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Started implementing translation for derived predicates.

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This commit is contained in:
Patrick Lühne
2016-12-07 01:56:06 +01:00
parent 443c126b88
commit 3b110c0b8a
28 changed files with 471 additions and 674 deletions
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2
include/plasp/pddl/Action.h
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@@ -30,7 +30,7 @@ class Action
const Expression *precondition() const;
const Expression *effect() const;
void normalize();
void normalize(expressions::DerivedPredicates &derivedPredicates);
private:
Action() = default;

13
include/plasp/pddl/Expression.h
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@@ -2,6 +2,7 @@
#define __PLASP__PDDL__EXPRESSION_H
#include <iosfwd>
#include <set>
#include <boost/intrusive_ptr.hpp>
@@ -131,15 +132,21 @@ class Expression
virtual ExpressionPointer copy();
// Transform into a normal form as used for the translation to ASP
ExpressionPointer normalized();
// Reduce the set of used expressions (eliminates implications, for instance)
virtual ExpressionPointer reduced();
virtual ExpressionPointer negationNormalized();
virtual ExpressionPointer prenex(Expression::Type lastQuantifierType = Expression::Type::Exists);
// Transform such that only existential (and no universal) quantifiers are used
virtual ExpressionPointer existentiallyQuantified();
// Simplify the expression equivalently
virtual ExpressionPointer simplified();
virtual ExpressionPointer disjunctionNormalized();
// Decompose expression into derived predicates (eliminate recursively nested expressions)
virtual ExpressionPointer decomposed(expressions::DerivedPredicates &derivedPredicates);
// Negate the expression
ExpressionPointer negated();
virtual void collectParameters(std::set<expressions::VariablePointer> &parameters);
virtual void print(std::ostream &ostream) const = 0;
protected:

6
include/plasp/pddl/TranslatorASP.h
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@@ -27,17 +27,13 @@ class TranslatorASP
void translateDomain() const;
void translateTypes() const;
void translatePredicates() const;
void translateDerivedPredicates() const;
void translateActions() const;
void translateProblem() const;
void translateInitialState() const;
void translateGoal() const;
void translateConstants(const std::string &heading, const expressions::Constants &constants) const;
void translateVariablesHead(const expressions::Variables &variables) const;
void translateVariablesBody(const expressions::Variables &variables) const;
void translateLiteral(const Expression &literal) const;
void translatePredicate(const expressions::Predicate &predicate) const;
Description &m_description;
output::ColorStream &m_outputStream;

1
include/plasp/pddl/expressions/And.h
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@@ -24,7 +24,6 @@ class And: public NAry<And>
static const std::string Identifier;
public:
ExpressionPointer disjunctionNormalized() override;
ExpressionPointer decomposed(DerivedPredicates &derivedPredicates) override;
};

6
include/plasp/pddl/expressions/At.h
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@@ -40,10 +40,10 @@ class At: public ExpressionCRTP<At>
ExpressionPointer argument() const;
ExpressionPointer reduced() override;
ExpressionPointer negationNormalized() override;
ExpressionPointer prenex(Expression::Type lastExpressionType) override;
ExpressionPointer existentiallyQuantified() override;
ExpressionPointer simplified() override;
ExpressionPointer disjunctionNormalized() override;
void collectParameters(std::set<VariablePointer> &parameters) override;
void print(std::ostream &ostream) const override;

