void encode_domain_in_integers( void )
{
int i,j;
collect_all_strings();
if ( gcmd_line.display_info == 102 ) {
printf("\nconstant table:");
for ( i = 0; i < gnum_constants; i++ ) {
printf("\n%d --> %s", i, gconstants[i]);
}
printf("\n\ntypes table:");
for ( i = 0; i < gnum_types; i++ ) {
printf("\n%d --> %s: ", i, gtype_names[i]);
for ( j = 0; j < gtype_size[i]; j++ ) {
printf("%d ", gtype_consts[i][j]);
}
}
printf("\n\npredicates table:");
for ( i = 0; i < gnum_predicates; i++ ) {
printf("\n%3d --> %s: ", i, gpredicates[i]);
for ( j = 0; j < garity[i]; j++ ) {
printf("%s ", gtype_names[gpredicates_args_type[i][j]]);
}
}
printf("\n\n");
}
create_integer_representation();
cleanup_domain();
if ( gcmd_line.display_info == 103 ) {
printf("\n\ncoded initial state is:");
for ( i = 0; i < gnum_full_initial; i++ ) {
printf("\n");
print_Fact( &(gfull_initial[i]) );
}
printf("\n\ncoded goal state is:");
for ( i = 0; i < gnum_goal; i++ ) {
printf("\n");
print_Fact( &(ggoal[i]) );
}
printf("\n\ncoded operators are:");
for ( i = 0; i < gnum_operators; i++ ) {
print_Operator( goperators[i] );
}
printf("\n\n");
}
}
void build_hard_action_templates( void )
{
int i, j, size, adr;
MixedOperator *o;
/* if there are no hard ops --> nothing to do!
*/
if ( gnum_hard_operators == 0 ) {
return;
}
/* remove unused params; empty types are already recognised during
* domain translation; have to be handled after (or while)
* unaries encoding (if done), though.
*/
cleanup_hard_domain();
if ( gcmd_line.display_info == 115 ) {
printf("\n\ncleaned up hard domain representation is:\n\n");
for ( i = 0; i < gnum_hard_operators; i++ ) {
print_Operator( ghard_operators[i] );
}
}
/* create local table of instantiated facts that occur in the
* initial state. for fast finding out if fact is in ini or not.
*/
for ( i = 0; i < gnum_predicates; i++ ) {
size = 1;
for ( j = 0; j < garity[i]; j++ ) {
size *= gnum_constants;
}
lini[i] = ( int_pointer ) calloc( size, sizeof( int ) );
for ( j = 0; j < size; j++ ) {
lini[i][j] = 0;
}
for ( j = 0; j < gnum_initial_predicate[i]; j++ ) {
adr = instantiated_fact_adress( &ginitial_predicate[i][j] );
lini[i][adr]++;
}
}
/* create mixed op for each param combination
*/
multiply_hard_op_parameters();
if ( gcmd_line.display_info == 116 ) {
printf("\n\nmixed hard domain representation is:\n\n");
for ( o = ghard_mixed_operators; o; o = o->next ) {
print_MixedOperator( o );
}
}
/* create pseudo op for each mixed op
*/
multiply_hard_effect_parameters();
if ( gcmd_line.display_info == 117 ) {
printf("\n\npseudo hard domain representation is:\n\n");
for ( i = 0; i < gnum_hard_templates; i++ ) {
print_PseudoAction( ghard_templates[i] );
}
}
}
void build_action_templates( void )
{
int i, j, k, l, p;
ActionTemplate *t;
Operator *o;
for ( i = 0; i < gnum_operators; i++ ) {
lo = goperators[i];
lo_num = i;
for ( j = 0; j < gnum_constants; j++ ) {
lused_constant[j] = FALSE;
}
lnum_inertia_preconds = 0;
for ( j = 0; j < lo->num_preconds; j++ ) {
if ( !gis_added[lo->preconds[j].predicate] &&
!gis_deleted[lo->preconds[j].predicate] ) {
linertia_preconds[lnum_inertia_preconds++] = j;
}
}
lnum_multiply_parameters = 0;
for ( j = 0; j < lo->num_vars; j++ ) {
for ( k = 0; k < lnum_inertia_preconds; k++ ) {
p = lo->preconds[linertia_preconds[k]].predicate;
for ( l = 0; l < garity[p]; l++ ) {
if ( lo->preconds[linertia_preconds[k]].args[l] ==
ENCODE_VAR( j ) ) {
break;
}
}
if ( l < garity[p] ) {
break;
}
}
if ( k < lnum_inertia_preconds ) {
continue;
}
lmultiply_parameters[lnum_multiply_parameters++] = j;
}
unify_inertia_preconds( 0 );
}
if ( gcmd_line.display_info == 107 ) {
printf("\n\naction templates:");
for ( i = 0; i < gnum_operators; i++ ) {
