void print_fl_name( int index )
{
int i;
if ( index < 0 ) {
if ( index != -2 ) {
printf("[UNDEF]");
} else {
printf("[TOTAL-TIME]");
}
return;
}
if ( grelevant_fluents_lnf[index] == NULL ) {
/* this is a non-artificial "atomic" one
* (or the mirrored version of one)
*/
printf("[RF%d](%s)", index, grelevant_fluents_name[index]);
} else {
/* this only summarizes a LNF requirement
*/
printf("[artRF%d]", index);
for ( i = 0; i < grelevant_fluents_lnf[index]->num_pF; i++ ) {
printf("%.2f*", grelevant_fluents_lnf[index]->pC[i] );
print_fl_name( grelevant_fluents_lnf[index]->pF[i] );
if ( i < grelevant_fluents_lnf[index]->num_pF - 1 ) {
printf(" + ");
}
}
}
}
void print_ExpNode( ExpNode *n )
{
if ( !n ) return;
switch ( n->connective) {
case AD:
printf("(+ ");
print_ExpNode( n->leftson );
print_ExpNode( n->rightson );
printf(")");
break;
case SU:
printf("(- ");
print_ExpNode( n->leftson );
print_ExpNode( n->rightson );
printf(")");
break;
case MU:
printf("(* ");
print_ExpNode( n->leftson );
print_ExpNode( n->rightson );
printf(")");
break;
case DI:
printf("(/ ");
print_ExpNode( n->leftson );
print_ExpNode( n->rightson );
printf(")");
break;
case MINUS:
printf("(- ");
print_ExpNode( n->son );
printf(")");
break;
case NUMBER:
printf("%.2f", n->value);
break;
case FHEAD:
if ( n->fluent ) {
print_Fluent( n->fluent );
} else {
if ( n->fl >= 0 ) {
printf(" %.2f*", n->c);
print_fl_name( n->fl );
} else {
printf("[UNDEF]");
}
}
break;
default:
printf("\n\nprint Expnode: wrong specifier %d",
n->connective);
}
}
void print_LnfExpNode( LnfExpNode *n )
{
int i;
printf("((");
for ( i = 0; i < n->num_pF; i++ ) {
printf("%.2f*", n->pC[i]);
print_fl_name( n->pF[i] );
}
printf(") - (");
for ( i = 0; i < n->num_nF; i++ ) {
printf("%.2f*", n->nC[i]);
print_fl_name( n->nF[i] );
}
printf(") + %.2f)", n->c);
}
void print_State( State S )
{
int i;
for ( i = 0; i < S.num_F; i++ ) {
printf("\n");
print_ft_name( S.F[i] );
}
for ( i = 0; i < gnum_relevant_fluents; i++ ) {
printf("\n");
print_fl_name( i );
printf(": ");
if ( S.f_D[i] ) {
printf("%.2f", S.f_V[i]);
} else {
printf("UNDEF");
}
}
}
void print_Action( Action *a )
{
ActionEffect *e;
int i, j;
if ( !a->norm_operator &&
!a->pseudo_action ) {
printf("\n\nAction REACH-GOAL");
} else {
printf("\n\nAction %s ID %d", a->name, a->id );
for ( i = 0; i < a->num_name_vars; i++ ) {
printf(" %s", gconstants[a->name_inst_table[i]]);
}
}
printf("\n\nPreconds:\n");
for ( i = 0; i < a->num_preconds; i++ ) {
print_ft_name( a->preconds[i] );
printf("\n");
}
for ( i = 0; i < a->num_numeric_preconds; i++ ) {
switch ( a->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 actionpre %d\n\n",
a->numeric_preconds_comp[i]);
exit( 1 );
}
print_ExpNode( a->numeric_preconds_lh[i] );
print_ExpNode( a->numeric_preconds_rh[i] );
printf(")\n");
}
printf("\n\nEffects:");
for ( j = 0; j < a->num_effects; j++ ) {
e = &(a->effects[j]);
printf("\n\neffect %d ID %d", j, e->id);
printf("\n\nConditions\n");
for ( i = 0; i < e->num_conditions; i++ ) {
