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neg_actions.h
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neg_actions.h
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#ifndef NEG_ACT_H
#define NEG_ACT_H
class NegActions : public Actions{
public:
NegActions( parser::pddl::Domain *_od, parser::pddl::Domain *_cd ): Actions( _od, _cd ){}
void addTerminalEffects( const parser::pddl::Action *endact, const String &name, unsigned t, InstVec &ins, unsigned procedures,
unsigned total_instances, unsigned lines, StringDVec& endinstr, StringVec& tests, unsigned negative_instances){
if( t + 1 == total_instances ){
addEffect( name, goal_pred );
}
else{
addEffect( name, tests[ t ], true );
addEffect( name, tests[ t + 1 ] );
int row0 = cd->constantIndex( "ROW-0", "STACKROW" );
for( unsigned line = 1; line <= lines; line++ )
for( unsigned st = 0; st < stack_size; st++ ){
int row = cd->constantIndex( "ROW-"+tostr( st ), "STACKROW" );
addEffect( name, stack_lines[ line ], true, IntVec( 1, row ) );
}
addEffect( name, stack_lines[ 0 ], false, IntVec( 1, row0 ) );
for( unsigned st = 1; st < stack_size; st++ ){
int row = cd->constantIndex( "ROW-"+tostr( st ), "STACKROW" );
addEffect( name, "TOP-STACK", true, IntVec( 1, row ) );
}
addEffect( name, "TOP-STACK", false, IntVec( 1, row0 ) );
addEffect( name, "STACK-MAIN", false, IntVec( 1, row0 ) );
std::vector< std::pair< String , IntVec > > add_eff;
// Add effects of the next instance
unsigned ins_size = ins[ t + 1 ]->init.size();
for ( unsigned i = 0; i < ins_size; i++ ){
parser::pddl::Ground* init = ins[ t + 1 ]->init[ i ];
parser::pddl::Type *t = od->getType( init->name );
StringVec objects = od->objectList( init );
parser::pddl::Lifted *l = od->preds.get( init->name );
IntVec constant_idxs;
for( unsigned k = 0; k < objects.size(); k++ ){
int constant_idx = cd->constantIndex( objects[ k ], od->types[ l->params[ k ] ]->name );
constant_idxs.emplace_back( constant_idx );
}
if( stack_predicates.find( t->name ) != stack_predicates.end() ){ // Add stack row
constant_idxs.emplace_back( row0 );
}
addEffect( name, init->name, false, constant_idxs );
add_eff.emplace_back( std::make_pair( init->name, constant_idxs ) );
}
// Delete fluents of the current instance
for ( unsigned i = 0; i < od->preds.size(); i++ ) {
//if( unclean_effs.find( i ) != unclean_effs.end() ) continue;
if( cd->preds[ i ]->params.size() ){
parser::pddl::Forall * f = new parser::pddl::Forall;
f->params = cd->preds[ i ]->params;
parser::pddl::When *w = new parser::pddl::When();
w->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w->pars )->add( cd->ground( od->preds[ i ]->name, incvec( 0, f->params.size() ) ) );
w->cond = new parser::pddl::Not( cd->ground( od->preds[ i ]->name, incvec( 0, f->params.size() ) ) );
f->cond = w;
( ( parser::pddl::And * )endact->eff )->add( f );
}
else
cd->addEff( 1, name, od->preds[ i ]->name );
}
addEffect( name, "HOLDS", true );
addEffect( name, "CHECKED", true );
if( ( t + 1 + negative_instances ) >= total_instances )
addEffect( name, "NEGEX", false );
addEffect( name, "ACTED", true );
if( compiler_type == "NEG" ){
addEffect( name, "STORED", true );
addEffect( name, "LOOP", true );
// Delete fluents COPY and CORRECT of the current instance
for ( unsigned i = 0; i < od->preds.size(); i++ ) {
String predicate_name = od->preds[ i ]->name;
if( cd->preds[ i ]->params.size() ){
parser::pddl::Forall * f = new parser::pddl::Forall;
f->params = cd->preds[ i ]->params;
parser::pddl::When *w = new parser::pddl::When();
w->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w->pars )->add( cd->ground( "COPY-" + predicate_name , incvec( (endact->params).size(), (endact->params).size() + f->params.size() ) ) );
w->cond = new parser::pddl::Not( cd->ground( "COPY-" + predicate_name , incvec( (endact->params).size(), (endact->params).size() + f->params.size() ) ) );
parser::pddl::When *w2 = new parser::pddl::When();
w2->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w2->pars )->add( cd->ground( "CORRECT-" + predicate_name , incvec( (endact->params).size(), (endact->params).size() + f->params.size() ) ) );
w2->cond = new parser::pddl::Not( cd->ground( "CORRECT-" + predicate_name , incvec( (endact->params).size(), (endact->params).size() + f->params.size() ) ) );
f->cond = new parser::pddl::And();
( ( parser::pddl::And * ) f->cond )->add( w );
( ( parser::pddl::And * ) f->cond )->add( w2 );
( ( parser::pddl::And * ) endact->eff )->add( f );
