void remove_unused_parameters( void )
{
Operator *o;
Bool used[MAX_VARS];
int i, i1, i2, i3;
for ( i = 0; i < gnum_operators; i++ ) {
o = goperators[i];
for ( i1 = 0; i1 < MAX_VARS; i1++ ) {
used[i1] = FALSE;
}
for ( i1 = 0; i1 < o->num_preconds; i1++ ) {
for ( i2 = 0; i2 < garity[o->preconds[i1].predicate]; i2++ ) {
if ( o->preconds[i1].args[i2] < 0 ) {
used[DECODE_VAR( o->preconds[i1].args[i2] )] = TRUE;
}
}
}
for ( i1 = 0; i1 < o->num_adds; i1++ ) {
for ( i2 = 0; i2 < garity[o->adds[i1].predicate]; i2++ ) {
if ( o->adds[i1].args[i2] < 0 ) {
used[DECODE_VAR( o->adds[i1].args[i2])] = TRUE;
}
}
}
for ( i1 = 0; i1 < o->num_dels; i1++ ) {
for ( i2 = 0; i2 < garity[o->dels[i1].predicate]; i2++ ) {
if ( o->dels[i1].args[i2] < 0 ) {
used[DECODE_VAR( o->dels[i1].args[i2])] = TRUE;
}
}
}
i1 = 0;
i3 = 0;
while ( i1 < o->num_vars ) {
if ( used[i1] ) {
i1++;
} else {
printf("\nwarning: parameter x%d of op %s is not used. skipping it.",
i3, o->name);
for ( i2 = i1; i2 < o->num_vars-1; i2++ ) {
o->var_types[i2] = o->var_types[i2+1];
used[i2] = used[i2+1];
}
decrement_var_entries( o, i1 );
o->num_vars--;
}
i3++;
}
}
}
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 print_Fact( Fact *f )
{
int j;
if ( f->predicate == -3 ) {
printf("GOAL-REACHED");
return;
}
if ( f->predicate == -1 ) {
printf("(=");
for ( j=0; j<2; j++ ) {
printf(" ");
if ( f->args[j] >= 0 ) {
printf("%s", gconstants[(f->args)[j]]);
} else {
printf("x%d", DECODE_VAR( f->args[j] ));
}
}
printf(")");
return;
}
if ( f->predicate == -2 ) {
printf("(!=");
for ( j=0; j<2; j++ ) {
printf(" ");
if ( f->args[j] >= 0 ) {
printf("%s", gconstants[(f->args)[j]]);
} else {
printf("x%d", DECODE_VAR( f->args[j] ));
}
}
printf(")");
return;
}
printf("(%s", gpredicates[f->predicate]);
for ( j=0; j<garity[f->predicate]; j++ ) {
printf(" ");
if ( f->args[j] >= 0 ) {
printf("%s", gconstants[(f->args)[j]]);
} else {
printf("x%d", DECODE_VAR( f->args[j] ));
}
}
printf(")");
}
void print_Fact_file( FILE* OUT, Fact *f )
{
int j;
if ( f->predicate == -3 ) {
fprintf(OUT,"GOAL-REACHED");
return;
}
if ( f->predicate == -1 ) {
fprintf(OUT,"(=");
for ( j=0; j<2; j++ ) {
fprintf(OUT," ");
if ( f->args[j] >= 0 ) {
fprintf(OUT,"%s", gconstants[(f->args)[j]]);
} else {
fprintf(OUT,"x%d", DECODE_VAR( f->args[j] ));
}
}
fprintf(OUT,")");
return;
}
if ( f->predicate == -2 ) {
fprintf(OUT,"(!=");
for ( j=0; j<2; j++ ) {
fprintf(OUT," ");
if ( f->args[j] >= 0 ) {
fprintf(OUT,"%s", gconstants[(f->args)[j]]);
} else {
fprintf(OUT,"x%d", DECODE_VAR( f->args[j] ));
}
}
fprintf(OUT,")");
return;
}
fprintf(OUT,"(%s", gpredicates[f->predicate]);
for ( j=0; j<garity[f->predicate]; j++ ) {
fprintf(OUT," ");
if ( f->args[j] >= 0 ) {
fprintf(OUT,"%s", gconstants[(f->args)[j]]);
} else {
fprintf(OUT,"x%d", DECODE_VAR( f->args[j] ));
}
}
fprintf(OUT,")");
}
void make_instantiate_numeric_effects( PseudoActionEffect *e, NumericEffect *ne )
{
int m = 0, i;
NumericEffect *n;
for ( n = ne; n; n = n->next ) m++;
e->numeric_effects_neft = ( NumericEffectType * ) calloc( m, sizeof( NumericEffectType ) );
e->numeric_effects_fluent = ( Fluent * ) calloc( m, sizeof( Fluent ) );
e->numeric_effects_rh = ( ExpNode_pointer * ) calloc( m, sizeof( ExpNode_pointer ) );
e->num_numeric_effects = m;
m = 0;
for ( n = ne; n; n = n->next ) {
e->numeric_effects_neft[m] = n->neft;
e->numeric_effects_fluent[m].function = n->fluent.function;
for ( i = 0; i < gf_arity[n->fluent.function]; i++ ) {
e->numeric_effects_fluent[m].args[i] = ( n->fluent.args[i] < 0 ) ?
linst_table[DECODE_VAR( n->fluent.args[i] )] : n->fluent.args[i];
}
e->numeric_effects_rh[m] = copy_Exp( n->rh );
instantiate_exp( &(e->numeric_effects_rh[m]) );
m++;
}
}
void unify_easy_inertia_preconds( int curr_inertia )
{
int p, i, j, af, hh;
int args[MAX_VARS];
int affected_params[MAX_VARS];
int num_affected_params = 0;
if ( curr_inertia == lnum_inertia_conds ) {
multiply_easy_non_constrained_op_parameters( 0 );
return;
}
p = lo->preconds[linertia_conds[curr_inertia]].predicate;
for ( i = 0; i < garity[p]; i++ ) {
args[i] = lo->preconds[linertia_conds[curr_inertia]].args[i];
if ( args[i] < 0 ) {
hh = DECODE_VAR( args[i] );
if ( lo->inst_table[hh] != -1 ) {
args[i] = lo->inst_table[hh];
} else {
affected_params[num_affected_params++] = hh;
}
}
}
for ( i = 0; i < gnum_initial_predicate[p]; i++ ) {
af = 0;
for ( j = 0; j < garity[p]; j++ ) {
if ( args[j] >= 0 ) {
if ( args[j] != ginitial_predicate[p][i].args[j] ) {
break;
} else {
continue;
}
}
/* check whether that constant has the correct type for that
* parameter (can be not fulfilled due to encoding of unary inertia
*/
if ( !gis_member[ginitial_predicate[p][i].args[j]][lo->var_types[affected_params[af]]] ) {
break;
}
/* legal constant; set op parameter instantiation to it
*/
lo->inst_table[affected_params[af++]] = ginitial_predicate[p][i].args[j];
}
if ( j < garity[p] ) {
continue;
}
unify_easy_inertia_preconds( curr_inertia + 1 );
}
for ( i = 0; i < num_affected_params; i++ ) {
lo->inst_table[affected_params[i]] = -1;
}
}
void unify_easy_inertia_conditions( int curr_inertia )
{
int p, i, j, af, hh;
int args[MAX_VARS];
int affected_params[MAX_VARS];
int num_affected_params = 0;
if ( curr_inertia == lnum_inertia_conds ) {
multiply_easy_non_constrained_effect_parameters( 0 );
return;
}
p = le->conditions[linertia_conds[curr_inertia]].predicate;
for ( i = 0; i < garity[p]; i++ ) {
args[i] = le->conditions[linertia_conds[curr_inertia]].args[i];
if ( args[i] < 0 ) {
hh = DECODE_VAR( args[i] );
hh -= lo->num_vars;
if ( le->inst_table[hh] != -1 ) {
args[i] = le->inst_table[hh];
} else {
affected_params[num_affected_params++] = hh;
}
}
}
for ( i = 0; i < gnum_initial_predicate[p]; i++ ) {
af = 0;
for ( j = 0; j < garity[p]; j++ ) {
if ( args[j] >= 0 ) {
if ( args[j] != ginitial_predicate[p][i].args[j] ) {
break;
} else {
continue;
}
}
le->inst_table[affected_params[af++]] = ginitial_predicate[p][i].args[j];
}
if ( j < garity[p] ) {
continue;
}
unify_easy_inertia_conditions( curr_inertia + 1 );
}
for ( i = 0; i < num_affected_params; i++ ) {
le->inst_table[affected_params[i]] = -1;
}
}
void make_instantiate_literals( PseudoActionEffect *e, Literal *ll )
{
int ma = 0, md = 0, i;
Literal *l;
for ( l = ll; l; l = l->next ) {
if ( l->negated ) {
md++;
} else {
ma++;
}
}
e->adds = ( Fact * ) calloc( ma, sizeof( Fact ) );
e->dels = ( Fact * ) calloc( md, sizeof( Fact ) );
for ( l = ll; l; l = l->next ) {
if ( l->negated ) {
e->dels[e->num_dels].predicate = l->fact.predicate;
for ( i = 0; i < garity[l->fact.predicate]; i++ ) {
e->dels[e->num_dels].args[i] = ( l->fact.args[i] < 0 ) ?
