78 lines
2.4 KiB
C++
78 lines
2.4 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 <pddlparse/AST.h>
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#include <plasp/TranslatorException.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>
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inline void translatePrecondition(colorlog::ColorStream &outputStream, const ::pddl::ast::Precondition &precondition, const std::string &objectType, PrintObjectName printObjectName)
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{
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const auto handleUnsupported =
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[](const auto &)
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{
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throw TranslatorException("only “and” expressions and (negated) predicates supported as action preconditions currently");
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};
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const auto handlePredicate =
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[&](const ::pddl::ast::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, isPositive);
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outputStream << ") :- " << colorlog::Function(objectType.c_str()) << "(";
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printObjectName();
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outputStream << ").";
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};
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const auto handleAtomicFormula =
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[&](const ::pddl::ast::AtomicFormula &atomicFormula)
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{
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atomicFormula.match(handlePredicate, handleUnsupported);
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};
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const auto handleNot =
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[&](const ::pddl::ast::NotPointer<::pddl::ast::Precondition> ¬_)
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{
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if (!not_->argument.is<::pddl::ast::AtomicFormula>() || !not_->argument.get<::pddl::ast::AtomicFormula>().is<::pddl::ast::PredicatePointer>())
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handleUnsupported(not_);
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const auto &predicate = not_->argument.get<::pddl::ast::AtomicFormula>().get<::pddl::ast::PredicatePointer>();
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handlePredicate(predicate, false);
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};
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const auto handleAnd =
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[&](const ::pddl::ast::AndPointer<::pddl::ast::Precondition> &and_)
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{
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for (const auto &argument : and_->arguments)
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translatePrecondition(outputStream, argument, objectType, printObjectName);
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};
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precondition.match(handleAtomicFormula, handleNot, handleAnd, handleUnsupported);
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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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