56
include/plasp/pddl/expressions/Binary.h
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@@ -32,13 +32,14 @@ class Binary: public ExpressionCRTP<Derived>
ExpressionPointer copy() override;
void setArgument(size_t i, ExpressionPointer argument);
std::array<ExpressionPointer, 2> &arguments();
const std::array<ExpressionPointer, 2> &arguments() const;
ExpressionPointer reduced() override;
ExpressionPointer negationNormalized() override;
ExpressionPointer prenex(Expression::Type lastExpressionType) override;
ExpressionPointer existentiallyQuantified() override;
ExpressionPointer simplified() override;
ExpressionPointer disjunctionNormalized() override;
void collectParameters(std::set<VariablePointer> &parameters) override;
void print(std::ostream &ostream) const override;
@@ -100,6 +101,14 @@ void Binary<Derived>::setArgument(size_t i, ExpressionPointer expression)
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
std::array<ExpressionPointer, 2> &Binary<Derived>::arguments()
{
return m_arguments;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
const std::array<ExpressionPointer, 2> &Binary<Derived>::arguments() const
{
@@ -111,11 +120,11 @@ const std::array<ExpressionPointer, 2> &Binary<Derived>::arguments() const
template<class Derived>
inline ExpressionPointer Binary<Derived>::reduced()
{
for (size_t i = 0; i < m_arguments.size(); i++)
for (auto &argument : m_arguments)
{
BOOST_ASSERT(m_arguments[i]);
BOOST_ASSERT(argument);
m_arguments[i] = m_arguments[i]->reduced();
argument = argument->reduced();
}
return this;
@@ -124,13 +133,13 @@ inline ExpressionPointer Binary<Derived>::reduced()
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer Binary<Derived>::negationNormalized()
inline ExpressionPointer Binary<Derived>::existentiallyQuantified()
{
for (size_t i = 0; i < m_arguments.size(); i++)
for (auto &argument : m_arguments)
{
BOOST_ASSERT(m_arguments[i]);
BOOST_ASSERT(argument);
m_arguments[i] = m_arguments[i]->negationNormalized();
argument = argument->existentiallyQuantified();
}
return this;
@@ -138,23 +147,14 @@ inline ExpressionPointer Binary<Derived>::negationNormalized()
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer Binary<Derived>::prenex(Expression::Type)
{
// TODO: implement by refactoring binary expressions
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer Binary<Derived>::simplified()
{
for (size_t i = 0; i < m_arguments.size(); i++)
for (auto &argument : m_arguments)
{
BOOST_ASSERT(m_arguments[i]);
BOOST_ASSERT(argument);
m_arguments[i] = m_arguments[i]->simplified();
argument = argument->simplified();
}
return this;
@@ -163,16 +163,10 @@ inline ExpressionPointer Binary<Derived>::simplified()
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer Binary<Derived>::disjunctionNormalized()
inline void Binary<Derived>::collectParameters(std::set<VariablePointer> &parameters)
{
for (size_t i = 0; i < m_arguments.size(); i++)
{
BOOST_ASSERT(m_arguments[i]);
m_arguments[i] = m_arguments[i]->disjunctionNormalized();
}
return this;
for (const auto &argument : m_arguments)
argument->collectParameters(parameters);
}
////////////////////////////////////////////////////////////////////////////////////////////////////

17
include/plasp/pddl/expressions/DerivedPredicate.h
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@@ -1,6 +1,8 @@
#ifndef __PLASP__PDDL__EXPRESSIONS__DERIVED_PREDICATE_H
#define __PLASP__PDDL__EXPRESSIONS__DERIVED_PREDICATE_H
#include <set>
#include <plasp/pddl/Expression.h>
namespace plasp
@@ -24,19 +26,22 @@ class DerivedPredicate: public ExpressionCRTP<DerivedPredicate>
// TODO: consider implementing parsing functions for compatibility with older PDDL versions
public:
explicit DerivedPredicate(size_t id);
void setPreconditions(std::vector<Expressions> &&preconditions);
const std::vector<Expressions> &preconditions() const;
size_t id() const;
const std::set<VariablePointer> &parameters() const;
void setArgument(ExpressionPointer argument);
ExpressionPointer argument() const;
void collectParameters(std::set<VariablePointer> &parameters) override;
void print(std::ostream &ostream) const override;
private:
size_t m_id;
void collectParameters();
ExpressionPointer m_argument;
// The arguments are interpreted as a disjunction of conjunctions
std::vector<Expressions> m_preconditions;
std::set<VariablePointer> m_parameters;
};
////////////////////////////////////////////////////////////////////////////////////////////////////

