void create_final_initial_state( void )
{
Facts *f;
int i, adr;
for ( f = ginitial; f; f = f->next ) {
lp = f->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = f->fact->args[i];
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {/* non deleted ini */
continue;
}
if ( ginitial_state.num_F == MAX_STATE ) {
printf("\ntoo many initial facts! increase MAX_STATE(%d)\n\n",
MAX_STATE);
exit( 1 );
}
ginitial_state.F[ginitial_state.num_F++] = lindex[lp][adr];
}
}
// void set_relevants_in_wff( WffNode **w )
int set_relevants_in_wff( WffNode **w )
/*
* End of DEA
*/
{
WffNode *i;
int j, adr;
switch ( (*w)->connective ) {
case AND:
case OR:
for ( i = (*w)->sons; i; i = i->next ) {
set_relevants_in_wff( &i );
}
break;
case ATOM:
/* no equalities, as fully instantiated
*/
lp = (*w)->fact->predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = (*w)->fact->args[j];
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {
(*w)->connective = TRU;
free( (*w)->fact );
(*w)->fact = NULL;
break;
}
if ( !lpos[lp][adr] ) {
(*w)->connective = FAL;
free( (*w)->fact );
(*w)->fact = NULL;
break;
}
break;
default:
printf("\n\nwon't get here: non NOT,OR,AND in goal set relevants\n\n");
/*
* DEA - University of Brescia
*/
exit( 1 );
/*
* End of DEA
*/
}
/*
* DEA - University of Brescia
*/
return 0;
/*
* End of DEA
*/
}
void create_final_initial_state( void )
{
Facts *f;
int i, adr;
for ( f = ginitial; f; f = f->next ) {
lp = f->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = f->fact->args[i];
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {/* non deleted ini */
continue;
}
ginitial_state.F[ginitial_state.num_F++] = lindex[lp][adr];
}
}
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 );
}
}
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");
}
}
}
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 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 collect_relevant_facts( void )
{
Action *a;
Operator *o;
int i, j, adr;
/* mark all deleted facts; such facts, that are also pos, are relevant.
*/
for ( a = gactions; a; a = a->next ) {
o = goperators[a->op];
for ( i = 0; i < o->num_dels; i++ ) {
lp = o->dels[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = GET_CONSTANT( o->dels[i].args[j], a );
}
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++;
}
}
}
/* now build final action instances
*/
for ( a = gactions; a; a = a->next ) {
o = goperators[a->op];
for ( i = 0; i < o->num_preconds; i++ ) {
lp = o->preconds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = GET_CONSTANT( o->preconds[i].args[j], a );
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {
continue;
}
a->preconds[a->num_preconds++] = lindex[lp][adr];
}
for ( i = 0; i < o->num_adds; i++ ) {
lp = o->adds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = GET_CONSTANT( o->adds[i].args[j], a );
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {
continue;
}
a->adds[a->num_adds++] = lindex[lp][adr];
}
for ( i = 0; i < o->num_dels; i++ ) {
lp = o->dels[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = GET_CONSTANT( o->dels[i].args[j], a );
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {
continue;
}
a->dels[a->num_dels++] = lindex[lp][adr];
}
}
/* build final initial and goal representation
*/
ginitial_state.num_F = 0;
for ( i = 0; i < gnum_initial; i++ ) {
lp = ginitial[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ginitial[i].args[j];
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {
continue;
}
ginitial_state.F[ginitial_state.num_F++] = lindex[lp][adr];
}
ggoal_state.num_F = 0;
for ( i = 0; i < gnum_goal; i++ ) {