printf("\n\noperator %s:", goperators[i]->name);
for ( t = gtemplates; t; t = t->next ) {
if ( t->op != i ) {
continue;
}
printf("\ninst: ");
for ( j = 0; j < goperators[i]->num_vars; j++ ) {
if ( t->inst_table[j] < 0 ) {
printf("\nuninstantiated param in template! debug me, please\n\n");
exit( 1 );
}
printf("x%d = %s", j, gconstants[t->inst_table[j]]);
if ( j < goperators[i]->num_vars - 1 ) {
printf(", ");
}
}
}
}
}
/* now remove inertia preconditions from operator schemata
*/
for ( i = 0; i < gnum_operators; i++ ) {
o = goperators[i];
j = 0;
while ( j < o->num_preconds ) {
if ( !gis_added[o->preconds[j].predicate] &&
!gis_deleted[o->preconds[j].predicate] ) {
for ( k = j; k < o->num_preconds - 1; k++ ) {
o->preconds[k].predicate = o->preconds[k+1].predicate;
for ( l = 0; l < garity[o->preconds[k].predicate]; l++ ) {
o->preconds[k].args[l] = o->preconds[k+1].args[l];
}
}
o->num_preconds--;
} else {
j++;
}
}
}
if ( gcmd_line.display_info == 108 ) {
printf("\n\ninertia free operators are:");
for ( i = 0; i < gnum_operators; i++ ) {
print_Operator( goperators[i] );
}
printf("\n\n");
}
}
void do_inertia_preprocessing( void )
{
int i, j;
collect_inertia_information();
if ( gcmd_line.display_info == 104 ) {
printf("\n\npredicates inertia info:");
for ( i = 0; i < gnum_predicates; i++ ) {
printf("\n%3d --> %s: ", i, gpredicates[i]);
printf(" is %s, %s",
gis_added[i] ? "ADDED" : "NOT ADDED",
gis_deleted[i] ? "DELETED" : "NOT DELETED");
}
printf("\n\n");
}
split_initial_state();
if ( gcmd_line.display_info == 105 ) {
printf("\n\nfull initial state was:");
for ( i = 0; i < gnum_full_initial; i++ ) {
printf("\n");
print_Fact( &(gfull_initial[i]) );
if ( garity[gfull_initial[i].predicate] == 1 ) {
printf(" --> obj. number %d", gfull_initial[i].args[0]);
}
}
printf("\n\nsplitted initial state is:");
printf("\n\nextended types table:");
for ( i = 0; i < gnum_types; i++ ) {
printf("\n%d --> ", i);
if ( gpredicate_to_type[i] == -1 ) {
printf("%s ", gtype_names[i]);
} else {
printf("UNARY INERTIA TYPE (%s) ", gpredicates[gpredicate_to_type[i]]);
}
for ( j = 0; j < gtype_size[i]; j++ ) {
printf("%d ", gtype_consts[i][j]);
}
}
printf("\n\nnon static initial state:");
for ( i = 0; i < gnum_initial; i++ ) {
printf("\n");
print_Fact( &(ginitial[i]) );
}
printf("\n\nstatic initial state:");
for ( i = 0; i < gnum_inertia; i++ ) {
printf("\n");
print_Fact( &(ginertia[i]) );
}
printf("\n\n");
}
encode_unary_inertia_as_types();
remove_ops_with_empty_parameter_types();
remove_unused_parameters();
if ( gcmd_line.display_info == 106 ) {
printf("\n\nfull initial state was:");
for ( i = 0; i < gnum_full_initial; i++ ) {
printf("\n");
print_Fact( &(gfull_initial[i]) );
if ( garity[gfull_initial[i].predicate] == 1 ) {
printf(" --> obj. number %d", gfull_initial[i].args[0]);
}
}
printf("\n\nintersections extended types table:");
for ( i = 0; i < gnum_types; i++ ) {
printf("\n%d --> ", i);
if ( gpredicate_to_type[i] == -1 ) {
if ( gnum_intersected_types[i] == -1 ) {
printf("%s: ", gtype_names[i]);
} else {
printf("INTERSECTED TYPE (");
for ( j = 0; j < gnum_intersected_types[i]; j++ ) {
if ( gpredicate_to_type[gintersected_types[i][j]] == -1 ) {
printf("%s", gtype_names[gintersected_types[i][j]]);
} else {
printf("UNARY INERTIA TYPE (%s)",
gpredicates[gpredicate_to_type[gintersected_types[i][j]]]);
}
if ( j < gnum_intersected_types[i] - 1 ) {
printf(" and ");
}
}
printf("): ");
}
} else {
printf("UNARY INERTIA TYPE (%s): ", gpredicates[gpredicate_to_type[i]]);
}
for ( j = 0; j < gtype_size[i]; j++ ) {
printf("%d ", gtype_consts[i][j]);
}
}
printf("\n\nops with unary inertia preconds encoded:");
for ( i = 0; i < gnum_operators; i++ ) {
print_Operator( goperators[i] );
}
printf("\n\n");
}
}