linst_table[DECODE_VAR( l->fact.args[i] )] : l->fact.args[i];
}
e->num_dels++;
} else {
e->adds[e->num_adds].predicate = l->fact.predicate;
for ( i = 0; i < garity[l->fact.predicate]; i++ ) {
e->adds[e->num_adds].args[i] = ( l->fact.args[i] < 0 ) ?
linst_table[DECODE_VAR( l->fact.args[i] )] : l->fact.args[i];
}
e->num_adds++;
}
}
}
void print_Fluent( Fluent *f )
{
int j, ff = f->function;
printf("(%s", gfunctions[ff]);
for ( j=0; j<gf_arity[ff]; j++ ) {
printf(" ");
if ( f->args[j] >= 0 ) {
printf("%s", gconstants[(f->args)[j]]);
} else {
printf("x%d", DECODE_VAR( f->args[j] ));
}
}
printf(")");
}
void decrement_inferior_vars_in_literals( int var, Literal *ef )
{
Literal *l;
int i;
for ( l = ef; l; l = l->next ) {
for ( i = 0; i < garity[l->fact.predicate]; i++ ) {
if ( l->fact.args[i] >= 0 ) {
continue;
}
if ( DECODE_VAR( l->fact.args[i] ) > var ) {
l->fact.args[i]++;
}
}
}
}
void decrement_inferior_vars_in_numeric_effects( int var, NumericEffect *ef )
{
NumericEffect *l;
int i;
for ( l = ef; l; l = l->next ) {
for ( i = 0; i < gf_arity[l->fluent.function]; i++ ) {
if ( l->fluent.args[i] >= 0 ) {
continue;
}
if ( DECODE_VAR( l->fluent.args[i] ) > var ) {
l->fluent.args[i]++;
}
}
decrement_inferior_vars_in_exp( var, l->rh );
}
}
void perform_reachability_analysis( void )
{
int size, i, j, k, adr, num, pargtype;
Bool fixpoint;
Facts *f;
NormOperator *no;
EasyTemplate *t1, *t2;
NormEffect *ne;
Action *tmp, *a;
Bool *had_hard_template;
PseudoAction *pa;
PseudoActionEffect *pae;
gactions = NULL;
gnum_actions = 0;
for ( i = 0; i < gnum_predicates; i++ ) {
size = 1;
for ( j = 0; j < garity[i]; j++ ) {
pargtype = gpredicates_args_type[i][j];
size *= gtype_size[pargtype];
}
lpos[i] = ( int_pointer ) calloc( size, sizeof( int ) );
lneg[i] = ( int_pointer ) calloc( size, sizeof( int ) );
luse[i] = ( int_pointer ) calloc( size, sizeof( int ) );
lindex[i] = ( int_pointer ) calloc( size, sizeof( int ) );
for ( j = 0; j < size; j++ ) {
lpos[i][j] = 0;
lneg[i][j] = 1;/* all facts but initials are poss. negative */
luse[i][j] = 0;
lindex[i][j] = -1;
}
}
had_hard_template = ( Bool * ) calloc( gnum_hard_templates, sizeof( Bool ) );
for ( i = 0; i < gnum_hard_templates; i++ ) {
had_hard_template[i] = FALSE;
}
/* mark initial facts as possibly positive, not poss. negative
*/
for ( i = 0; i < gnum_predicates; i++ ) {
lp = i;
for ( j = 0; j < gnum_initial_predicate[i]; j++ ) {
for ( k = 0; k < garity[i]; k++ ) {
largs[k] = ginitial_predicate[i][j].args[k];
}
adr = fact_adress();
lpos[lp][adr] = 1;
lneg[lp][adr] = 0;
}
}
/* compute fixpoint
*/
fixpoint = FALSE;
while ( !fixpoint ) {
fixpoint = TRUE;
/* assign next layer of easy templates to possibly positive fixpoint
*/
t1 = geasy_templates;
while ( t1 ) {
no = t1->op;
for ( i = 0; i < no->num_preconds; i++ ) {
lp = no->preconds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( no->preconds[i].args[j] >= 0 ) ?
no->preconds[i].args[j] : t1->inst_table[DECODE_VAR( no->preconds[i].args[j] )];
}
if ( !lpos[lp][fact_adress()] ) {
break;
}
}
if ( i < no->num_preconds ) {
t1 = t1->next;
continue;
}
num = 0;
for ( ne = no->effects; ne; ne = ne->next ) {
num++;
/* currently, simply ignore effect conditions and assume
* they will all be made true eventually.
*/
for ( i = 0; i < ne->num_adds; i++ ) {
lp = ne->adds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( ne->adds[i].args[j] >= 0 ) ?
ne->adds[i].args[j] : t1->inst_table[DECODE_VAR( ne->adds[i].args[j] )];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {
/* new relevant fact! (added non initial)
*/
lpos[lp][adr] = 1;
lneg[lp][adr] = 1;
luse[lp][adr] = 1;
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\ntoo many relevant facts! increase MAX_RELEVANT_FACTS (currently %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = lp;
for ( j = 0; j < garity[lp]; j++ ) {
grelevant_facts[gnum_relevant_facts].args[j] = largs[j];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
fixpoint = FALSE;
}
}
}
tmp = new_Action();
tmp->norm_operator = no;
for ( i = 0; i < no->num_vars; i++ ) {
tmp->inst_table[i] = t1->inst_table[i];
}
tmp->name = no->operator->name;
tmp->num_name_vars = no->operator->number_of_real_params;
make_name_inst_table_from_NormOperator( tmp, no, t1 );
tmp->next = gactions;
tmp->num_effects = num;
gactions = tmp;
gnum_actions++;
t2 = t1->next;
if ( t1->next ) {
t1->next->prev = t1->prev;
}
if ( t1->prev ) {
t1->prev->next = t1->next;
} else {
geasy_templates = t1->next;
}
free_single_EasyTemplate( t1 );
t1 = t2;
}
/* now assign all hard templates that have not been transformed
* to actions yet.
*/
for ( i = 0; i < gnum_hard_templates; i++ ) {
if ( had_hard_template[i] ) {
continue;
}
pa = ghard_templates[i];
for ( j = 0; j < pa->num_preconds; j++ ) {
lp = pa->preconds[j].predicate;
for ( k = 0; k < garity[lp]; k++ ) {
largs[k] = pa->preconds[j].args[k];
}
if ( !lpos[lp][fact_adress()] ) {
break;
}
}
if ( j < pa->num_preconds ) {
continue;
}
for ( pae = pa->effects; pae; pae = pae->next ) {
/* currently, simply ignore effect conditions and assume
* they will all be made true eventually.
