printf("\ndecrease ");
break;
default:
printf("\n\nprint effect: illegal neft %d\n\n", ne->neft);
exit( 1 );
}
print_Fluent( &(ne->fluent) );
print_ExpNode( ne->rh );
}
}
}
void print_Wff( WffNode *n, int indent )
{
WffNode *i;
if ( !n ) {
printf("none\n");
return;
}
switch (n->connective) {
case ALL:
printf("ALL x%d (%s): %s\n", n->var, n->var_name,
gtype_names[n->var_type]);
print_indent(indent);
printf("( ");
print_Wff(n->son,indent+4);
print_indent(indent);
printf(")\n");
break;
case EX:
printf("EX x%d (%s) : %s\n", n->var, n->var_name,
gtype_names[n->var_type]);
print_indent(indent);
printf("( ");
print_Wff(n->son,indent+4);
print_indent(indent);
printf(")\n");
break;
case AND:
printf("A( ");
print_Wff(n->sons, indent+4);
if ( n->sons ) {
for ( i = n->sons->next; i!=NULL; i = i->next ) {
if ( !i->prev ) {
printf("\nprev in AND not correctly set!\n\n");
exit( 1 );
}
print_indent(indent);
printf("AND ");
print_Wff(i,indent+4);
}
}
print_indent(indent);
printf(")\n");
break;
case OR:
printf("O( ");
print_Wff(n->sons, indent+4);
for ( i = n->sons->next; i!=NULL; i = i->next ) {
print_indent(indent);
printf("OR ");
print_Wff(i,indent+4);
}
print_indent(indent);
printf(")\n");
break;
case NOT:
if (ATOM==n->son->connective) {
printf("NOT ");
print_Wff(n->son,indent+4);
} else {
printf("NOT(");
print_Wff(n->son,indent+4);
print_indent(indent+3);
printf(")\n");
}
break;
case ATOM:
print_Fact(n->fact);
if ( n->NOT_p != -1 ) printf(" - translation NOT");
printf("\n");
break;
case TRU:
printf("(TRUE)\n");
break;
case FAL:
printf("(FALSE)\n");
break;
case COMP:
switch (n->comp) {
case LE:
printf("(< ");
break;
case LEQ:
printf("(<= ");
break;
case EQ:
printf("(= ");
break;
case GEQ:
printf("(>= ");
break;
case GE:
printf("(> ");
break;
default:
printf("\nwrong comparator of Expnodes in WFF %d\n\n", n->comp);
exit( 1 );
}
print_ExpNode( n->lh );
print_ExpNode( n->rh );
printf(")\n");
break;
default:
printf("\n***** ERROR ****");
printf("\nprint_Wff: %d > Wrong Node specifier\n", n->connective);
exit(1);
}
}
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_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 );
}