168 lines
4.6 KiB
C
168 lines
4.6 KiB
C
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/* 2012 (C) Jussi Rintanen */
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/**************** compact ground formulae */
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#ifdef CFMA
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/* Compact formula representation:
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Formula is a pointer.
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If the lsb is 1, it is TRUE, FALSE or a literal.
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If the lsb is 0, it is a pointer to an integer array for con/disjunction.
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For conjunctions and disjunctions the first int is (length << 1) | cnj,
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where cnj == 1 if it is a conjunction and cnj = 0 if it is a disjunction.
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*/
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typedef int **cfma;
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/* If the lsb == 1, the 3 lsbs represent the type. */
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#define cTRUEtag 1
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#define cFALSEtag 3
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#define cPATOMtag 5
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#define cNATOMtag 7
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/* Literals are represented as (var << 3) | c?ATOM. */
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#define cPATOM(v) ((cfma)(((v) << 3) | cPATOMtag))
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#define cNATOM(v) ((cfma)(((v) << 3) | cNATOMtag))
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#define cTRUE ((cfma)cTRUEtag)
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#define cFALSE ((cfma)cFALSEtag)
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#endif
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/**************** ground formulae */
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typedef enum { patom, natom, conj, disj, TRUE, FALSE } fmatype;
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typedef struct _fma {
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fmatype t;
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union {
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int a;
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struct _fmalist0 { struct _fma *hd; struct _fmalist0 *tl; } *juncts;
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};
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} fma;
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/***************** ground effects */
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typedef struct _eff {
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fma *condition;
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#ifdef CFMA
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cfma ccondition;
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#endif
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int *effectlits;
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struct _eff *tl;
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} eff;
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typedef struct _fmalist { fma *hd; struct _fmalist* tl; } fmalist;
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fmalist *fmacons(fma *,fmalist *);
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fma *Fconj(fmalist *);
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fma *Fdisj(fmalist *);
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fma *Fconj2(fma *,fma *);
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fma *Fdisj2(fma *,fma *);
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fma *Fatom(int);
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fma *Fnatom(int);
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fma *Fneg(fma *);
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fma *Fimpl(fma *,fma *);
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fma *Ftrue();
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fma *Ffalse();
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typedef struct _action {
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int *name;
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fma *precon;
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#ifdef CFMA
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cfma cprecon;
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#endif
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eff effects;
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int cost;
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} action;
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int nOfActions;
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int maxActions;
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action *actions;
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int disjunctivep(fma *);
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void initactions();
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int ptruep(fma *,int *); /* Test for truth of a formula in a state. */
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int execute(int,int *,int *); /* Execute an action. */
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void executeNOprecon(int,int *,int *); /* Execute an action without testin precondition. */
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int fprintactionname(FILE *,int);
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int printactionname(int);
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int fprintactionnameIPC(FILE *,int);
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int printactionnameIPC(int);
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void printaction(int);
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void printfma(fma *);
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typedef enum { STRIPS, Conjunctive, GeneralPDDL } syntacticclass;
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syntacticclass actionclass(int);
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syntacticclass goalclass();
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int *initialstate;
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fma *goal;
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int goalisdisjunctive;
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void simplifyoperators();
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void simplifyoperatorsstatic();
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ordintset *effectoccP; /* operators in which var is a positive effect */
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ordintset *effectoccN; /* operators in which var is a negative effect */
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ordintset *forcedeffectoccP; /* operators in which var is a positive effect */
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ordintset *forcedeffectoccN; /* operators in which var is a negative effect */
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ordintset *preconoccN; /* operators in which var is negative in precondition */
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ordintset *preconoccP; /* operators in which var is positive in precondition */
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ordintset *condocc; /* operators in which var occurs in a condition for effect */
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ordintset *forcedeffectsP; /* variables the operator always makes true */
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ordintset *forcedeffectsN; /* variables the operator always makes false */
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ordintset *preconP; /* variable that must be true for operator */
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ordintset *preconN; /* variable that must be false for operator */
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/* Same as preconP and preconN, but including lits inferred with invariants. */
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ordintset *necessarypreconP; /* variable that must be true for operator */
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ordintset *necessarypreconN; /* variable that must be false for operator */
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ordintset *necessarypreconofP; /* operators in which atom is a nec precon */
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ordintset *necessarypreconofN; /* operators in which atom is a nec precon */
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int canmaketrue(int,int);
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int isaffectedby(int,int);
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int opaffects(int,int);
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int opaffectsinstate(int *,int,int);
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int parallel(int,int);
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int Lparallel(int,int);
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void findoccurrences();
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void sortactions();
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void collectliterals(ordintset,int);
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void eliminatestaticvariables();
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void mergecontras();
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int **AeffectoccP; /* operators in which var is a positive effect */
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int **AeffectoccN; /* operators in which var is a negative effect */
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int **ApreconP; /* variable that must be true for operator */
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int **ApreconN; /* variable that must be false for operator */
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int **AforcedeffectsP; /* variables the operator always makes true */
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int **AforcedeffectsN; /* variables the operator always makes false */
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int **AnecessarypreconP; /* variable that must be true for operator */
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int **AnecessarypreconN; /* variable that must be false for operator */
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int **ApreconoccN; /* operators in which var is negative in precondition */
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int **ApreconoccP; /* operators in which var is positive in precondition */
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int **Acondocc; /* operators in which var occurs in a condition for effect */
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void constructoperatorarrays();
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