}
else{
cd->addEff( 1, name, "COPY-" + predicate_name );
cd->addEff( 1, name, "CORRECT-" + predicate_name );
}
}
for( unsigned i = 0; i < stack_lines.size(); i++ ){
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = cd->convertTypes( StringVec( 1, "STACKROW" ) );
f->cond = new parser::pddl::And();
( ( parser::pddl::And * ) f->cond )->add( new parser::pddl::Not( cd->ground( "COPY-" + stack_lines[ i ], IntVec( 1, (endact->params).size() ) ) ) );
( ( parser::pddl::And * ) f->cond )->add( new parser::pddl::Not( cd->ground( "CORRECT-" + stack_lines[ i ], IntVec( 1, (endact->params).size() ) ) ) );
( ( parser::pddl::And * ) endact->eff)->add( f );
}
}
}
}
void createRepeatActions( InstVec &ins, unsigned procedures, unsigned total_instances,
unsigned lines, StringDVec& endinstr, StringVec& tests, unsigned negative_instances){
// Action for the Main in the first stack level
for( unsigned t = 0; t < total_instances; t++ ){
//SStream ss;
//ss << "SKIP-" << t ;
//String name = ss.str();
String name = "SKIP-" + std::to_string( t );
parser::pddl::Action *endact = createAction( name, StringVec() );
addPrecondition( name, tests[ t ] );
addPrecondition( name, "CHECKED" );
addPrecondition( name, "NEGEX" );
addPrecondition( name, "HOLDS", true );
addTerminalEffects( endact, name, t, ins, procedures, total_instances, lines, endinstr, tests, negative_instances );
}
}
void createInfiniteDetectionActions( const StringVec &copiedPreds, const StringVec &correctPreds, InstVec &ins, unsigned procedures,
unsigned total_instances, unsigned lines, StringDVec& endinstr, StringVec& tests, unsigned negative_instances ){
// STORE action for current ( line, state ) update to procedures with ( procedure, line, state )
String name = "STORE";
parser::pddl::Action *storeState = createAction( name, StringVec() );
addPrecondition( name, "CHECKED", true );
addPrecondition( name, "STORED", true );
addPrecondition( name, "ACTED" );
addPrecondition( name, "NEGEX" );
addEffect( name, "STORED" );
addEffect( name, "ACTED", true );
//addEffect( name, "STORE-AVAILABLE", true );
//addEffect( name, "ACTED" );
for ( unsigned i = 0; i < od->preds.size(); ++i ){
String predicate_name = od->preds[ i ]->name;
//StringVec parameter_types = od->typeList( od->preds[ i ] );
IntVec params = od->preds[ i ]->params;
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = params;
parser::pddl::When *w = new parser::pddl::When();
w->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w->pars )->add( cd->ground( predicate_name, incvec( 0, f->params.size() ) ) );
//( ( And * ) w->pars )->add( cd->ground( copiedPreds[ i ], incvec( 0, f->params.size() ) ) );
w->cond = new parser::pddl::And();
( ( parser::pddl::And * ) w->cond )->add( cd->ground( copiedPreds[ i ], incvec( 0, f->params.size() ) ) );
f->cond = w;
( ( parser::pddl::And * )storeState->eff )->add( f );
}
for( unsigned i = 0; i < stack_lines.size(); i++ ){
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = cd->convertTypes( StringVec( 1, "STACKROW" ) );
f->cond = new parser::pddl::And();
parser::pddl::When *w = new parser::pddl::When();
w->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w->pars )->add( cd->ground( stack_lines[ i ], IntVec( 1, 0 ) ) );
w->cond = new parser::pddl::And();
( ( parser::pddl::And * ) w->cond )->add( cd->ground( "COPY-" + stack_lines[ i ], IntVec( 1, 0 ) ) );
( ( parser::pddl::And * ) f->cond )->add( w ) ;
( ( parser::pddl::And * ) storeState->eff )->add( f );
}
// CHECK action for current ( line, state ) update to procedures with ( procedure, line, state )
name = "COMPARE";
parser::pddl::Action *checkInfiniteState = createAction( name, StringVec() );
addPrecondition( name, "CHECKED", true );
addPrecondition( name, "STORED" );
addPrecondition( name, "ACTED" );
addPrecondition( name, "LOOP", true );
addPrecondition( name, "NEGEX" );
addEffect( name, "LOOP" );
addEffect( name, "ACTED", true );
addEffect( name, "STORED", true );
for ( unsigned i = 0; i < od->preds.size(); ++i ){
String predicate_name = od->preds[ i ]->name;
//StringVec parameter_types = od->typeList( od->preds[ i ] );
IntVec params = od->preds[ i ]->params;
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = params;
f->cond = new parser::pddl::And();
parser::pddl::When *w = new parser::pddl::When();
w->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w->pars )->add( cd->ground( predicate_name, incvec( 0, f->params.size() ) ) );