*/
for ( j = 0; j < pae->num_adds; j++ ) {
lp = pae->adds[j].predicate;
for ( k = 0; k < garity[lp]; k++ ) {
largs[k] = pae->adds[j].args[k];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {
/* new relevant fact! (added non initial)
*/
lpos[lp][adr] = 1;
lneg[lp][adr] = 1;
luse[lp][adr] = 1;
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\ntoo many relevant facts! increase MAX_RELEVANT_FACTS (currently %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = lp;
for ( k = 0; k < garity[lp]; k++ ) {
grelevant_facts[gnum_relevant_facts].args[k] = largs[k];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
fixpoint = FALSE;
}
}
}
tmp = new_Action();
tmp->pseudo_action = pa;
for ( j = 0; j < pa->operator->num_vars; j++ ) {
tmp->inst_table[j] = pa->inst_table[j];
}
tmp->name = pa->operator->name;
tmp->num_name_vars = pa->operator->number_of_real_params;
make_name_inst_table_from_PseudoAction( tmp, pa );
tmp->next = gactions;
tmp->num_effects = pa->num_effects;
gactions = tmp;
gnum_actions++;
had_hard_template[i] = TRUE;
}
}
free( had_hard_template );
gnum_pp_facts = gnum_initial + gnum_relevant_facts;
if ( gcmd_line.display_info == 118 ) {
printf("\nreachability analysys came up with:");
printf("\n\npossibly positive facts:");
for ( f = ginitial; f; f = f->next ) {
printf("\n");
print_Fact( f->fact );
}
for ( i = 0; i < gnum_relevant_facts; i++ ) {
printf("\n");
print_Fact( &(grelevant_facts[i]) );
}
printf("\n\nthis yields these %d action templates:", gnum_actions);
for ( i = 0; i < gnum_operators; i++ ) {
printf("\n\noperator %s:", goperators[i]->name);
for ( a = gactions; a; a = a->next ) {
if ( ( a->norm_operator &&
a->norm_operator->operator != goperators[i] ) ||
( a->pseudo_action &&
a->pseudo_action->operator != goperators[i] ) ) {
continue;
}
printf("\ntemplate: ");
for ( j = 0; j < goperators[i]->number_of_real_params; j++ ) {
printf("%s", gconstants[a->name_inst_table[j]]);
if ( j < goperators[i]->num_vars-1 ) {
printf(" ");
}
}
}
}
printf("\n\n");
}
}
void unify_easy_inertia_preconds( int curr_inertia )
{
int p, i, j, k, af, hh;
int args[MAX_VARS];
int affected_params[MAX_VARS];
int num_affected_params = 0;
if ( curr_inertia == lnum_inertia_conds ) {
multiply_easy_non_constrained_op_parameters( 0 );
return;
}
p = lo->preconds[linertia_conds[curr_inertia]].predicate;
for ( i = 0; i < garity[p]; i++ ) {
args[i] = lo->preconds[linertia_conds[curr_inertia]].args[i];
if ( args[i] < 0 ) {
hh = DECODE_VAR( args[i] );
if ( lo->inst_table[hh] != -1 ) {
args[i] = lo->inst_table[hh];
} else {
affected_params[num_affected_params++] = hh;
}
}
}
for ( i = 0; i < gnum_initial_predicate[p]; i++ ) {
af = 0;
for ( j = 0; j < garity[p]; j++ ) {
if ( args[j] >= 0 ) {
if ( args[j] != ginitial_predicate[p][i].args[j] ) {
break;
} else {
continue;
}
}
/* see if we have that constant already in instantiation;
* if so, skip this inertia: op params are assumed different!
*/
/*
if ( lused_constant[ginitial_predicate[p][i].args[j]] ) {
break;
}
*/
/* legal constant; set op parameter instantiation to it
*/
lo->inst_table[affected_params[af++]] = ginitial_predicate[p][i].args[j];
lused_constant[ginitial_predicate[p][i].args[j]] = TRUE;
}
if ( j < garity[p] ) {
for ( k = 0; k < af; k++ ) {
lused_constant[lo->inst_table[affected_params[k]]] = FALSE;
}
continue;
}
unify_easy_inertia_preconds( curr_inertia + 1 );
for ( j = 0; j < num_affected_params; j++ ) {
lused_constant[lo->inst_table[affected_params[j]]] = FALSE;
}
}
for ( i = 0; i < num_affected_params; i++ ) {
lo->inst_table[affected_params[i]] = -1;
}
}
void unify_inertia_preconds( int curr_inertia )
{
int p, i, j, k, af;
int args[MAX_VARS];
int affected_params[MAX_VARS];
int num_affected_params = 0;
if ( curr_inertia == lnum_inertia_preconds ) {
multiply_parameters( 0 );
return;
}
/* might be possible to implement this more effective by
* collecting the arg vectors for each inertia as a preprocess
* and setting, when instantiating a parameter, all the occurences
* in the following inertia arg vectors to the appropriate constant
* value.
*
* affected parameters are also the same on each call for a single inertia,
* so this is unnecessary recomputing.
*/
p = lo->preconds[linertia_preconds[curr_inertia]].predicate;
for ( i = 0; i < garity[p]; i++ ) {
args[i] = lo->preconds[linertia_preconds[curr_inertia]].args[i];
if ( args[i] < 0 &&
lo->inst_table[DECODE_VAR( args[i] )] != -1 ) {
args[i] = lo->inst_table[DECODE_VAR( args[i] )];
}
if ( args[i] < 0 ) {
affected_params[num_affected_params++] = DECODE_VAR( args[i] );
}
}
for ( i = 0; i < gnum_inertia; i++ ) {
if ( ginertia[i].predicate != p ) {
continue;
}
af = 0;
for ( j = 0; j < garity[p]; j++ ) {
if ( args[j] >= 0 ) {
if ( args[j] != ginertia[i].args[j] ) {
break;
} else {
continue;
}
}
/* see if we have that constant already in instantiation;
* if so, skip this inertia: op params are assumed different!
*/
if ( lused_constant[ginertia[i].args[j]] ) {
break;
}
/* check whether that constant has the correct type for that
* parameter
*/
if ( !gis_member[ginertia[i].args[j]][lo->var_types[affected_params[af]]] ) {
break;
}
/* legal constant; set op parameter instantiation to it
*/
lo->inst_table[affected_params[af++]] = ginertia[i].args[j];
lused_constant[ginertia[i].args[j]] = TRUE;
}
if ( j < garity[p] ) {
for ( k = 0; k < af; k++ ) {
lused_constant[lo->inst_table[affected_params[k]]] = FALSE;
}
continue;
}
unify_inertia_preconds( curr_inertia + 1 );
for ( j = 0; j < num_affected_params; j++ ) {
lused_constant[lo->inst_table[affected_params[j]]] = FALSE;
}
}
for ( i = 0; i < num_affected_params; i++ ) {
lo->inst_table[affected_params[i]] = -1;
}
}
void multiply_easy_non_constrained_effect_parameters( int curr_parameter )
{
int t, n, i, j, k, p, par;
NormEffect *tmp;
Bool rem;
if ( curr_parameter == lnum_multiply_parameters ) {
/* create new effect, adjusting conds to inst, and
* partially instantiating effects;
*
* add result to lres
*/
tmp = new_NormEffect2( le );
/* instantiate param occurences
*/
for ( i = 0; i < le->num_vars; i++ ) {
par = lo->num_vars + i;
/* numerical part
*/
for ( j = 0; j < tmp->num_numeric_conditions; j++ ) {
replace_var_with_const_in_exp( &(tmp->numeric_conditions_lh[j]),
par, le->inst_table[i] );
}
for ( j = 0; j < tmp->num_numeric_conditions; j++ ) {
replace_var_with_const_in_exp( &(tmp->numeric_conditions_rh[j]),
par, le->inst_table[i] );
}
/* was that already enough to get numbers? if yes,
* see whether comparison holds or not.