3
include/plasp/pddl/expressions/Exists.h
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@@ -22,9 +22,6 @@ class Exists: public QuantifiedCRTP<Exists>
static const Expression::Type ExpressionType = Expression::Type::Exists;
static const std::string Identifier;
public:
ExpressionPointer decomposed(DerivedPredicates &derivedPredicates) override;
};
////////////////////////////////////////////////////////////////////////////////////////////////////

2
include/plasp/pddl/expressions/ForAll.h
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@@ -24,7 +24,7 @@ class ForAll: public QuantifiedCRTP<ForAll>
static const std::string Identifier;
public:
ExpressionPointer decomposed(DerivedPredicates &derivedPredicates) override;
ExpressionPointer existentiallyQuantified() override;
};
////////////////////////////////////////////////////////////////////////////////////////////////////

135
include/plasp/pddl/expressions/NAry.h
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@@ -37,10 +37,10 @@ class NAry: public ExpressionCRTP<Derived>
const Expressions &arguments() const;
ExpressionPointer reduced() override;
ExpressionPointer negationNormalized() override;
ExpressionPointer prenex(Expression::Type lastExpressionType) override;
ExpressionPointer existentiallyQuantified() override;
ExpressionPointer simplified() override;
ExpressionPointer disjunctionNormalized() override;
void collectParameters(std::set<VariablePointer> &parameters) override;
void print(std::ostream &ostream) const override;
@@ -143,11 +143,11 @@ Expressions &NAry<Derived>::arguments()
template<class Derived>
inline ExpressionPointer NAry<Derived>::reduced()
{
for (size_t i = 0; i < m_arguments.size(); i++)
for (auto &argument : m_arguments)
{
BOOST_ASSERT(m_arguments[i]);
BOOST_ASSERT(argument);
m_arguments[i] = m_arguments[i]->reduced();
argument = argument->reduced();
}
return this;
@@ -156,13 +156,13 @@ inline ExpressionPointer NAry<Derived>::reduced()
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer NAry<Derived>::negationNormalized()
inline ExpressionPointer NAry<Derived>::existentiallyQuantified()
{
for (size_t i = 0; i < m_arguments.size(); i++)
for (auto &argument : m_arguments)
{
BOOST_ASSERT(m_arguments[i]);
BOOST_ASSERT(argument);
m_arguments[i] = m_arguments[i]->negationNormalized();
argument = argument->existentiallyQuantified();
}
return this;
@@ -170,106 +170,22 @@ inline ExpressionPointer NAry<Derived>::negationNormalized()
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer NAry<Derived>::prenex(Expression::Type lastExpressionType)
{
// First, move all childrens’ quantifiers to the front
for (size_t i = 0; i < m_arguments.size(); i++)
{
BOOST_ASSERT(m_arguments[i]);
m_arguments[i] = m_arguments[i]->prenex(lastExpressionType);
}
// Next, move all children’s quantifiers up
const auto isQuantifier =
[](const auto &expression)
{
return expression->expressionType() == Expression::Type::Exists
|| expression->expressionType() == Expression::Type::ForAll;
};
QuantifiedPointer front = nullptr;
QuantifiedPointer back = nullptr;
const auto moveUpQuantifiers =
[&](auto &child, const auto expressionType)
{
BOOST_ASSERT(child);
bool changed = false;
while (isQuantifier(child)
&& child->expressionType() == expressionType)
{
// Decouple quantifier from tree and replace it with its child
auto expression = Expression::moveUpQuantifiers(nullptr, child);
auto quantifier = QuantifiedPointer(dynamic_cast<Quantified *>(expression.get()));
if (!front)
front = quantifier;
else
back->setArgument(quantifier);
back = quantifier;
changed = true;
}
return changed;
};
bool changed = true;
const auto otherExpressionType = (lastExpressionType == Expression::Type::Exists)
? Expression::Type::ForAll : Expression::Type::Exists;
// Group quantifiers of the same type when moving them up, starting with the parent quantifier’s type
while (changed)
{
changed = false;
// Group all quantifiers of the same type as the parent quantifier
for (size_t i = 0; i < m_arguments.size(); i++)
changed = moveUpQuantifiers(m_arguments[i], lastExpressionType) || changed;
// Group all other quantifiers
for (size_t i = 0; i < m_arguments.size(); i++)
changed = moveUpQuantifiers(m_arguments[i], otherExpressionType) || changed;
}
// If quantifiers were moved up, put this node back into the node hierarchy
if (front)
{
BOOST_ASSERT(back);
back->setArgument(this);
return front;
}
// If no quantifiers were moved up, simply return this node
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer NAry<Derived>::simplified()
{
// Associate same-type children, such as (a && (b && c)) == (a && b && c)
for (size_t i = 0; i < m_arguments.size();)
{
m_arguments[i] = m_arguments[i]->simplified();
auto &argument = m_arguments[i];
argument = argument->simplified();
if (m_arguments[i]->expressionType() != Derived::ExpressionType)
if (argument->expressionType() != Derived::ExpressionType)
{
i++;
continue;
}
auto child = m_arguments[i];
auto &nAryExpression = dynamic_cast<Derived &>(*child);
auto &nAryExpression = dynamic_cast<Derived &>(*argument);
BOOST_ASSERT(!nAryExpression.arguments().empty());
@@ -292,16 +208,10 @@ inline ExpressionPointer NAry<Derived>::simplified()
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer NAry<Derived>::disjunctionNormalized()
inline void NAry<Derived>::collectParameters(std::set<VariablePointer> &parameters)
{
for (size_t i = 0; i < m_arguments.size(); i++)
{
BOOST_ASSERT(m_arguments[i]);
m_arguments[i] = m_arguments[i]->disjunctionNormalized();
}
return this;
for (const auto &argument : m_arguments)
argument->collectParameters(parameters);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -311,12 +221,11 @@ inline void NAry<Derived>::print(std::ostream &ostream) const
{
ostream << "(" << Derived::Identifier;
std::for_each(m_arguments.begin(), m_arguments.end(),
[&](auto &argument)
{
ostream << " ";
argument->print(ostream);
});
for (const auto &argument : m_arguments)
{
ostream << " ";
argument->print(ostream);
}
ostream << ")";
}

