void free_NormOperator( NormOperator *o )
{
int i;
if ( o ) {
if ( o->preconds ) {
free( o->preconds );
}
if ( o->numeric_preconds_comp ) {
free( o->numeric_preconds_comp );
}
for ( i = 0; i < o->num_numeric_preconds; i++ ) {
free_ExpNode( o->numeric_preconds_lh[i] );
free_ExpNode( o->numeric_preconds_rh[i] );
}
if ( o->numeric_preconds_lh ) {
free( o->numeric_preconds_lh );
}
if ( o->numeric_preconds_rh ) {
free( o->numeric_preconds_rh );
}
free_NormEffect( o->effects );
free( o );
}
}
void free_NormEffect( NormEffect *e )
{
int i;
if ( e ) {
free_NormEffect( e->next );
if ( e->conditions ) {
free( e->conditions );
}
if ( e->adds ) {
free( e->adds );
}
if ( e->dels ) {
free( e->dels );
}
if ( e->numeric_conditions_comp ) {
free( e->numeric_conditions_comp );
}
for ( i = 0; i < e->num_numeric_conditions; i++ ) {
free_ExpNode( e->numeric_conditions_lh[i] );
free_ExpNode( e->numeric_conditions_rh[i] );
}
if ( e->numeric_conditions_lh ) {
free( e->numeric_conditions_lh );
}
if ( e->numeric_conditions_rh ) {
free( e->numeric_conditions_rh );
}
if ( e->numeric_effects_neft ) {
free( e->numeric_effects_neft );
}
if ( e->numeric_effects_fluent ) {
free( e->numeric_effects_fluent );
}
for ( i = 0; i < e->num_numeric_effects; i++ ) {
free_ExpNode( e->numeric_effects_rh[i] );
}
if ( e->numeric_effects_rh ) {
free( e->numeric_effects_rh );
}
free( e );
}
}
void free_NormOperator( NormOperator *o )
{
if ( o ) {
if ( o->preconds ) {
free( o->preconds );
}
free_NormEffect( o->effects );
free( o );
}
}
void free_NormEffect( NormEffect *e )
{
if ( e ) {
free_NormEffect( e->next );
if ( e->conditions ) {
free( e->conditions );
}
if ( e->adds ) {
free( e->adds );
}
if ( e->dels ) {
free( e->dels );
}
free( e );
}
}
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 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;
}
}
void multiply_easy_non_constrained_effect_parameters( int curr_parameter )
{
int t, n, i, j, k, p, par, a;
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++ ) {
a = ( tmp->conditions[j].predicate < 0 ) ?
2 : garity[tmp->conditions[j].predicate];
for ( k = 0; k < a; 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 ( p == -1 &&
tmp->conditions[i].args[0] > 0 &&
tmp->conditions[i].args[1] > 0 ) {
if ( tmp->conditions[i].args[0] !=
tmp->conditions[i].args[1] ) {
free_NormEffect( tmp );
return;
} else {
rem = TRUE;
}
}
if ( p == -2 &&
tmp->conditions[i].args[0] > 0 &&
tmp->conditions[i].args[1] > 0 ) {
if ( tmp->conditions[i].args[0] ==
tmp->conditions[i].args[1] ) {
free_NormEffect( tmp );
return;
} else {
rem = TRUE;
}
}
if ( p > 0 ) {
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;
a = ( tmp->conditions[j+1].predicate < 0 ) ?
2 : garity[tmp->conditions[j+1].predicate];
for ( k = 0; k < a; 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 );
}
lo->inst_table[lmultiply_parameters[curr_parameter]] = -1;
}