print_ft_name( e->conditions[i] );
printf("\n");
}
for ( i = 0; i < e->num_numeric_conditions; i++ ) {
switch ( e->numeric_conditions_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 normeff %d\n\n",
e->numeric_conditions_comp[i]);
exit( 1 );
}
print_ExpNode( e->numeric_conditions_lh[i] );
print_ExpNode( e->numeric_conditions_rh[i] );
printf(")\n");
}
printf("\nAdds\n");
for ( i = 0; i < e->num_adds; i++ ) {
print_ft_name( e->adds[i] );
printf("\n");
}
printf("\nDels\n");
for ( i = 0; i < e->num_dels; i++ ) {
print_ft_name( e->dels[i] );
printf("\n");
}
for ( i = 0; i < e->num_numeric_effects; i++ ) {
switch ( e->numeric_effects_neft[i] ) {
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 normop: illegal neft %d\n\n",
e->numeric_effects_neft[i]);
exit( 1 );
}
if ( e->numeric_effects_fl[i] >= 0 ) {
print_fl_name( e->numeric_effects_fl[i] );
} else {
printf("[UNDEF]");
}
print_ExpNode( e->numeric_effects_rh[i] );
}
}
}
void print_lnf_Action( Action *a )
{
ActionEffect *e;
int i, j;
if ( !a->norm_operator &&
!a->pseudo_action ) {
printf("\n\nAction REACH-GOAL");
} else {
printf("\n\nAction %s", a->name );
for ( i = 0; i < a->num_name_vars; i++ ) {
printf(" %s", gconstants[a->name_inst_table[i]]);
}
}
printf("\n\nPreconds:\n");
for ( i = 0; i < a->num_preconds; i++ ) {
print_ft_name( a->preconds[i] );
printf("\n");
}
for ( i = 0; i < a->num_lnf_preconds; i++ ) {
switch ( a->lnf_preconds_comp[i] ) {
case GEQ:
printf("(>= ");
break;
case GE:
printf("(> ");
break;
default:
printf("\nwrong comparator of Expnodes in lnf actionpre %d\n\n",
a->lnf_preconds_comp[i]);
exit( 1 );
}
print_LnfExpNode( a->lnf_preconds_lh[i] );
printf(" %.2f)\n", a->lnf_preconds_rh[i]);
}
printf("\n\nEffects:");
for ( j = 0; j < a->num_effects; j++ ) {
printf("\n\neffect %d COST %f", j, a->effects[j].cost);
e = &(a->effects[j]);
if ( e->illegal ) printf(" ILLEGAL EFFECT!");
if ( e->removed ) printf(" REMOVED!!!");
printf("\n\nConditions\n");
for ( i = 0; i < e->num_conditions; i++ ) {
print_ft_name( e->conditions[i] );
printf("\n");
}
for ( i = 0; i < e->num_lnf_conditions; i++ ) {
switch ( e->lnf_conditions_comp[i] ) {
case GEQ:
printf("(>= ");
break;
case GE:
printf("(> ");
break;
default:
printf("\nwrong comparator of Expnodes in lnf normeff %d\n\n",
e->lnf_conditions_comp[i]);
exit( 1 );
}
print_LnfExpNode( e->lnf_conditions_lh[i] );
printf(" %.2f)\n", e->lnf_conditions_rh[i] );
}
printf("\nAdds\n");
for ( i = 0; i < e->num_adds; i++ ) {
print_ft_name( e->adds[i] );
printf("\n");
}
printf("\nDels\n");
for ( i = 0; i < e->num_dels; i++ ) {
print_ft_name( e->dels[i] );
printf("\n");
}
for ( i = 0; i < e->num_lnf_effects; i++ ) {
switch ( e->lnf_effects_neft[i] ) {
case ASSIGN:
printf("\nassign ");
break;
case INCREASE:
printf("\nincrease ");
break;
default:
printf("\n\nprint lnf normop: illegal neft %d\n\n",
e->lnf_effects_neft[i]);
exit( 1 );
}
if ( e->lnf_effects_fl[i] >= 0 ) {
print_fl_name( e->lnf_effects_fl[i] );
} else {
printf("[UNDEF]");
}
print_LnfExpNode( e->lnf_effects_rh[i] );
}
}
}