6
include/plasp/pddl/expressions/Not.h
View File

@@ -35,12 +35,12 @@ class Not: public ExpressionCRTP<Not>
ExpressionPointer argument() const;
ExpressionPointer reduced() override;
ExpressionPointer negationNormalized() override;
ExpressionPointer prenex(Expression::Type lastExpressionType) override;
ExpressionPointer existentiallyQuantified() override;
ExpressionPointer simplified() override;
ExpressionPointer disjunctionNormalized() override;
ExpressionPointer decomposed(DerivedPredicates &derivedPredicates) override;
void collectParameters(std::set<VariablePointer> &parameters) override;
void print(std::ostream &ostream) const override;
protected:

4
include/plasp/pddl/expressions/Predicate.h
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@@ -30,6 +30,10 @@ class Predicate: public ExpressionCRTP<Predicate>
bool isDeclared() const;
ExpressionPointer decomposed(expressions::DerivedPredicates &derivedPredicates) override;
void collectParameters(std::set<VariablePointer> &parameters) override;
void print(std::ostream &ostream) const override;
private:

48
include/plasp/pddl/expressions/Quantified.h
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@@ -4,6 +4,7 @@
#include <plasp/pddl/Context.h>
#include <plasp/pddl/Expression.h>
#include <plasp/pddl/ExpressionContext.h>
#include <plasp/pddl/expressions/DerivedPredicate.h>
#include <plasp/pddl/expressions/Variable.h>
namespace plasp
@@ -52,10 +53,11 @@ class QuantifiedCRTP: public Quantified
ExpressionPointer copy() override;
ExpressionPointer reduced() override;
ExpressionPointer negationNormalized() override;
ExpressionPointer prenex(Expression::Type lastExpressionType) override;
ExpressionPointer existentiallyQuantified() override;
ExpressionPointer simplified() override;
ExpressionPointer disjunctionNormalized() override;
ExpressionPointer decomposed(expressions::DerivedPredicates &derivedPredicates) override;
void collectParameters(std::set<VariablePointer> &parameters);
void print(std::ostream &ostream) const override;
};
@@ -155,30 +157,17 @@ inline ExpressionPointer QuantifiedCRTP<Derived>::reduced()
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer QuantifiedCRTP<Derived>::negationNormalized()
inline ExpressionPointer QuantifiedCRTP<Derived>::existentiallyQuantified()
{
BOOST_ASSERT(m_argument);
m_argument = m_argument->negationNormalized();
m_argument = m_argument->existentiallyQuantified();
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer QuantifiedCRTP<Derived>::prenex(Expression::Type)
{
BOOST_ASSERT(m_argument);
m_argument = m_argument->prenex(Derived::ExpressionType);
// Quantifiers may not move before other quantifiers, their order matters
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer QuantifiedCRTP<Derived>::simplified()
{
@@ -206,13 +195,28 @@ inline ExpressionPointer QuantifiedCRTP<Derived>::simplified()
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline ExpressionPointer QuantifiedCRTP<Derived>::disjunctionNormalized()
inline ExpressionPointer QuantifiedCRTP<Derived>::decomposed(expressions::DerivedPredicates &derivedPredicates)
{
BOOST_ASSERT(m_argument);
derivedPredicates.emplace_back(new DerivedPredicate());
auto &derivedPredicate = derivedPredicates.back();
m_argument = m_argument->disjunctionNormalized();
m_argument = m_argument->decomposed(derivedPredicates);
return this;
derivedPredicate->setPreconditions({{this}});
return derivedPredicate;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class Derived>
