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Added conditional effect support for SAS translator output.

This commit is contained in:
Patrick Lühne 2016-05-23 18:16:44 +02:00
parent bc5f8edb67
commit 3a2dfd97b8
4 changed files with 113 additions and 50 deletions
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16
encodings/meta-sequential-incremental.lp
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@ -1,8 +1,9 @@
#include <incmode>.
% Check feature requirements
:- requiresFeature(actionCosts, true).
:- requiresFeature(axiomRules, true).
:- requiresFeature(actionCosts).
:- requiresFeature(axiomRules).
:- requiresFeature(conditionalEffects).
#program base.
@ -18,18 +19,21 @@ holds(Var, Val, 0) :- initialState(Var, Val).
:- occurs(A, t), precondition(A, Var, Val), not holds(Var, Val, t - 1).
% Apply effects
caused(Var, Val, t) :- occurs(A, t), postcondition(A, Var, Val).
caused(Var, Val, t) :- occurs(A, t), contains(A, E), postcondition(E, Var, Val).
modified(Var, t) :- caused(Var, Val, t).
holds(Var, Val, t) :- caused(Var, Val, t).
holds(Var, Val, t) :- holds(Var, Val, t - 1), not modified(Var, t).
% Check that variables without <none of those> values are unique
:- variable(V), Var = variable(V), not contains(Var, noneValue), not 1 {holds(Var, Val, t) : contains(Var, Val)} 1.
:- variable(X), Var = variable(X), not contains(Var, noneValue), not 1 {holds(Var, Val, t) : contains(Var, Val)} 1.
:- contains(Var, noneValue), not {holds(Var, Val, t) : contains(Var, Val)} 1.
% Check mutexes
:- mutexGroup(M), not {holds(Var, Val, t) : contains(M, Var, Val)} 1.
:- mutexGroup(X), M = mutexGroup(X), not {holds(Var, Val, t) : contains(M, Var, Val)} 1.
% Output predicate
do(L, t) :- occurs(A, t), label(A, action(L)).
#program check(t).
@ -37,4 +41,4 @@ holds(Var, Val, t) :- holds(Var, Val, t - 1), not modified(Var, t).
:- query(t), goal(Var, Val), not holds(Var, Val, t).
#show query/1.
#show occurs/2.
#show do/2.

1
include/plasp/sas/Description.h
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@ -41,6 +41,7 @@ class Description
const AxiomRules &axiomRules() const;
bool usesAxiomRules() const;
bool usesConditionalEffects() const;
private:
Description();

21
src/plasp/sas/Description.cpp
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@ -128,6 +128,27 @@ bool Description::usesAxiomRules() const
////////////////////////////////////////////////////////////////////////////////////////////////////
bool Description::usesConditionalEffects() const
{
const auto match = std::find_if(m_operators.cbegin(), m_operators.cend(),
[&](const auto &operator_)
{
const auto &effects = operator_.effects();
const auto match = std::find_if(effects.cbegin(), effects.cend(),
[&](const auto &effect)
{
return !effect.conditions().empty();
});
return match != effects.cend();
});
return match != m_operators.cend();
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void Description::parseVersionSection(std::istream &istream) const
{
utils::parseExpected<std::string>(istream, "begin_version");