*/
j = 0;
while ( j < tmp->num_numeric_conditions ) {
if ( tmp->numeric_conditions_lh[j]->connective == NUMBER &&
tmp->numeric_conditions_rh[j]->connective == NUMBER ) {
if ( number_comparison_holds( tmp->numeric_conditions_comp[j],
tmp->numeric_conditions_lh[j]->value,
tmp->numeric_conditions_rh[j]->value ) ) {
free_ExpNode( tmp->numeric_conditions_lh[j] );
free_ExpNode( tmp->numeric_conditions_rh[j] );
for ( k = j; k < tmp->num_numeric_conditions-1; k++ ) {
tmp->numeric_conditions_comp[k] = tmp->numeric_conditions_comp[k+1];
tmp->numeric_conditions_lh[k] = tmp->numeric_conditions_lh[k+1];
tmp->numeric_conditions_rh[k] = tmp->numeric_conditions_rh[k+1];
}
tmp->num_numeric_conditions--;
} else {
free_NormEffect( tmp );
return;
}
} else {
j++;
}
}
for ( j = 0; j < tmp->num_numeric_effects; j++ ) {
for ( k = 0; k < gf_arity[tmp->numeric_effects_fluent[j].function]; k++ ) {
if ( tmp->numeric_effects_fluent[j].args[k] == ENCODE_VAR( par ) ) {
tmp->numeric_effects_fluent[j].args[k] = le->inst_table[i];
}
}
}
for ( j = 0; j < tmp->num_numeric_effects; j++ ) {
replace_var_with_const_in_exp( &(tmp->numeric_effects_rh[j]),
par, le->inst_table[i] );
}
/* logical part
*/
for ( j = 0; j < tmp->num_conditions; j++ ) {
for ( k = 0; k < garity[tmp->conditions[j].predicate]; k++ ) {
if ( tmp->conditions[j].args[k] == ENCODE_VAR( par ) ) {
tmp->conditions[j].args[k] = le->inst_table[i];
}
}
}
for ( j = 0; j < tmp->num_adds; j++ ) {
for ( k = 0; k < garity[tmp->adds[j].predicate]; k++ ) {
if ( tmp->adds[j].args[k] == ENCODE_VAR( par ) ) {
tmp->adds[j].args[k] = le->inst_table[i];
}
}
}
for ( j = 0; j < tmp->num_dels; j++ ) {
for ( k = 0; k < garity[tmp->dels[j].predicate]; k++ ) {
if ( tmp->dels[j].args[k] == ENCODE_VAR( par ) ) {
tmp->dels[j].args[k] = le->inst_table[i];
}
}
}
}
/* adjust conditions
*/
i = 0;
while ( i < tmp->num_conditions ) {
rem = FALSE;
p = tmp->conditions[i].predicate;
if ( !gis_added[p] &&
!gis_deleted[p] ) {
for ( j = 0; j < garity[p]; j++ ) {
if ( tmp->conditions[i].args[j] < 0 &&
DECODE_VAR( tmp->conditions[i].args[j] < lo->num_vars ) ) {
break;
}
}
if ( j == garity[p] ) {
/* inertia that constrain only effect params have been unified,
* are therefore TRUE
*/
rem = TRUE;
}
}
if ( rem ) {
for ( j = i; j < tmp->num_conditions - 1; j++ ) {
tmp->conditions[j].predicate = tmp->conditions[j+1].predicate;
for ( k = 0; k < garity[tmp->conditions[j+1].predicate]; k++ ) {
tmp->conditions[j].args[k] = tmp->conditions[j+1].args[k];
}
}
tmp->num_conditions--;
} else {
i++;
}
}
/* add result to lres
*/
if ( lres ) {
lres->prev = tmp;
}
tmp->next = lres;
lres = tmp;
return;
}
t = le->var_types[lmultiply_parameters[curr_parameter]];
n = gtype_size[t];
for ( i = 0; i < n; i++ ) {
le->inst_table[lmultiply_parameters[curr_parameter]] = gtype_consts[t][i];
multiply_easy_non_constrained_effect_parameters( curr_parameter + 1 );
}
le->inst_table[lmultiply_parameters[curr_parameter]] = -1;
}
void create_final_actions( void )
{
Action *a;
NormOperator *no;
NormEffect *ne;
int i, j, adr, h;
PseudoAction *pa;
PseudoActionEffect *pae;
for ( a = gactions; a; a = a->next ) {
if ( a->norm_operator ) {
/* action comes from an easy template NormOp
*/
no = a->norm_operator;
if ( no->num_preconds > 0 ) {
a->preconds = ( int * ) calloc( no->num_preconds, sizeof( int ) );
}
a->num_preconds = 0;
for ( i = 0; i < no->num_preconds; i++ ) {
lp = no->preconds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( no->preconds[i].args[j] >= 0 ) ?
no->preconds[i].args[j] : a->inst_table[DECODE_VAR( no->preconds[i].args[j] )];
}
adr = fact_adress();
/* preconds are lpos in all cases due to reachability analysis
*/
if ( !lneg[lp][adr] ) {
continue;
}
a->preconds[a->num_preconds++] = lindex[lp][adr];
}
if ( a->num_effects > 0 ) {
a->effects = ( ActionEffect * ) calloc( a->num_effects, sizeof( ActionEffect ) );
}
a->num_effects = 0;
for ( ne = no->effects; ne; ne = ne->next ) {
if ( ne->num_conditions > 0 ) {
a->effects[a->num_effects].conditions =
( int * ) calloc( ne->num_conditions, sizeof( int ) );
}
a->effects[a->num_effects].num_conditions = 0;
for ( i = 0; i < ne->num_conditions; i++ ) {
lp = ne->conditions[i].predicate;
h = ( lp < 0 ) ? 2 : garity[lp];
for ( j = 0; j < h; j++ ) {
largs[j] = ( ne->conditions[i].args[j] >= 0 ) ?
ne->conditions[i].args[j] : a->inst_table[DECODE_VAR( ne->conditions[i].args[j] )];
}
if ( lp >= 0 ) {
adr = fact_adress();
if ( !lpos[lp][adr] ) {/* condition not reachable: skip effect */
break;
}
if ( !lneg[lp][adr] ) {/* condition always true: skip it */
continue;
}
a->effects[a->num_effects].conditions[a->effects[a->num_effects].num_conditions++] =
lindex[lp][adr];
} else {
if ( lp == -2 ) {
if ( largs[0] == largs[1] ) break;
} else {
if ( largs[0] != largs[1] ) break;
}
}
}
if ( i < ne->num_conditions ) {/* found unreachable condition: free condition space */
free( a->effects[a->num_effects].conditions );
continue;
}
/* now create the add and del effects.
*/
if ( ne->num_adds > 0 ) {
a->effects[a->num_effects].adds = ( int * ) calloc( ne->num_adds, sizeof( int ) );
}
a->effects[a->num_effects].num_adds = 0;
for ( i = 0; i < ne->num_adds; i++ ) {
lp = ne->adds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( ne->adds[i].args[j] >= 0 ) ?
ne->adds[i].args[j] : a->inst_table[DECODE_VAR( ne->adds[i].args[j] )];
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {/* effect always true: skip it */
continue;
}
a->effects[a->num_effects].adds[a->effects[a->num_effects].num_adds++] = lindex[lp][adr];
}
if ( ne->num_dels > 0 ) {
a->effects[a->num_effects].dels = ( int * ) calloc( ne->num_dels, sizeof( int ) );
}
a->effects[a->num_effects].num_dels = 0;
for ( i = 0; i < ne->num_dels; i++ ) {
lp = ne->dels[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( ne->dels[i].args[j] >= 0 ) ?
ne->dels[i].args[j] : a->inst_table[DECODE_VAR( ne->dels[i].args[j] )];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {/* effect always false: skip it */
continue;
}
a->effects[a->num_effects].dels[a->effects[a->num_effects].num_dels++] = lindex[lp][adr];
}
/* this effect is OK. go to next one in NormOp.
