New Generators for pruning init and goal #83
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Two new generators - one removes facts from init - one replaces literals from the goal with true
| """ | ||
| def get_successors(self, state): | ||
| task = state[KEY_IN_STATE] | ||
| init_facts = task.init |
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Do we need a copy here? init_facts = list(task.init)
| @@ -83,3 +83,40 @@ def get_successors(self, state): | |||
| visitors.TaskElementEraseObjectVisitor(name)) | |||
| yield Successor(child_state, | |||
| f"Removed object '{name}'. Remaining objects: {len(task.objects) - 1}") | |||
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| class RemoveInit(SuccessorGenerator): | |||
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Removing a fact from init makes the task simpler in the sense that the PDDL is smaller but it might become harder to solve. Should we also add a generator that adds facts to the initial state? You couldn't use them both without running into an infinite loop but either one could be useful.
| self.the_fact = fact | ||
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| def visit_task(self, task): | ||
| new_init = [atom for atom in task.init if isinstance(atom, Assign) or atom != self.the_fact] |
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What is the relevance of the isinstance(atom, Assign) check? Is this for PDDL functions?
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| class GetLiteralsVisitor: | ||
| """A visitor that returns the literals contains in a formula""" |
| return Truth() if atom == self.the_literal else negated_atom | ||
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| class GetLiteralsVisitor: |
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I'm not sure a visitor makes sense here. Wouldn't a recursive function be a better fit?
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This commit adds two new generators for PDDL. One is for pruning init the other for pruning goal.