inline void QuantifiedCRTP<Derived>::collectParameters(std::set<VariablePointer> &parameters)
{
m_argument->collectParameters(parameters);
// Remove bound variables
for (const auto &variable : m_variables)
parameters.erase(variable);
}
////////////////////////////////////////////////////////////////////////////////////////////////////

2
include/plasp/pddl/expressions/Variable.h
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@@ -39,6 +39,8 @@ class Variable: public ExpressionCRTP<Variable>
void setDirty(bool isDirty = true);
bool isDirty() const;
void collectParameters(std::set<VariablePointer> &parameters) override;
void print(std::ostream &ostream) const override;
private:

4
src/plasp/pddl/Action.cpp
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@@ -88,10 +88,10 @@ const Expression *Action::effect() const
////////////////////////////////////////////////////////////////////////////////////////////////////
void Action::normalize()
void Action::normalize(expressions::DerivedPredicates &derivedPredicates)
{
// Normalize preconditions and effects
m_precondition = m_precondition->normalized();
m_precondition = m_precondition->normalized()->decomposed(derivedPredicates);
m_effect = m_effect->normalized();
// Normalize parameter names

4
src/plasp/pddl/Domain.cpp
View File

@@ -438,9 +438,9 @@ void Domain::normalize()
});
std::for_each(m_actions.begin(), m_actions.end(),
[](auto &action)
[&](auto &action)
{
action->normalize();
action->normalize(m_derivedPredicates);
});
}

27
src/plasp/pddl/Expression.cpp
View File

@@ -37,7 +37,7 @@ ExpressionPointer Expression::copy()
ExpressionPointer Expression::normalized()
{
return reduced()->negationNormalized()->prenex()->simplified()->disjunctionNormalized()->simplified();
return reduced()->simplified()->existentiallyQuantified()->simplified();
}
////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -49,17 +49,11 @@ ExpressionPointer Expression::reduced()
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Expression::negationNormalized()
ExpressionPointer Expression::existentiallyQuantified()
{
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Expression::prenex(Expression::Type)
{
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -106,16 +100,9 @@ ExpressionPointer Expression::simplified()
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Expression::disjunctionNormalized()
{
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
[[ noreturn ]] ExpressionPointer Expression::decomposed(expressions::DerivedPredicates &)
{
throw output::TranslatorException("Expression is not in first-order negation normal form and cannot be decomposed");
throw output::TranslatorException("expression cannot be decomposed (not normalized)");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -137,6 +124,14 @@ ExpressionPointer Expression::negated()
////////////////////////////////////////////////////////////////////////////////////////////////////
// TODO: implement better (visitor pattern?)
void Expression::collectParameters(std::set<expressions::VariablePointer> &)
{
throw output::TranslatorException("expression parameters could not be collected (expression not normalized)");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer parseEffectBodyExpression(Context &context, ExpressionContext &expressionContext);
ExpressionPointer parsePredicate(Context &context, ExpressionContext &expressionContext);