lp = ggoal[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ggoal[i].args[j];
}
adr = fact_adress();
if ( !lneg[lp][adr] ) {
continue;
}
ggoal_state.F[ggoal_state.num_F++] = lindex[lp][adr];
}
if ( gcmd_line.display_info == 110 ) {
printf("\n\nfinal domain representation:");
printf("\n\nall actions:");
for ( a = gactions; a; a = a->next ) {
print_Action( a );
}
printf("\n\ninitial_state:");
for ( i = 0; i < ginitial_state.num_F; i++ ) {
printf("\n");
print_ft_name( ginitial_state.F[i] );
}
printf("\n\ngoal_state:");
for ( i = 0; i < ggoal_state.num_F; i++ ) {
printf("\n");
print_ft_name( ggoal_state.F[i] );
}
}
}
void perform_reachability_analysis( void )
{
int size, i, j, adr;
Bool fixpoint;
ActionTemplate *t1, *t2, *t3;
Operator *o;
Action *tmp, *a;
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] = 0;
luse[i][j] = 0;
lindex[i][j] = -1;
}
}
/* mark initial facts as possibly positive
*/
for ( i = 0; i < gnum_initial; i++ ) {
lp = ginitial[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ginitial[i].args[j];
}
lpos[lp][fact_adress()] = 1;
}
/* compute fixpoint
*/
fixpoint = FALSE;
while ( !fixpoint ) {
fixpoint = TRUE;
t1 = gtemplates;
while ( t1 ) {
o = goperators[t1->op];
for ( i = 0; i < o->num_preconds; i++ ) {
lp = o->preconds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = GET_CONSTANT( o->preconds[i].args[j], t1 );
}
if ( !lpos[lp][fact_adress()] ) {
break;
}
}
if ( i < o->num_preconds ) {
break;
}
for ( i = 0; i < o->num_adds; i++ ) {
lp = o->adds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = GET_CONSTANT( o->adds[i].args[j], t1 );
}
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( t1->op );
for ( i = 0; i < o->num_vars; i++ ) {
tmp->inst_table[i] = t1->inst_table[i];
}
tmp->next = gactions;
gactions = tmp;
gnum_actions++;
t2 = t1;
t1 = t1->next;
free_single_ActionTemplate( t2 );
}
gtemplates = t1;
t3 = t1;
if ( t1 ) t1 = t1->next;
while ( t1 ) {
o = goperators[t1->op];
for ( i = 0; i < o->num_preconds; i++ ) {
lp = o->preconds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = GET_CONSTANT( o->preconds[i].args[j], t1 );
}
if ( !lpos[lp][fact_adress()] ) {
break;
}
}
if ( i == o->num_preconds ) {
for ( i = 0; i < o->num_adds; i++ ) {
lp = o->adds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = GET_CONSTANT( o->adds[i].args[j], t1 );
}
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( t1->op );
for ( i = 0; i < o->num_vars; i++ ) {
tmp->inst_table[i] = t1->inst_table[i];
}
tmp->next = gactions;
gactions = tmp;
gnum_actions++;
t3->next = t1->next;
t2 = t1;
t1 = t1->next;
free_single_ActionTemplate( t2 );
} else {
t3 = t3->next;
t1 = t1->next;
}
}
}
gnum_pp_facts = gnum_initial + gnum_relevant_facts;
if ( gcmd_line.display_info == 109 ) {
printf("\nreachability analysys came up with:");
printf("\n\npossibly positive facts:");
for ( i = 0; i < gnum_initial; i++ ) {
printf("\n");
print_Fact( &(ginitial[i]) );
}
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->op != i ) {
continue;
}
printf("\ntemplate: ");
for ( j = 0; j < goperators[i]->num_vars; j++ ) {
printf("%s", gconstants[a->inst_table[j]]);
if ( j < goperators[i]->num_vars-1 ) {
printf(" ");
}
}
}
}
printf("\n\n");
}
/* if a goal is not possibly positive, the problem
* is unsolvable.
*/
for ( i = 0; i < gnum_goal; i++ ) {
lp = ggoal[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ggoal[i].args[j];
}
if ( !lpos[lp][fact_adress()] ) {
printf("\nproblem is unsolvable! goals can't be reached\n\n");
output_planner_info();
}
}
}
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");
}
}