*/
a->num_effects++;
lnum_effects++;
}
continue;
}
if ( a->pseudo_action ) {
/* action is result of a PseudoAction
*/
pa = a->pseudo_action;
if ( pa->num_preconds > 0 ) {
a->preconds = ( int * ) calloc( pa->num_preconds, sizeof( int ) );
}
a->num_preconds = 0;
for ( i = 0; i < pa->num_preconds; i++ ) {
lp = pa->preconds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = pa->preconds[i].args[j];
}
adr = fact_adress();
/* preconds are lpos in all cases due to reachability analysis
*/
if ( !lneg[lp][adr] ) {
continue;
}
a->preconds[a->num_preconds++] = lindex[lp][adr];
}
if ( a->num_effects > 0 ) {
a->effects = ( ActionEffect * ) calloc( a->num_effects, sizeof( ActionEffect ) );
}
a->num_effects = 0;
for ( pae = pa->effects; pae; pae = pae->next ) {
if ( pae->num_conditions > 0 ) {
a->effects[a->num_effects].conditions =
( int * ) calloc( pae->num_conditions, sizeof( int ) );
}
a->effects[a->num_effects].num_conditions = 0;
for ( i = 0; i < pae->num_conditions; i++ ) {
lp = pae->conditions[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = pae->conditions[i].args[j];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {/* condition not reachable: skip effect */
break;
}
if ( !lneg[lp][adr] ) {/* condition always true: skip it */
continue;
}
a->effects[a->num_effects].conditions[a->effects[a->num_effects].num_conditions++] =
lindex[lp][adr];
}
if ( i < pae->num_conditions ) {/* found unreachable condition: free condition space */
free( a->effects[a->num_effects].conditions );
continue;
}
/* now create the add and del effects.
*/
if ( pae->num_adds > 0 ) {
a->effects[a->num_effects].adds = ( int * ) calloc( pae->num_adds, sizeof( int ) );
}
a->effects[a->num_effects].num_adds = 0;
for ( i = 0; i < pae->num_adds; i++ ) {
lp = pae->adds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = pae->adds[i].args[j];
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {/* effect always true: skip it */
continue;
}
a->effects[a->num_effects].adds[a->effects[a->num_effects].num_adds++] = lindex[lp][adr];
}
if ( pae->num_dels > 0 ) {
a->effects[a->num_effects].dels = ( int * ) calloc( pae->num_dels, sizeof( int ) );
}
a->effects[a->num_effects].num_dels = 0;
for ( i = 0; i < pae->num_dels; i++ ) {
lp = pae->dels[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = pae->dels[i].args[j];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {/* effect always false: skip it */
continue;
}
a->effects[a->num_effects].dels[a->effects[a->num_effects].num_dels++] = lindex[lp][adr];
}
/* this effect is OK. go to next one in PseudoAction.
*/
a->num_effects++;
lnum_effects++;
}
}/* end of if clause for PseudoAction */
/* if action was neither normop, nor pseudo action determined,
* then it is an artificial action due to disjunctive goal
* conditions.
*
* these are already in final form.
*/
}/* endfor all actions ! */
}
void multiply_easy_effect_parameters( void )
{
int i, j, k, l, p, par;
NormEffect *e;
for ( i = 0; i < gnum_easy_operators; i++ ) {
lo = geasy_operators[i];
lres = NULL;
for ( e = lo->effects; e; e = e->next ) {
le = e;
lnum_inertia_conds = 0;
for ( j = 0; j < e->num_conditions; j++ ) {
for ( k = 0; k < garity[e->conditions[j].predicate]; k++ ) {
if ( e->conditions[j].args[k] < 0 &&
DECODE_VAR( e->conditions[j].args[k] ) < lo->num_vars ) {
break;
}
}
if ( k < garity[e->conditions[j].predicate] ) {
/* only consider inertia constraining effect parameters
*/
continue;
}
if ( !gis_added[e->conditions[j].predicate] &&
!gis_deleted[e->conditions[j].predicate] ) {
linertia_conds[lnum_inertia_conds++] = j;
}
}
lnum_multiply_parameters = 0;
for ( j = 0; j < e->num_vars; j++ ) {
par = lo->num_vars + j;
for ( k = 0; k < lnum_inertia_conds; k++ ) {
p = e->conditions[linertia_conds[k]].predicate;
for ( l = 0; l < garity[p]; l++ ) {
if ( e->conditions[linertia_conds[k]].args[l] ==
ENCODE_VAR( par ) ) {
break;
}
}
if ( l < garity[p] ) {
break;
}
}
if ( k < lnum_inertia_conds ) {
continue;
}
lmultiply_parameters[lnum_multiply_parameters++] = j;
}
unify_easy_inertia_conditions( 0 );
}
free_NormEffect( lo->effects );
lo->effects = lres;
}
}
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 perform_reachability_analysis( void )
{
int size, i, j, k, adr, num;
Bool fixpoint;
Facts *f;
NormOperator *no;
EasyTemplate *t1, *t2;
NormEffect *ne;
Action *tmp, *a;
Bool *had_hard_template;
PseudoAction *pa;
PseudoActionEffect *pae;
/*
* DEA - University of Brescia
*/
int numero, kk, kkk;
WffNode *precs, *n;
/*
* End of DEA
*/
gactions = NULL;
gnum_actions = 0;
for ( i = 0; i < gnum_predicates; i++ ) {
size = 1;
for ( j = 0; j < garity[i]; j++ ) {
size *= gnum_constants;
}
lpos[i] = ( int_pointer ) calloc( size, sizeof( int ) );
lneg[i] = ( int_pointer ) calloc( size, sizeof( int ) );
luse[i] = ( int_pointer ) calloc( size, sizeof( int ) );
lindex[i] = ( int_pointer ) calloc( size, sizeof( int ) );
for ( j = 0; j < size; j++ ) {
lpos[i][j] = 0;
lneg[i][j] = 1;/* all facts but initials are poss. negative */
luse[i][j] = 0;
lindex[i][j] = -1;
}
}
had_hard_template = ( Bool * ) calloc( gnum_hard_templates, sizeof( Bool ) );
for ( i = 0; i < gnum_hard_templates; i++ ) {
had_hard_template[i] = FALSE;
}
/* mark initial facts as possibly positive, not poss. negative
*/
for ( i = 0; i < gnum_predicates; i++ ) {
lp = i;
for ( j = 0; j < gnum_initial_predicate[i]; j++ ) {
for ( k = 0; k < garity[i]; k++ ) {
largs[k] = ginitial_predicate[i][j].args[k];
}
adr = fact_adress();
lpos[lp][adr] = 1;
lneg[lp][adr] = 0;
}
}
/* compute fixpoint
*/
fixpoint = FALSE;
while ( !fixpoint ) {
fixpoint = TRUE;
/*
* DEA - University of Brescia
*/
/*geasy_templates: action list (instantious operator)
*/
numero = 0;
for (t1 = geasy_templates; t1; t1 = t1->next)
numero++;
if (gcmd_line.display_info == 121)
printf ("\nLe geasy_templates sono %d, le gnum_actions %d", numero, gnum_actions);
/*
* End of DEA
*/
/* assign next layer of easy templates to possibly positive fixpoint
*/
t1 = geasy_templates;
while ( t1 ) {
no = t1->op;
for ( i = 0; i < no->num_preconds; i++ ) {
lp = no->preconds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( no->preconds[i].args[j] >= 0 ) ?
no->preconds[i].args[j] : t1->inst_table[DECODE_VAR( no->preconds[i].args[j] )];
}
/*
* DEA - University of Brescia
*/
//se questa precondizione compare anche tra gli effetti additivi, allora considerala raggiunta
//ATTENZIONE: non e' esattamente corretto; questo check e' volto a gestire il caso di una precondizione over all o at end
//che viene realizzata attraverso un effetto at start - senza qs check l'azione non risulta applicabile
//il problema e' che qui non introduco i check su overall, end, etc: basta che una preco compaia anche tra gli effetti e la considero raggiunta
//ATTENZIONE: saltare questo check se il corrispondente PlOperator e' is_odd
for (kk = 0; kk < no->effects->num_adds; kk++)
{
int this_pred = no->effects->adds[kk].predicate;
if(no->effects->num_adds>MAX_VARS)
{
#ifdef __MY_OUTPUT__
MSG_ERROR ( WAR_MAX_VARS );
#else
printf( WAR_MAX_VARS );
#endif
exit (1);
}
for (kkk = 0; kkk < no->effects->num_adds; kkk++)
these_args[kkk] = (no->effects->adds[kk].args[kkk] >= 0) ?
