Added translation of a PDDL problem’s goal.
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@ -35,9 +35,11 @@ class TranslatorASP
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void translateProblem() const;
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void translateProblem() const;
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void translateObjects() const;
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void translateObjects() const;
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void translateInitialState() const;
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void translateInitialState() const;
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void translateGoal() const;
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void translateVariablesHead(const expressions::Variables &variables) const;
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void translateVariablesHead(const expressions::Variables &variables) const;
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void translateVariablesBody(const expressions::Variables &variables) const;
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void translateVariablesBody(const expressions::Variables &variables) const;
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void translateLiteral(const Expression &literal) const;
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void translatePredicate(const expressions::Predicate &predicate) const;
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void translatePredicate(const expressions::Predicate &predicate) const;
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const Description &m_description;
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const Description &m_description;
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@ -270,15 +270,6 @@ void TranslatorASP::translateActions() const
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std::for_each(actions.cbegin(), actions.cend(),
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std::for_each(actions.cbegin(), actions.cend(),
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[&](const auto &action)
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[&](const auto &action)
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{
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{
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m_ostream << std::endl;
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// Name
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printActionName(*action);
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this->translateVariablesBody(action->parameters());
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m_ostream << ".";
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const auto translateLiteral =
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const auto translateLiteral =
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[&](const auto &ruleHead, const auto &literal)
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[&](const auto &ruleHead, const auto &literal)
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{
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{
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@ -289,21 +280,7 @@ void TranslatorASP::translateActions() const
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m_ostream << ", ";
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m_ostream << ", ";
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// Translate single predicate
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this->translateLiteral(literal);
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if (literal.expressionType() == Expression::Type::Predicate)
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{
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this->translatePredicate(dynamic_cast<const expressions::Predicate &>(literal));
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m_ostream << ", true";
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}
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// Assuming that "not" expression may only contain a predicate
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else if (literal.expressionType() == Expression::Type::Not)
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{
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const auto ¬Expression = dynamic_cast<const expressions::Not &>(literal);
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const auto &predicate = dynamic_cast<const expressions::Predicate &>(*notExpression.argument());
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this->translatePredicate(predicate);
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m_ostream << ", false";
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}
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m_ostream << ") :- ";
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m_ostream << ") :- ";
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@ -312,6 +289,15 @@ void TranslatorASP::translateActions() const
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m_ostream << ".";
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m_ostream << ".";
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};
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};
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m_ostream << std::endl;
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// Name
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printActionName(*action);
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this->translateVariablesBody(action->parameters());
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m_ostream << ".";
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// Precondition
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// Precondition
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if (action->precondition())
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if (action->precondition())
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{
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{
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@ -407,6 +393,27 @@ void TranslatorASP::translateVariablesBody(const expressions::Variables &variabl
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////////////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////////////
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void TranslatorASP::translateLiteral(const Expression &literal) const
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{
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// Translate single predicate
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if (literal.expressionType() == Expression::Type::Predicate)
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{
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this->translatePredicate(dynamic_cast<const expressions::Predicate &>(literal));
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m_ostream << ", true";
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}
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// Assuming that "not" expression may only contain a predicate
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else if (literal.expressionType() == Expression::Type::Not)
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{
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const auto ¬Expression = dynamic_cast<const expressions::Not &>(literal);
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const auto &predicate = dynamic_cast<const expressions::Predicate &>(*notExpression.argument());
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this->translatePredicate(predicate);
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m_ostream << ", false";
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}
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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void TranslatorASP::translatePredicate(const expressions::Predicate &predicate) const
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void TranslatorASP::translatePredicate(const expressions::Predicate &predicate) const
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{
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{
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m_ostream << "predicate(" << predicate.name();
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m_ostream << "predicate(" << predicate.name();
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@ -449,13 +456,13 @@ void TranslatorASP::translatePredicate(const expressions::Predicate &predicate)
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void TranslatorASP::translateProblem() const
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void TranslatorASP::translateProblem() const
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{
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{
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BOOST_ASSERT(m_description.containsProblem());
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m_ostream
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m_ostream
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<< "%---------------------------------------" << std::endl
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<< "%---------------------------------------" << std::endl
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<< "% problem" << std::endl
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<< "% problem" << std::endl
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<< "%---------------------------------------" << std::endl;
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<< "%---------------------------------------" << std::endl;
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BOOST_ASSERT(m_description.containsProblem());
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const auto &problem = m_description.problem();
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const auto &problem = m_description.problem();
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// Objects
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// Objects
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@ -468,12 +475,18 @@ void TranslatorASP::translateProblem() const
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// Initial State
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// Initial State
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m_ostream << std::endl;
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m_ostream << std::endl;
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translateInitialState();
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translateInitialState();
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// Goal
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m_ostream << std::endl;
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translateGoal();
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}
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////////////
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void TranslatorASP::translateObjects() const
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void TranslatorASP::translateObjects() const
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{
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{
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BOOST_ASSERT(m_description.containsProblem());
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m_ostream << "% objects";
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m_ostream << "% objects";
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const auto &objects = m_description.problem().objects();
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const auto &objects = m_description.problem().objects();
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@ -483,14 +496,14 @@ void TranslatorASP::translateObjects() const
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{
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{
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m_ostream << std::endl;
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m_ostream << std::endl;
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m_ostream << "object(" << object->name() << ")." << std::endl;
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m_ostream << "constant(" << object->name() << ")." << std::endl;
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const auto *type = object->type();
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const auto *type = object->type();
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if (type == nullptr)
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if (type == nullptr)
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return;
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return;
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m_ostream << "hasType(object(" << object->name() << "), type(" << type->name() << "))." << std::endl;
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m_ostream << "hasType(constant(" << object->name() << "), type(" << type->name() << "))." << std::endl;
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});
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});
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}
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}
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@ -498,6 +511,8 @@ void TranslatorASP::translateObjects() const
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void TranslatorASP::translateInitialState() const
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void TranslatorASP::translateInitialState() const
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{
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{
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BOOST_ASSERT(m_description.containsProblem());
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m_ostream << "% initial state";
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m_ostream << "% initial state";
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const auto &initialStateFacts = m_description.problem().initialState().facts();
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const auto &initialStateFacts = m_description.problem().initialState().facts();
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@ -529,5 +544,44 @@ void TranslatorASP::translateInitialState() const
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////////////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////////////
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void TranslatorASP::translateGoal() const
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{
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BOOST_ASSERT(m_description.containsProblem());
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m_ostream << "% goal";
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const auto &goal = m_description.problem().goal();
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if (goal.expressionType() == Expression::Type::Predicate
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|| goal.expressionType() == Expression::Type::Not)
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{
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m_ostream << std::endl << "goal(";
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translateLiteral(goal);
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m_ostream << ").";
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}
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else if (goal.expressionType() == Expression::Type::And)
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{
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const auto &andExpression = dynamic_cast<const expressions::And &>(goal);
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std::for_each(andExpression.arguments().cbegin(), andExpression.arguments().cend(),
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[&](const auto *argument)
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{
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m_ostream << std::endl << "goal(";
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this->translateLiteral(*argument);
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m_ostream << ").";
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});
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}
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else
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throw utils::TranslatorException("Only single predicates, their negations, and conjunctions are currently supported in the goal");
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m_ostream << std::endl;
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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}
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}
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}
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}
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