192
src/plasp/pddl/TranslatorASP.cpp
View File

@@ -19,6 +19,15 @@ namespace pddl
//
////////////////////////////////////////////////////////////////////////////////////////////////////
template<class T>
void translateVariablesHead(output::ColorStream &outputStream, const T &variables);
template<class T>
void translateVariablesBody(output::ColorStream &outputStream, const T &variables);
void translateLiteral(output::ColorStream &outputStream, const Expression &literal);
void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate);
////////////////////////////////////////////////////////////////////////////////////////////////////
TranslatorASP::TranslatorASP(Description &description, output::ColorStream &outputStream)
: m_description(description),
m_outputStream(outputStream)
@@ -65,6 +74,13 @@ void TranslatorASP::translateDomain() const
translatePredicates();
}
// Derived predicates
if (!domain.derivedPredicates().empty())
{
m_outputStream << std::endl;
translateDerivedPredicates();
}
// Actions
if (!domain.actions().empty())
{
@@ -146,7 +162,7 @@ void TranslatorASP::translatePredicates() const
}
m_outputStream << "(" << output::String(predicate->name().c_str());
this->translateVariablesHead(predicate->arguments());
translateVariablesHead(m_outputStream, predicate->arguments());
m_outputStream << ")";
};
@@ -162,7 +178,65 @@ void TranslatorASP::translatePredicates() const
m_outputStream << "))";
this->translateVariablesBody(predicate->arguments());
translateVariablesBody(m_outputStream, predicate->arguments());
m_outputStream << ".";
});
m_outputStream
<< std::endl << std::endl
<< output::Function("boolean") << "(" << output::Boolean("true") << ")." << std::endl
<< output::Function("boolean") << "(" << output::Boolean("false") << ")." << std::endl
<< std::endl
<< output::Function("contains") << "("
<< output::Keyword("variable") << "(" << output::Variable("X") << "), "
<< output::Keyword("value") << "(" << output::Variable("X") << ", " << output::Variable("B") << ")) :- "
<< output::Function("variable") << "(" << output::Keyword("variable") << "(" << output::Variable("X") << ")), "
<< output::Function("boolean") << "(" << output::Variable("B") << ")."
<< std::endl;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateDerivedPredicates() const
{
m_outputStream << output::Heading2("derived predicates");
const auto &derivedPredicates = m_description.domain().derivedPredicates();
const auto printDerivedPredicateName =
[&](const auto &derivedPredicate)
{
if (derivedPredicate->parameters().empty())
{
// TODO: implement
//m_outputStream << output::String(derivedPredicate->name().c_str());
m_outputStream << "<derived>";
return;
}
// TODO: implement
//m_outputStream << output::String(derivedPredicate->name().c_str());
m_outputStream << "<derived>";
translateVariablesHead(m_outputStream, derivedPredicate->parameters());
m_outputStream << ")";
};
std::for_each(derivedPredicates.cbegin(), derivedPredicates.cend(),
[&](const auto &predicate)
{
m_outputStream
<< std::endl
<< output::Function("variable") << "("
<< output::Keyword("variable") << "(";
printDerivedPredicateName(predicate);
m_outputStream << "))";
// TODO: implement
//translateVariablesBody(m_outputStream, predicate->arguments());
m_outputStream << ".";
});
@@ -201,15 +275,14 @@ void TranslatorASP::translateActions() const
}
m_outputStream << "(" << output::String(action.name().c_str());
this->translateVariablesHead(action.parameters());
translateVariablesHead(m_outputStream, action.parameters());
m_outputStream << "))";
};
std::for_each(actions.cbegin(), actions.cend(),
[&](const auto &action)
{
// TODO: rename
const auto translateLiteral =
const auto translateExpression =
[&](const auto &ruleHead, const auto &literal, bool enumerateEffects = false)
{
m_outputStream << std::endl << output::Function(ruleHead) << "(";
@@ -222,7 +295,7 @@ void TranslatorASP::translateActions() const
