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Code Issues 12 Releases 8 Activity

Added support for unconditional “forall” effect statements.

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This commit is contained in:
Patrick Lühne
2017-06-27 23:12:57 +02:00
parent 39b885c47c
commit f61cfa532d
3 changed files with 87 additions and 12 deletions
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59
include/plasp/pddl/translation/Effect.h
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@@ -9,6 +9,8 @@
#include <plasp/pddl/translation/Predicate.h>
#include <plasp/pddl/translation/Primitives.h>
#include <plasp/pddl/translation/Variables.h>
#include <plasp/pddl/translation/VariableStack.h>
namespace plasp
{
@@ -22,7 +24,7 @@ namespace pddl
////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PrintObjectName>
inline void translateEffect(colorlog::ColorStream &outputStream, const ::pddl::normalizedAST::Effect &effect, const std::string &objectType, PrintObjectName printObjectName)
inline void translateEffect(colorlog::ColorStream &outputStream, const ::pddl::normalizedAST::Effect &effect, const std::string &objectType, PrintObjectName printObjectName, VariableStack &variableStack)
{
const auto handlePredicate =
[&](const ::pddl::normalizedAST::PredicatePointer &predicate, bool isPositive = true)
@@ -36,13 +38,37 @@ inline void translateEffect(colorlog::ColorStream &outputStream, const ::pddl::n
translatePredicateToVariable(outputStream, *predicate, isPositive);
outputStream << ") :- " << colorlog::Function(objectType.c_str()) << "(";
printObjectName();
outputStream << ").";
outputStream << ")";
if (!variableStack.layers.empty())
for (const auto &layer : variableStack.layers)
{
if (!layer->empty())
outputStream << ", ";
translateVariablesForRuleBody(outputStream, *layer);
}
outputStream << ".";
};
const auto handleNegatedPredicate =
[&](const ::pddl::normalizedAST::PredicatePointer &predicate)
{
handlePredicate(predicate, false);
};
const auto handleDerivedPredicate =
[&](const ::pddl::normalizedAST::DerivedPredicatePointer &, bool = true)
{
throw TranslatorException("derived predicates not yet supported by translator");
// TODO: refactor as to exclude derived predicates from the Effect variant
throw TranslatorException("derived predicates should not appear in effects");
};
const auto handleNegatedDerivedPredicate =
[&](const ::pddl::normalizedAST::DerivedPredicatePointer &derivedPredicate)
{
handleDerivedPredicate(derivedPredicate, false);
};
const auto handleAtomicFormula =
@@ -54,12 +80,7 @@ inline void translateEffect(colorlog::ColorStream &outputStream, const ::pddl::n
const auto handleNot =
[&](const ::pddl::normalizedAST::NotPointer<::pddl::normalizedAST::AtomicFormula> &not_)
{
if (!not_->argument.is<::pddl::normalizedAST::PredicatePointer>())
throw TranslatorException("only “and” expressions and (negated) predicates supported as action effects currently");
const auto &predicate = not_->argument.get<::pddl::normalizedAST::PredicatePointer>();
handlePredicate(predicate, false);
not_->argument.match(handleNegatedPredicate, handleNegatedDerivedPredicate);
};
const auto handleLiteral =
@@ -72,13 +93,17 @@ inline void translateEffect(colorlog::ColorStream &outputStream, const ::pddl::n
[&](const ::pddl::normalizedAST::AndPointer<::pddl::normalizedAST::Effect> &and_)
{
for (const auto &argument : and_->arguments)
translateEffect(outputStream, argument, objectType, printObjectName);
translateEffect(outputStream, argument, objectType, printObjectName, variableStack);
};
const auto handleForAll =
[&](const ::pddl::normalizedAST::ForAllPointer<::pddl::normalizedAST::Effect> &)
[&](const ::pddl::normalizedAST::ForAllPointer<::pddl::normalizedAST::Effect> &forAll)
{
throw TranslatorException("“when” expressions not yet supported by translator");
variableStack.push(&forAll->parameters);
translateEffect(outputStream, forAll->argument, objectType, printObjectName, variableStack);
variableStack.pop();
};
const auto handleWhen =
@@ -92,6 +117,16 @@ inline void translateEffect(colorlog::ColorStream &outputStream, const ::pddl::n
////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PrintObjectName>
inline void translateEffect(colorlog::ColorStream &outputStream, const ::pddl::normalizedAST::Effect &effect, const std::string &objectType, PrintObjectName printObjectName)
{
VariableStack variableStack;
translateEffect(outputStream, effect, objectType, printObjectName, variableStack);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
}
}

39
include/plasp/pddl/translation/VariableStack.h Normal file
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@@ -0,0 +1,39 @@
#ifndef __PLASP__PDDL__TRANSLATION__VARIABLE_STACK_H
#define __PLASP__PDDL__TRANSLATION__VARIABLE_STACK_H
#include <pddlparse/NormalizedAST.h>
namespace plasp
{
namespace pddl
{
////////////////////////////////////////////////////////////////////////////////////////////////////
//
// VariableStack
//
////////////////////////////////////////////////////////////////////////////////////////////////////
struct VariableStack
{
using Layer = ::pddl::normalizedAST::VariableDeclarations *;
void push(Layer layer)
{
layers.push_back(layer);
}
void pop()
{
layers.pop_back();
}
std::vector<Layer> layers;
};
////////////////////////////////////////////////////////////////////////////////////////////////////
}
}
#endif

1
src/plasp/pddl/TranslatorASP.cpp
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@@ -337,6 +337,7 @@ void TranslatorASP::translateActions() const
if (action->precondition)
translatePrecondition(m_outputStream, action->precondition.value(), "action", printActionName);
// Effect
if (action->effect)
translateEffect(m_outputStream, action->effect.value(), "action", printActionName);