100 lines
2.9 KiB
C++
100 lines
2.9 KiB
C++
#ifndef __PLASP__PDDL__TRANSLATION__PRECONDITION_H
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#define __PLASP__PDDL__TRANSLATION__PRECONDITION_H
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#include <colorlog/Formatting.h>
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#include <pddl/NormalizedAST.h>
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#include <plasp/TranslatorException.h>
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#include <plasp/pddl/translation/DerivedPredicate.h>
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#include <plasp/pddl/translation/Predicate.h>
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#include <plasp/pddl/translation/Primitives.h>
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namespace plasp
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{
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namespace pddl
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{
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////////////////////////////////////////////////////////////////////////////////////////////////////
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//
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// Precondition
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//
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////////////////////////////////////////////////////////////////////////////////////////////////////
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template<typename PrintObjectName, typename PrintRuleBody>
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inline void translatePrecondition(colorlog::ColorStream &outputStream,
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const ::pddl::normalizedAST::Precondition &precondition, PrintObjectName printObjectName,
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PrintRuleBody printRuleBody, VariableIDMap &variableIDs)
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{
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const auto handlePredicate =
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[&](const ::pddl::normalizedAST::PredicatePointer &predicate, bool isPositive = true)
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{
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outputStream << std::endl << colorlog::Function("precondition") << "(";
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printObjectName();
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outputStream << ", ";
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translatePredicateToVariable(outputStream, *predicate, variableIDs, isPositive);
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outputStream << ")";
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printRuleBody();
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outputStream << ".";
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};
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const auto handleNegatedPredicate =
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[&](const ::pddl::normalizedAST::PredicatePointer &predicate)
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{
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handlePredicate(predicate, false);
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};
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const auto handleDerivedPredicate =
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[&](const ::pddl::normalizedAST::DerivedPredicatePointer &derivedPredicate, bool isPositive = true)
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{
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outputStream << std::endl << colorlog::Function("precondition") << "(";
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printObjectName();
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outputStream << ", ";
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translateDerivedPredicateToVariable(outputStream, *derivedPredicate, variableIDs, isPositive);
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outputStream << ")";
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printRuleBody();
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outputStream << ".";
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};
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const auto handleNegatedDerivedPredicate =
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[&](const ::pddl::normalizedAST::DerivedPredicatePointer &derivedPredicate)
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{
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handleDerivedPredicate(derivedPredicate, false);
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};
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const auto handleAtomicFormula =
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[&](const ::pddl::normalizedAST::AtomicFormula &atomicFormula)
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{
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atomicFormula.match(handlePredicate, handleDerivedPredicate);
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};
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const auto handleNot =
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[&](const ::pddl::normalizedAST::NotPointer<::pddl::normalizedAST::AtomicFormula> ¬_)
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{
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not_->argument.match(handleNegatedPredicate, handleNegatedDerivedPredicate);
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};
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const auto handleLiteral =
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[&](const ::pddl::normalizedAST::Literal &literal)
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{
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literal.match(handleAtomicFormula, handleNot);
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};
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const auto handleAnd =
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[&](const ::pddl::normalizedAST::AndPointer<::pddl::normalizedAST::Literal> &and_)
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{
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for (const auto &argument : and_->arguments)
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handleLiteral(argument);
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};
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precondition.match(handleLiteral, handleAnd);
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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}
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}
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#endif
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