m_outputStream << ", ";
this->translateLiteral(literal);
translateLiteral(m_outputStream, literal);
m_outputStream << ") :- " << output::Function("action") << "(";
@@ -238,7 +311,7 @@ void TranslatorASP::translateActions() const
printActionName(*action);
m_outputStream << ")";
this->translateVariablesBody(action->parameters());
translateVariablesBody(m_outputStream, action->parameters());
m_outputStream << ".";
@@ -247,24 +320,29 @@ void TranslatorASP::translateActions() const
{
const auto &precondition = *action->precondition();
if (precondition.expressionType() == Expression::Type::Predicate
|| precondition.expressionType() == Expression::Type::Not)
switch (precondition.expressionType())
{
translateLiteral("precondition", precondition);
}
// Assuming a conjunction
else
{
if (precondition.expressionType() != Expression::Type::And)
throw output::TranslatorException("only “and” expressions and (negated) predicates supported as action preconditions currently");
case Expression::Type::And:
{
const auto &andExpression = dynamic_cast<const expressions::And &>(precondition);
const auto &andExpression = dynamic_cast<const expressions::And &>(precondition);
std::for_each(andExpression.arguments().cbegin(), andExpression.arguments().cend(),
[&](const auto argument)
{
translateExpression("precondition", *argument);
});
std::for_each(andExpression.arguments().cbegin(), andExpression.arguments().cend(),
[&](const auto argument)
{
translateLiteral("precondition", *argument);
});
break;
}
case Expression::Type::Predicate:
case Expression::Type::Not:
case Expression::Type::DerivedPredicate:
{
translateExpression("precondition", precondition);
break;
}
default:
throw output::TranslatorException("only “and” expressions and (negated) predicates supported as action preconditions currently (" + std::to_string((int)precondition.expressionType()) + ")");
}
}
@@ -276,7 +354,7 @@ void TranslatorASP::translateActions() const
if (effect.expressionType() == Expression::Type::Predicate
|| effect.expressionType() == Expression::Type::Not)
{
translateLiteral("postcondition", effect, true);
translateExpression("postcondition", effect, true);
}
// Assuming a conjunction
else
@@ -289,7 +367,7 @@ void TranslatorASP::translateActions() const
std::for_each(andExpression.arguments().cbegin(), andExpression.arguments().cend(),
[&](const auto argument)
{
translateLiteral("postcondition", *argument, true);
translateExpression("postcondition", *argument, true);
});
}
}
@@ -332,7 +410,8 @@ void TranslatorASP::translateConstants(const std::string &heading, const express
////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateVariablesHead(const expressions::Variables &variables) const
template<class T>
void translateVariablesHead(output::ColorStream &outputStream, const T &variables)
{
if (variables.empty())
return;
@@ -341,25 +420,26 @@ void TranslatorASP::translateVariablesHead(const expressions::Variables &variabl
{
const auto &variable = **i;
m_outputStream << ", " << output::Variable(variable.name().c_str());
outputStream << ", " << output::Variable(variable.name().c_str());
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateVariablesBody(const expressions::Variables &variables) const
template<class T>
void translateVariablesBody(output::ColorStream &outputStream, const T &variables)
{
if (variables.empty())
return;
m_outputStream << " :- ";
outputStream << " :- ";
for (auto i = variables.cbegin(); i != variables.cend(); i++)
{
const auto &variable = **i;
if (i != variables.cbegin())
m_outputStream << ", ";
outputStream << ", ";
if (variable.type() != nullptr)
{
@@ -368,13 +448,13 @@ void TranslatorASP::translateVariablesBody(const expressions::Variables &variabl
const auto &type = dynamic_cast<const expressions::PrimitiveType &>(*variable.type());
m_outputStream << output::Function("has") << "("
outputStream << output::Function("has") << "("