( ( parser::pddl::And * ) w->pars )->add( cd->ground( copiedPreds[ i ], incvec( 0, f->params.size() ) ) );
w->cond = new parser::pddl::And();
( ( parser::pddl::And * ) w->cond )->add( cd->ground( correctPreds[ i ], incvec( 0, f->params.size() ) ) );
( ( parser::pddl::And * ) f->cond )->add( w );
parser::pddl::When *w2 = new parser::pddl::When();
w2->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w2->pars )->add( new parser::pddl::Not( cd->ground( predicate_name, incvec( 0, f->params.size() ) ) ) );
( ( parser::pddl::And * ) w2->pars )->add( new parser::pddl::Not( cd->ground( copiedPreds[ i ], incvec( 0, f->params.size() ) ) ) );
w2->cond = new parser::pddl::And();
( ( parser::pddl::And * ) w2->cond )->add( cd->ground( correctPreds[ i ], incvec( 0, f->params.size() ) ) );
( ( parser::pddl::And * ) f->cond )->add( w2 );
( ( parser::pddl::And * )checkInfiniteState->eff )->add( f );
}
for( unsigned i = 0; i < stack_lines.size(); i++ ){
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = cd->convertTypes( StringVec( 1, "STACKROW" ) );
f->cond = new parser::pddl::And();
parser::pddl::When *w = new parser::pddl::When();
w->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w->pars)->add( cd->ground( stack_lines[ i ], IntVec( 1, 0 ) ) );
( ( parser::pddl::And * ) w->pars)->add( cd->ground( "COPY-" + stack_lines[ i ], IntVec( 1, 0 ) ) );
w->cond = new parser::pddl::And();
( ( parser::pddl::And * ) w->cond)->add( cd->ground( "CORRECT-"+stack_lines[ i ], IntVec( 1, 0 ) ) );
( ( parser::pddl::And * ) f->cond )->add( w );
parser::pddl::When *w2 = new parser::pddl::When();
w2->pars = new parser::pddl::And();
( ( parser::pddl::And * ) w2->pars)->add( new parser::pddl::Not( cd->ground( stack_lines[ i ], IntVec( 1, 0 ) ) ) );
( ( parser::pddl::And * ) w2->pars)->add( new parser::pddl::Not( cd->ground( "COPY-" + stack_lines[ i ], IntVec( 1, 0 ) ) ) );
w2->cond = new parser::pddl::And();
( ( parser::pddl::And * ) w2->cond)->add( cd->ground( "CORRECT-"+stack_lines[ i ], IntVec( 1, 0 ) ) );
( ( parser::pddl::And * ) f->cond )->add( w2 );
( ( parser::pddl::And * )checkInfiniteState->eff )->add( f );
}
// FINISH action for current ( line, state ) update to procedures with ( procedure, line, state )
name = "PROCESS";
parser::pddl::Action *processInfiniteExecution = createAction( name, StringVec() );
addPrecondition( name, "LOOP" );
addPrecondition( name, "NEGEX" );
for ( unsigned i = 0; i < od->preds.size(); ++i ){
String predicate_name = od->preds[ i ]->name;
IntVec params = od->preds[ i ]->params;
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = params;
f->cond = new parser::pddl::And();
( ( parser::pddl::And * ) f->cond )->add( cd->ground( correctPreds[ i ], incvec( 0, f->params.size() ) ) );
( ( parser::pddl::And * )processInfiniteExecution->pre )->add( f );
}
for( unsigned i = 0; i < stack_lines.size(); i++ ){
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = cd->convertTypes( StringVec( 1, "STACKROW" ) );
f->cond = new parser::pddl::And();
( ( parser::pddl::And * ) f->cond )->add( cd->ground( "CORRECT-" + stack_lines[ i ], IntVec( 1, 0 ) ) ) ;
( ( parser::pddl::And * ) processInfiniteExecution->pre)->add( f );
}
addEffect( name, "LOOP", true );
addEffect( name, "CHECKED" );
/*for( unsigned t = 0; t < total_instances; t++ ){
name = "SKIP-INFINITE-" + std::to_string( t );
parser::pddl::Action *finishInfiniteExecution = createAction( name, StringVec() );
addPrecondition( name, "LOOP" );
addPrecondition( name, "NEGEX" );
addPrecondition( name, tests[ t ] );
for ( unsigned i = 0; i < od->preds.size(); ++i ){
String predicate_name = od->preds[ i ]->name;
IntVec params = od->preds[ i ]->params;
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = params;
f->cond = new parser::pddl::And();
( ( parser::pddl::And * ) f->cond )->add( cd->ground( correctPreds[ i ], incvec( 0, f->params.size() ) ) );
( ( parser::pddl::And * )finishInfiniteExecution->pre )->add( f );
}
for( unsigned i = 0; i < stack_lines.size(); i++ ){
parser::pddl::Forall *f = new parser::pddl::Forall;
f->params = cd->convertTypes( StringVec( 1, "STACKROW" ) );
f->cond = new parser::pddl::And();
( ( parser::pddl::And * ) f->cond )->add( cd->ground( "CORRECT-" + stack_lines[ i ], IntVec( 1, 0 ) ) ) ;
( ( parser::pddl::And * ) finishInfiniteExecution->pre)->add( f );
}
addTerminalEffects( finishInfiniteExecution, name, t, ins, procedures, total_instances, lines, endinstr, tests, negative_instances );
}*/
}
};
#endif