no->effects->adds[kk].args[kkk] : t1->
inst_table[DECODE_VAR(no->effects->adds[kk].args[kkk])];
//cerco la preco corrente tra gli effetti additivi
//il predicato non coincide: provo con il prossimo effetto
if (this_pred != lp)
continue;
//controllo tutti gli argomenti
for (kkk = 0; kkk < garity[this_pred]; kkk++)
//se ce n'e' almeno uno diverso, non e' lo stesso fatto
if (these_args[kkk] != largs[kkk])
break;
//questo if e' vero se e' lo stesso fatto: l'ho trovato quindi esco
if (kkk == garity[this_pred])
break;
}
//se non ho fatto passare tutti gli effetti, significa che ho trovato la preco tra gli effetti additivi: considero raggiunta la preco, passa a controllare la prossima
if (kk != no->effects->num_adds)
continue;
/* se tale preco non e' raggiunta, esci e vai a qui1 */
/*
* End of DEA
*/
if ( !lpos[lp][fact_adress()] ) {
break;
}
}
if ( i < no->num_preconds ) {
t1 = t1->next;
continue;
}
/*
* DEA - University of Brescia
*/
//ulteriore check: verifico che un predicato inerziale sia effettivamente presente nei fatti iniziali, altrimenti l'azione non e' applicabile
//problema rilevato con Rovers/SimpleTime
precs = no->operator-> preconds;
if (precs->connective == AND)
precs = precs->sons;
for (n = precs; n; n = n->next)
{
//mi e' capitato di trovare un nodo not, con son predicato -1. boh? (problema:Satellite/numeric)
if (n->fact == NULL)
continue;
/*lp=numero di predicato della preco i-esima */
lp = n->fact->predicate;
/*per ciascuno degli argomenti della precondizione */
for (j = 0; j < garity[lp]; j++)
{
/* CONTROLLARE */
largs[j] =(n->fact->args[j] >= 0 ) ? n->fact->args[j]: t1->inst_table[DECODE_VAR (n->fact->args[j])];
}
adr = fact_adress ();
//CHECK1 chiesto da Ivan: se il fatto e' non inerziale e non compare tra le preconds del normoperator, da errore!
//INIZIO CHECK1
if (gis_added[lp] || gis_deleted[lp])
{
for (i = 0; i < no->num_preconds; i++)
{
/*lp=numero di predicato della preco i-esima */
lp1 = no->preconds[i].predicate;
/*per ciascuno degli argomenti della precondizione */
for (j = 0; j < garity[lp1]; j++)
{
/* non ho colto qui perche' ci sono 2 casi, comunque mette in largs[k] il numero di ciascun oggetto */
largs1[j] = (no->preconds[i].args[j] >= 0) ?
no->preconds[i].args[j] : t1->
inst_table[DECODE_VAR (no->preconds[i].args[j])];
}
if ((lp == lp1) && (adr == fact_adress1 ()))
break;
}
if (i == no->num_preconds)
{
if(DEBUG3)
{
printf ("\nAttenzione: uno dei fatti non inerziali non compare tra le preconds del normoperator!\n");
fflush (stdout);
}
assert (0);
}
}
//FINE CHECK1
//se questo fatto viene aggiunto, non e' necessario verificarlo -> passo al prossimo
if (gis_added[lp])
continue;
//Se il fatto non e' stato raggiunto, non posso applicare l'azione: esco dal for
if (!lpos[lp][fact_adress ()])
break;
}
//se ho fatto un break prima di finire le preco, significa che un predicato inerziale non compare nei fatti iniziali
if (n != NULL)
{
//passo quindi ad esaminare la prossima azione
t1 = t1->next;
continue;
}
/*
* End of DEA
*/
num = 0;
for ( ne = no->effects; ne; ne = ne->next ) {
num++;
/* currently, simply ignore effect conditions and assume
* they will all be made true eventually.
*/
for ( i = 0; i < ne->num_adds; i++ ) {
lp = ne->adds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( ne->adds[i].args[j] >= 0 ) ?
ne->adds[i].args[j] : t1->inst_table[DECODE_VAR( ne->adds[i].args[j] )];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {
/* new relevant fact! (added non initial)
*/
lpos[lp][adr] = 1;
lneg[lp][adr] = 1;
luse[lp][adr] = 1;
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\ntoo many relevant facts! increase MAX_RELEVANT_FACTS (currently %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = lp;
for ( j = 0; j < garity[lp]; j++ ) {
grelevant_facts[gnum_relevant_facts].args[j] = largs[j];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
fixpoint = FALSE;
}
}
}
/*
* DEA - University of Brescia
*/
check_time_and_length (0); /* con zero non controlla la lunghezza */
/*
* End of DEA
*/
tmp = new_Action();
tmp->norm_operator = no;
for ( i = 0; i < no->num_vars; i++ ) {
tmp->inst_table[i] = t1->inst_table[i];
}
tmp->name = no->operator->name;
tmp->num_name_vars = no->operator->number_of_real_params;
make_name_inst_table_from_NormOperator( tmp, no, t1 );
tmp->next = gactions;
tmp->num_effects = num;
gactions = tmp;
gnum_actions++;
t2 = t1->next;
if ( t1->next ) {
t1->next->prev = t1->prev;
}
if ( t1->prev ) {
t1->prev->next = t1->next;
} else {
geasy_templates = t1->next;
}
free_single_EasyTemplate( t1 );
t1 = t2;
}
/* now assign all hard templates that have not been transformed
* to actions yet.
*/
for ( i = 0; i < gnum_hard_templates; i++ ) {
if ( had_hard_template[i] ) {
continue;
}
pa = ghard_templates[i];
for ( j = 0; j < pa->num_preconds; j++ ) {
lp = pa->preconds[j].predicate;
for ( k = 0; k < garity[lp]; k++ ) {
largs[k] = pa->preconds[j].args[k];
}
if ( !lpos[lp][fact_adress()] ) {
break;
}
}
if ( j < pa->num_preconds ) {
continue;
}
for ( pae = pa->effects; pae; pae = pae->next ) {
/* currently, simply ignore effect conditions and assume
* they will all be made true eventually.