125
src/plasp/sas/TranslatorASP.cpp
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@ -47,6 +47,7 @@ void TranslatorASP::translate(std::ostream &ostream) const
const auto usesActionCosts = m_description.usesActionCosts();
const auto usesAxiomRules = m_description.usesAxiomRules();
const auto usesConditionalEffects = m_description.usesConditionalEffects();
ostream << "% feature requirements" << std::endl;
@ -56,6 +57,9 @@ void TranslatorASP::translate(std::ostream &ostream) const
if (usesAxiomRules)
ostream << "requiresFeature(axiomRules)." << std::endl;
if (usesConditionalEffects)
ostream << "requiresFeature(conditionalEffects)." << std::endl;
ostream << std::endl;
ostream << "% initial state" << std::endl;
@ -129,12 +133,20 @@ void TranslatorASP::translate(std::ostream &ostream) const
const auto &operators = m_description.operators();
size_t currentActionID = 0;
size_t currentEffectID = 0;
std::for_each(operators.cbegin(), operators.cend(),
[&](const auto &operator_)
{
ostream << std::endl;
const auto actionID = std::to_string(currentActionID);
currentActionID++;
ostream << std::endl << "action(" << actionID << ")." << std::endl;
ostream << "label(action(" << actionID << "), ";
operator_.printPredicateAsASP(ostream);
ostream << "." << std::endl;
ostream << ")." << std::endl;
const auto &preconditions = operator_.preconditions();
@ -144,9 +156,7 @@ void TranslatorASP::translate(std::ostream &ostream) const
if (precondition.value() == Value::None)
return;
ostream << "precondition(";
operator_.printPredicateAsASP(ostream);
ostream << ", ";
ostream << "precondition(action(" << actionID << "), ";
precondition.variable().printNameAsASPPredicate(ostream);
ostream << ", ";
precondition.value().printAsASPPredicate(ostream);
@ -161,9 +171,28 @@ void TranslatorASP::translate(std::ostream &ostream) const
if (effect.postcondition().value() == Value::None)
return;
ostream << "postcondition(";
operator_.printPredicateAsASP(ostream);
ostream << ", ";
const auto effectID = std::to_string(currentEffectID);
currentEffectID++;
ostream << "effect(" << effectID << ")." << std::endl;
ostream << "contains(action(" << actionID << "), effect(" << effectID << "))." << std::endl;
if (usesConditionalEffects)
{
const auto &conditions = effect.conditions();
std::for_each(conditions.cbegin(), conditions.cend(),
[&](const auto &condition)
{
ostream << "condition(effect(" << effectID << "), ";
condition.variable().printNameAsASPPredicate(ostream);
ostream << ", ";
condition.value().printAsASPPredicate(ostream);
ostream << ")." << std::endl;
});
}
ostream << "postcondition(effect(" << effectID << "), ";
effect.postcondition().variable().printNameAsASPPredicate(ostream);
ostream << ", ";
effect.postcondition().value().printAsASPPredicate(ostream);
@ -183,24 +212,28 @@ void TranslatorASP::translate(std::ostream &ostream) const
const auto &mutexGroups = m_description.mutexGroups();
for (size_t i = 0; i < mutexGroups.size(); i++)
{
const auto &mutexGroup = mutexGroups[i];
size_t currentMutexGroupID = 0;
ostream << std::endl << "mutexGroup(mutexGroup" << i << ")." << std::endl;
std::for_each(mutexGroups.cbegin(), mutexGroups.cend(),
[&](const auto &mutexGroup)
{
const auto mutexGroupID = std::to_string(currentMutexGroupID);
currentMutexGroupID++;
const auto &facts = mutexGroup.facts();
ostream << std::endl << "mutexGroup(" << mutexGroupID << ")." << std::endl;
std::for_each(facts.cbegin(), facts.cend(),
[&](const auto &fact)
{
ostream << "contains(mutexGroup(mutexGroup" << i << "), ";
fact.variable().printNameAsASPPredicate(ostream);
ostream << ", ";
fact.value().printAsASPPredicate(ostream);
ostream << ")." << std::endl;
});
}
const auto &facts = mutexGroup.facts();
std::for_each(facts.cbegin(), facts.cend(),
[&](const auto &fact)
{
ostream << "contains(mutexGroup(" << mutexGroupID << "), ";
fact.variable().printNameAsASPPredicate(ostream);
ostream << ", ";
fact.value().printAsASPPredicate(ostream);
ostream << ")." << std::endl;
});
});
if (usesAxiomRules)
{
@ -209,32 +242,36 @@ void TranslatorASP::translate(std::ostream &ostream) const
const auto &axiomRules = m_description.axiomRules();
for (size_t i = 0; i < axiomRules.size(); i++)
{
const auto &axiomRule = axiomRules[i];
size_t currentAxiomRuleID = 0;
ostream << std::endl << "axiomRule(axiomRule" << i << ")." << std::endl;
std::for_each(axiomRules.cbegin(), axiomRules.cend(),
[&](const auto &axiomRule)
{
const auto axiomRuleID = std::to_string(currentAxiomRuleID);
currentAxiomRuleID++;
const auto &conditions = axiomRule.conditions();
ostream << std::endl << "axiomRule(" << axiomRuleID << ")." << std::endl;
std::for_each(conditions.cbegin(), conditions.cend(),
[&](const auto &condition)
{
ostream << "condition(axiomRule(axiomRule" << i << "), ";
condition.variable().printNameAsASPPredicate(ostream);
ostream << ", ";
condition.value().printAsASPPredicate(ostream);
ostream << ")." << std::endl;
});
const auto &conditions = axiomRule.conditions();
const auto &postcondition = axiomRule.postcondition();
std::for_each(conditions.cbegin(), conditions.cend(),
[&](const auto &condition)
{
ostream << "condition(axiomRule(" << axiomRuleID << "), ";
condition.variable().printNameAsASPPredicate(ostream);
ostream << ", ";
condition.value().printAsASPPredicate(ostream);
ostream << ")." << std::endl;
});
ostream << "postcondition(axiomRule(axiomRule" << i << "), ";
postcondition.variable().printNameAsASPPredicate(ostream);
ostream << ", ";
postcondition.value().printAsASPPredicate(ostream);
ostream << ")." << std::endl;
}
const auto &postcondition = axiomRule.postcondition();
ostream << "postcondition(axiomRule(axiomRule" << axiomRuleID << "), ";
postcondition.variable().printNameAsASPPredicate(ostream);
ostream << ", ";
postcondition.value().printAsASPPredicate(ostream);
ostream << ")." << std::endl;
});
}
}