Added translation of a PDDL problem’s goal.

This commit is contained in:
Patrick Lühne 2016-06-13 03:19:24 +02:00
parent e9c464b319
commit 23f6f9b26b
2 changed files with 88 additions and 32 deletions

View File

@ -35,9 +35,11 @@ class TranslatorASP
void translateProblem() const; void translateProblem() const;
void translateObjects() const; void translateObjects() const;
void translateInitialState() const; void translateInitialState() const;
void translateGoal() const;
void translateVariablesHead(const expressions::Variables &variables) const; void translateVariablesHead(const expressions::Variables &variables) const;
void translateVariablesBody(const expressions::Variables &variables) const; void translateVariablesBody(const expressions::Variables &variables) const;
void translateLiteral(const Expression &literal) const;
void translatePredicate(const expressions::Predicate &predicate) const; void translatePredicate(const expressions::Predicate &predicate) const;
const Description &m_description; const Description &m_description;

View File

@ -270,15 +270,6 @@ void TranslatorASP::translateActions() const
std::for_each(actions.cbegin(), actions.cend(), std::for_each(actions.cbegin(), actions.cend(),
[&](const auto &action) [&](const auto &action)
{ {
m_ostream << std::endl;
// Name
printActionName(*action);
this->translateVariablesBody(action->parameters());
m_ostream << ".";
const auto translateLiteral = const auto translateLiteral =
[&](const auto &ruleHead, const auto &literal) [&](const auto &ruleHead, const auto &literal)
{ {
@ -289,21 +280,7 @@ void TranslatorASP::translateActions() const
m_ostream << ", "; m_ostream << ", ";
// Translate single predicate this->translateLiteral(literal);
if (literal.expressionType() == Expression::Type::Predicate)
{
this->translatePredicate(dynamic_cast<const expressions::Predicate &>(literal));
m_ostream << ", true";
}
// Assuming that "not" expression may only contain a predicate
else if (literal.expressionType() == Expression::Type::Not)
{
const auto &notExpression = dynamic_cast<const expressions::Not &>(literal);
const auto &predicate = dynamic_cast<const expressions::Predicate &>(*notExpression.argument());
this->translatePredicate(predicate);
m_ostream << ", false";
}
m_ostream << ") :- "; m_ostream << ") :- ";
@ -312,6 +289,15 @@ void TranslatorASP::translateActions() const
m_ostream << "."; m_ostream << ".";
}; };
m_ostream << std::endl;
// Name
printActionName(*action);
this->translateVariablesBody(action->parameters());
m_ostream << ".";
// Precondition // Precondition
if (action->precondition()) if (action->precondition())
{ {
@ -407,6 +393,27 @@ void TranslatorASP::translateVariablesBody(const expressions::Variables &variabl
//////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateLiteral(const Expression &literal) const
{
// Translate single predicate
if (literal.expressionType() == Expression::Type::Predicate)
{
this->translatePredicate(dynamic_cast<const expressions::Predicate &>(literal));
m_ostream << ", true";
}
// Assuming that "not" expression may only contain a predicate
else if (literal.expressionType() == Expression::Type::Not)
{
const auto &notExpression = dynamic_cast<const expressions::Not &>(literal);
const auto &predicate = dynamic_cast<const expressions::Predicate &>(*notExpression.argument());
this->translatePredicate(predicate);
m_ostream << ", false";
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translatePredicate(const expressions::Predicate &predicate) const void TranslatorASP::translatePredicate(const expressions::Predicate &predicate) const
{ {
m_ostream << "predicate(" << predicate.name(); m_ostream << "predicate(" << predicate.name();
@ -449,13 +456,13 @@ void TranslatorASP::translatePredicate(const expressions::Predicate &predicate)
void TranslatorASP::translateProblem() const void TranslatorASP::translateProblem() const
{ {
BOOST_ASSERT(m_description.containsProblem());
m_ostream m_ostream
<< "%---------------------------------------" << std::endl << "%---------------------------------------" << std::endl
<< "% problem" << std::endl << "% problem" << std::endl
<< "%---------------------------------------" << std::endl; << "%---------------------------------------" << std::endl;
BOOST_ASSERT(m_description.containsProblem());
const auto &problem = m_description.problem(); const auto &problem = m_description.problem();
// Objects // Objects
@ -468,12 +475,18 @@ void TranslatorASP::translateProblem() const
// Initial State // Initial State
m_ostream << std::endl; m_ostream << std::endl;
translateInitialState(); translateInitialState();
// Goal
m_ostream << std::endl;
translateGoal();
} }
//////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateObjects() const void TranslatorASP::translateObjects() const
{ {
BOOST_ASSERT(m_description.containsProblem());
m_ostream << "% objects"; m_ostream << "% objects";
const auto &objects = m_description.problem().objects(); const auto &objects = m_description.problem().objects();
@ -483,14 +496,14 @@ void TranslatorASP::translateObjects() const
{ {
m_ostream << std::endl; m_ostream << std::endl;
m_ostream << "object(" << object->name() << ")." << std::endl; m_ostream << "constant(" << object->name() << ")." << std::endl;
const auto *type = object->type(); const auto *type = object->type();
if (type == nullptr) if (type == nullptr)
return; return;
m_ostream << "hasType(object(" << object->name() << "), type(" << type->name() << "))." << std::endl; m_ostream << "hasType(constant(" << object->name() << "), type(" << type->name() << "))." << std::endl;
}); });
} }
@ -498,6 +511,8 @@ void TranslatorASP::translateObjects() const
void TranslatorASP::translateInitialState() const void TranslatorASP::translateInitialState() const
{ {
BOOST_ASSERT(m_description.containsProblem());
m_ostream << "% initial state"; m_ostream << "% initial state";
const auto &initialStateFacts = m_description.problem().initialState().facts(); const auto &initialStateFacts = m_description.problem().initialState().facts();
@ -529,5 +544,44 @@ void TranslatorASP::translateInitialState() const
//////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateGoal() const
{
BOOST_ASSERT(m_description.containsProblem());
m_ostream << "% goal";
const auto &goal = m_description.problem().goal();
if (goal.expressionType() == Expression::Type::Predicate
|| goal.expressionType() == Expression::Type::Not)
{
m_ostream << std::endl << "goal(";
translateLiteral(goal);
m_ostream << ").";
}
else if (goal.expressionType() == Expression::Type::And)
{
const auto &andExpression = dynamic_cast<const expressions::And &>(goal);
std::for_each(andExpression.arguments().cbegin(), andExpression.arguments().cend(),
[&](const auto *argument)
{
m_ostream << std::endl << "goal(";
this->translateLiteral(*argument);
m_ostream << ").";
});
}
else
throw utils::TranslatorException("Only single predicates, their negations, and conjunctions are currently supported in the goal");
m_ostream << std::endl;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
} }
} }