*/
for ( j = 0; j < pae->num_adds; j++ ) {
lp = pae->adds[j].predicate;
for ( k = 0; k < garity[lp]; k++ ) {
largs[k] = pae->adds[j].args[k];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {
/* new relevant fact! (added non initial)
*/
lpos[lp][adr] = 1;
lneg[lp][adr] = 1;
luse[lp][adr] = 1;
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\ntoo many relevant facts! increase MAX_RELEVANT_FACTS (currently %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = lp;
for ( k = 0; k < garity[lp]; k++ ) {
grelevant_facts[gnum_relevant_facts].args[k] = largs[k];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
fixpoint = FALSE;
}
}
}
/*
* DEA - University of Brescia
*/
check_time_and_length (0); /* con zero non controlla la lunghezza */
/*
* End of DEA
*/
tmp = new_Action();
tmp->pseudo_action = pa;
for ( j = 0; j < pa->operator->num_vars; j++ ) {
tmp->inst_table[j] = pa->inst_table[j];
}
tmp->name = pa->operator->name;
tmp->num_name_vars = pa->operator->number_of_real_params;
make_name_inst_table_from_PseudoAction( tmp, pa );
tmp->next = gactions;
tmp->num_effects = pa->num_effects;
gactions = tmp;
gnum_actions++;
had_hard_template[i] = TRUE;
}
}
/*
* DEA - University of Brescia
*/
numero = 0;
for (t1 = geasy_templates; t1; t1 = t1->next)
numero++;
if (gcmd_line.display_info == 121)
printf ("\nLe geasy_templates sono %d, le gnum_actions %d", numero, gnum_actions);
/*
* End of DEA
*/
free( had_hard_template );
gnum_pp_facts = gnum_initial + gnum_relevant_facts;
if ( gcmd_line.display_info == 118 ) {
printf("\nreachability analysys came up with:");
printf("\n\npossibly positive facts:");
for ( f = ginitial; f; f = f->next ) {
printf("\n");
print_Fact( f->fact );
}
for ( i = 0; i < gnum_relevant_facts; i++ ) {
printf("\n");
print_Fact( &(grelevant_facts[i]) );
}
printf("\n\nthis yields these %d action templates:", gnum_actions);
for ( i = 0; i < gnum_operators; i++ ) {
printf("\n\noperator %s:", goperators[i]->name);
for ( a = gactions; a; a = a->next ) {
if ( ( a->norm_operator &&
a->norm_operator->operator != goperators[i] ) ||
( a->pseudo_action &&
a->pseudo_action->operator != goperators[i] ) ) {
continue;
}
printf("\ntemplate: ");
for ( j = 0; j < goperators[i]->number_of_real_params; j++ ) {
printf("%s", gconstants[a->name_inst_table[j]]);
if ( j < goperators[i]->num_vars-1 ) {
printf(" ");
}
}
}
}
printf("\n\n");
}
}
void instantiate_exp( ExpNode **n )
{
int j, f, k, h;
Bool ok;
switch ( (*n)->connective ) {
case AD:
instantiate_exp( &((*n)->leftson) );
instantiate_exp( &((*n)->rightson) );
if ( (*n)->leftson->connective != NUMBER ||
(*n)->rightson->connective != NUMBER ) {
break;
}
(*n)->connective = NUMBER;
(*n)->value = (*n)->leftson->value + (*n)->rightson->value;
free_ExpNode( (*n)->leftson );
(*n)->leftson = NULL;
free_ExpNode( (*n)->rightson );
(*n)->rightson = NULL;
break;
case SU:
instantiate_exp( &((*n)->leftson) );
instantiate_exp( &((*n)->rightson) );
if ( (*n)->leftson->connective != NUMBER ||
(*n)->rightson->connective != NUMBER ) {
break;
}
(*n)->connective = NUMBER;
(*n)->value = (*n)->leftson->value - (*n)->rightson->value;
free_ExpNode( (*n)->leftson );
(*n)->leftson = NULL;
free_ExpNode( (*n)->rightson );
(*n)->rightson = NULL;
break;
case MU:
instantiate_exp( &((*n)->leftson) );
instantiate_exp( &((*n)->rightson) );
if ( (*n)->leftson->connective != NUMBER ||
(*n)->rightson->connective != NUMBER ) {
break;
}
(*n)->connective = NUMBER;
(*n)->value = (*n)->leftson->value * (*n)->rightson->value;
free_ExpNode( (*n)->leftson );
(*n)->leftson = NULL;
free_ExpNode( (*n)->rightson );
(*n)->rightson = NULL;
break;
case DI:
instantiate_exp( &((*n)->leftson) );
instantiate_exp( &((*n)->rightson) );
if ( (*n)->leftson->connective != NUMBER ||
(*n)->rightson->connective != NUMBER ) {
break;
}
if ( (*n)->rightson->value == 0 ) {
/* kind of unclean: simply leave that in here;
* we will later determine the right thing
* to do with it.
*/
break;
}
(*n)->connective = NUMBER;
(*n)->value = (*n)->leftson->value / (*n)->rightson->value;
free_ExpNode( (*n)->leftson );
(*n)->leftson = NULL;
free_ExpNode( (*n)->rightson );
(*n)->rightson = NULL;
break;
case MINUS:
instantiate_exp( &((*n)->son) );
if ( (*n)->son->connective != NUMBER ) break;
(*n)->connective = NUMBER;
(*n)->value = ((float) (-1)) * (*n)->son->value;
free_ExpNode( (*n)->son );
(*n)->son = NULL;
break;
case NUMBER:
break;
case FHEAD:
f = (*n)->fluent->function;
ok = TRUE;
for ( j = 0; j < gf_arity[f]; j++ ) {
h = ( (*n)->fluent->args[j] < 0 ) ?
linst_table[DECODE_VAR( (*n)->fluent->args[j] )] : (*n)->fluent->args[j];
if ( h < 0 ) {
ok = FALSE;
} else {
(*n)->fluent->args[j] = h;
}
}
if ( !ok ) {
break;
}
/* we handle only the case where the fluent is fully instantiated,
* static, and in the initial state.
*/
if ( gis_changed[f] ) break;
for ( j = 0; j < gnum_initial_function[f]; j++ ) {
for ( k = 0; k < gf_arity[f]; k++ ) {
if ( ginitial_function[f][j].fluent.args[k] !=
(*n)->fluent->args[k] ) break;
}
if ( k < gf_arity[f] ) continue;
(*n)->connective = NUMBER;
(*n)->value = ginitial_function[f][j].value;
break;
}
break;
default:
printf("\n\ninst exp: wrong specifier %d",
(*n)->connective);
exit( 1 );
}
}
void collect_relevant_facts( void )
{
Action *a;
NormOperator *no;
NormEffect *ne;
int i, j, adr;
PseudoAction *pa;
PseudoActionEffect *pae;
/* mark all deleted facts; such facts, that are also pos, are relevant.
*/
for ( a = gactions; a; a = a->next ) {
if ( a->norm_operator ) {
no = a->norm_operator;
for ( ne = no->effects; ne; ne = ne->next ) {
for ( i = 0; i < ne->num_dels; i++ ) {
lp = ne->dels[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( ne->dels[i].args[j] >= 0 ) ?
ne->dels[i].args[j] : a->inst_table[DECODE_VAR( ne->dels[i].args[j] )];
}
adr = fact_adress();
lneg[lp][adr] = 1;
if ( lpos[lp][adr] &&
!luse[lp][adr] ) {
luse[lp][adr] = 1;
lindex[lp][adr] = gnum_relevant_facts;
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 = lp;
for ( j = 0; j < garity[lp]; j++ ) {
grelevant_facts[gnum_relevant_facts].args[j] = largs[j];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
}
}
}
} else {
pa = a->pseudo_action;
for ( pae = pa->effects; pae; pae = pae->next ) {
for ( i = 0; i < pae->num_dels; i++ ) {
lp = pae->dels[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = pae->dels[i].args[j];
}
adr = fact_adress();
lneg[lp][adr] = 1;
if ( lpos[lp][adr] &&
!luse[lp][adr] ) {
luse[lp][adr] = 1;
lindex[lp][adr] = gnum_relevant_facts;
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 = lp;
for ( j = 0; j < garity[lp]; j++ ) {
grelevant_facts[gnum_relevant_facts].args[j] = largs[j];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
}
}
}
}
}
if ( gcmd_line.display_info == 119 ) {
printf("\n\nfacts selected as relevant:\n\n");
for ( i = 0; i < gnum_relevant_facts; i++ ) {
printf("\n%d: ", i);
print_Fact( &(grelevant_facts[i]) );
}
}
lnum_effects = 0;
// Chih-Wei
if (GpG.SearchModal != -2)
create_final_goal_state();
create_final_initial_state();
create_final_actions();
if ( gcmd_line.display_info == 120 ) {
printf("\n\nfinal domain representation is:\n\n");
for ( i = 0; i < gnum_operators; i++ ) {
printf("\n\n------------------operator %s-----------\n\n", goperators[i]->name);
for ( a = gactions; a; a = a->next ) {
if ( ( !a->norm_operator &&
!a->pseudo_action ) ||
( a->norm_operator &&
a->norm_operator->operator != goperators[i] ) ||
( a->pseudo_action &&
a->pseudo_action->operator != goperators[i] ) ) {
continue;
}
print_Action( a );
}
}
printf("\n\n--------------------GOAL REACHED ops-----------\n\n");
for ( a = gactions; a; a = a->next ) {
if ( !a->norm_operator &&
!a->pseudo_action ) {
print_Action( a );
}
}
printf("\n\nfinal initial state is:\n\n");
for ( i = 0; i < ginitial_state.num_F; i++ ) {
print_ft_name( ginitial_state.F[i] );
printf("\n");
}
printf("\n\nfinal goal state is:\n\n");
for ( i = 0; i < ggoal_state.num_F; i++ ) {
print_ft_name( ggoal_state.F[i] );
printf("\n");
}
}
}
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;
}
void multiply_easy_non_constrained_effect_parameters( int curr_parameter )
{
int t, n, i, j, k, p, par;
NormEffect *tmp;
Bool rem;
if ( curr_parameter == lnum_multiply_parameters ) {
/* create new effect, adjusting conds to inst, and
* partially instantiating effects;
*
* add result to lres
*/
tmp = new_NormEffect2( le );
/* instantiate param occurences
*/
for ( i = 0; i < le->num_vars; i++ ) {
par = lo->num_vars + i;
for ( j = 0; j < tmp->num_conditions; j++ ) {
for ( k = 0; k < garity[tmp->conditions[j].predicate]; k++ ) {
if ( tmp->conditions[j].args[k] == ENCODE_VAR( par ) ) {
tmp->conditions[j].args[k] = le->inst_table[i];
}
}
}
for ( j = 0; j < tmp->num_adds; j++ ) {
for ( k = 0; k < garity[tmp->adds[j].predicate]; k++ ) {
if ( tmp->adds[j].args[k] == ENCODE_VAR( par ) ) {
tmp->adds[j].args[k] = le->inst_table[i];
}
}
}
for ( j = 0; j < tmp->num_dels; j++ ) {
for ( k = 0; k < garity[tmp->dels[j].predicate]; k++ ) {
if ( tmp->dels[j].args[k] == ENCODE_VAR( par ) ) {
tmp->dels[j].args[k] = le->inst_table[i];
}
}
}
}
/* adjust conditions
*/
i = 0;
while ( i < tmp->num_conditions ) {
rem = FALSE;
p = tmp->conditions[i].predicate;
if ( !gis_added[p] &&
!gis_deleted[p] ) {
for ( j = 0; j < garity[p]; j++ ) {
if ( tmp->conditions[i].args[j] < 0 &&
DECODE_VAR( tmp->conditions[i].args[j] < lo->num_vars ) ) {
break;
}
}
if ( j == garity[p] ) {
/* inertia that constrain only effect params have been unified,
* are therefore TRUE
*/
rem = TRUE;
}
}
if ( rem ) {
for ( j = i; j < tmp->num_conditions - 1; j++ ) {
tmp->conditions[j].predicate = tmp->conditions[j+1].predicate;
for ( k = 0; k < garity[tmp->conditions[j+1].predicate]; k++ ) {
tmp->conditions[j].args[k] = tmp->conditions[j+1].args[k];
}
}
tmp->num_conditions--;
} else {
i++;
}
}
/* add result to lres
*/
if ( lres ) {
lres->prev = tmp;
}
tmp->next = lres;
lres = tmp;
return;
}
t = le->var_types[lmultiply_parameters[curr_parameter]];
n = gtype_size[t];
for ( i = 0; i < n; i++ ) {
le->inst_table[lmultiply_parameters[curr_parameter]] = gtype_consts[t][i];
multiply_easy_non_constrained_effect_parameters( curr_parameter + 1 );
}
le->inst_table[lmultiply_parameters[curr_parameter]] = -1;
}
void remove_unused_easy_parameters( void )
{
int i, i1, i2, i3, a;
NormEffect *e;
Bool used[MAX_VARS];
NormOperator *o;
for ( i = 0; i < gnum_easy_operators; i++ ) {
o = geasy_operators[i];
for ( i1 = 0; i1 < MAX_VARS; i1++ ) {
used[i1] = FALSE;
}
for ( i1 = 0; i1 < o->num_preconds; i1++ ) {
for ( i2 = 0; i2 < garity[o->preconds[i1].predicate]; i2++ ) {
if ( o->preconds[i1].args[i2] < 0 ) {
used[DECODE_VAR( o->preconds[i1].args[i2] )] = TRUE;
}
}
}
for ( e = o->effects; e; e = e->next ) {
for ( i1 = 0; i1 < e->num_conditions; i1++ ) {
a = garity[e->conditions[i1].predicate];
for ( i2 = 0; i2 < a; i2++ ) {
if ( e->conditions[i1].args[i2] < 0 ) {
used[DECODE_VAR( e->conditions[i1].args[i2])] = TRUE;
}
}
}
for ( i1 = 0; i1 < e->num_adds; i1++ ) {
for ( i2 = 0; i2 < garity[e->adds[i1].predicate]; i2++ ) {
if ( e->adds[i1].args[i2] < 0 ) {
used[DECODE_VAR( e->adds[i1].args[i2])] = TRUE;
}
}
}
for ( i1 = 0; i1 < e->num_dels; i1++ ) {
for ( i2 = 0; i2 < garity[e->dels[i1].predicate]; i2++ ) {
if ( e->dels[i1].args[i2] < 0 ) {
used[DECODE_VAR( e->dels[i1].args[i2])] = TRUE;
}
}
}
remove_unused_easy_effect_parameters( o, e );
}
i1 = 0;
i3 = 0;
while ( i1 < o->num_vars ) {
if ( used[i1] ) {
i1++;
} else {
o->type_removed_vars[o->num_removed_vars] = o->var_types[i1];
for ( i2 = i1; i2 < o->num_vars-1; i2++ ) {
o->var_types[i2] = o->var_types[i2+1];
used[i2] = used[i2+1];
}
decrement_var_entries( o, i1 );
o->num_vars--;
o->removed_vars[o->num_removed_vars++] = i3;
}
i3++;
}
}
}
void remove_unused_easy_effect_parameters( NormOperator *o, NormEffect *e )
{
Bool used[MAX_VARS];
int i1, i2, i, j, v, a;
for ( i1 = 0; i1 < MAX_VARS; i1++ ) {
used[i1] = FALSE;
}
for ( i1 = 0; i1 < e->num_conditions; i1++ ) {
a = garity[e->conditions[i1].predicate];
for ( i2 = 0; i2 < a; i2++ ) {
if ( e->conditions[i1].args[i2] < 0 ) {
used[DECODE_VAR( e->conditions[i1].args[i2])] = TRUE;
}
}
}
for ( i1 = 0; i1 < e->num_adds; i1++ ) {
for ( i2 = 0; i2 < garity[e->adds[i1].predicate]; i2++ ) {
if ( e->adds[i1].args[i2] < 0 ) {
used[DECODE_VAR( e->adds[i1].args[i2])] = TRUE;
}
}
}
for ( i1 = 0; i1 < e->num_dels; i1++ ) {
for ( i2 = 0; i2 < garity[e->dels[i1].predicate]; i2++ ) {
if ( e->dels[i1].args[i2] < 0 ) {
used[DECODE_VAR( e->dels[i1].args[i2])] = TRUE;
}
}
}
i1 = 0;
while ( i1 < e->num_vars ) {
v = o->num_vars+i1;
if ( used[v] ) {
i1++;
} else {
for ( i2 = i1; i2 < e->num_vars-1; i2++ ) {
e->var_types[i2] = e->var_types[i2+1];
used[o->num_vars+i2] = used[o->num_vars+i2+1];
}
/* now decrement var entrys higher than o->num_vars+i1
*/
for ( i = 0; i < e->num_conditions; i++ ) {
a = garity[e->conditions[i].predicate];
for ( j = 0; j < a; j++ ) {
if ( e->conditions[i].args[j] < ENCODE_VAR( v ) ) {
e->conditions[i].args[j]++;
}
}
}
for ( i = 0; i < e->num_adds; i++ ) {
for ( j = 0; j < garity[e->adds[i].predicate]; j++ ) {
if ( e->adds[i].args[j] < ENCODE_VAR( v ) ) {
e->adds[i].args[j]++;
}
}
}
for ( i = 0; i < e->num_dels; i++ ) {
for ( j = 0; j < garity[e->dels[i].predicate]; j++ ) {
if ( e->dels[i].args[j] < ENCODE_VAR( v ) ) {
e->dels[i].args[j]++;
}
}
}
e->num_vars--;
}
}
}