<< output::Variable(variable.name().c_str()) << ", "
<< output::Keyword("type") << "(" << output::String(type.name().c_str()) << "))";
}
else
{
m_outputStream << output::Function("has") << "("
outputStream << output::Function("has") << "("
<< output::Variable(variable.name().c_str()) << ", "
<< output::Keyword("type") << "(" << output::String("object") << "))";
}
@@ -383,18 +463,18 @@ void TranslatorASP::translateVariablesBody(const expressions::Variables &variabl
////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateLiteral(const Expression &literal) const
void translateLiteral(output::ColorStream &outputStream, const Expression &literal)
{
// Translate single predicate
if (literal.expressionType() == Expression::Type::Predicate)
{
const auto &predicate = dynamic_cast<const expressions::Predicate &>(literal);
m_outputStream << output::Keyword("variable") << "(";
this->translatePredicate(predicate);
m_outputStream << "), " << output::Keyword("value") << "(";
this->translatePredicate(predicate);
m_outputStream << ", " << output::Boolean("true") << ")";
outputStream << output::Keyword("variable") << "(";
translatePredicate(outputStream, predicate);
outputStream << "), " << output::Keyword("value") << "(";
translatePredicate(outputStream, predicate);
outputStream << ", " << output::Boolean("true") << ")";
}
// Assuming that "not" expression may only contain a predicate
else if (literal.expressionType() == Expression::Type::Not)
@@ -406,11 +486,23 @@ void TranslatorASP::translateLiteral(const Expression &literal) const
const auto &predicate = dynamic_cast<const expressions::Predicate &>(*notExpression.argument());
m_outputStream << output::Keyword("variable") << "(";
outputStream << output::Keyword("variable") << "(";
translatePredicate(outputStream, predicate);
outputStream << "), " << output::Keyword("value") << "(";
translatePredicate(outputStream, predicate);
outputStream << ", " << output::Boolean("false") << ")";
}
else if (literal.expressionType() == Expression::Type::DerivedPredicate)
{
const auto &derivedPredicate = dynamic_cast<const expressions::DerivedPredicate &>(literal);
/*m_outputStream << output::Keyword("variable") << "(";
this->translatePredicate(predicate);
m_outputStream << "), " << output::Keyword("value") << "(";
this->translatePredicate(predicate);
m_outputStream << ", " << output::Boolean("false") << ")";
m_outputStream << ", " << output::Boolean("true") << ")";*/
outputStream << "(derived predicate)";
}
else
throw output::TranslatorException("only primitive predicates and their negations supported as literals currently");
@@ -418,40 +510,40 @@ void TranslatorASP::translateLiteral(const Expression &literal) const
////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translatePredicate(const expressions::Predicate &predicate) const
void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate)
{
const auto &arguments = predicate.arguments();
if (arguments.empty())
{
m_outputStream << output::String(predicate.name().c_str());
outputStream << output::String(predicate.name().c_str());
return;
}
m_outputStream << "(" << output::String(predicate.name().c_str());
outputStream << "(" << output::String(predicate.name().c_str());
for (auto i = arguments.cbegin(); i != arguments.cend(); i++)
{
m_outputStream << ", ";
outputStream << ", ";
if ((*i)->expressionType() == Expression::Type::Constant)
{
const auto &constant = dynamic_cast<const expressions::Constant &>(**i);
m_outputStream << output::Keyword("constant") << "(" << output::String(constant.name().c_str()) << ")";
outputStream << output::Keyword("constant") << "(" << output::String(constant.name().c_str()) << ")";
}
else if ((*i)->expressionType() == Expression::Type::Variable)
{
const auto &variable = dynamic_cast<const expressions::Variable &>(**i);
m_outputStream << output::Variable(variable.name().c_str());
outputStream << output::Variable(variable.name().c_str());
}
else
throw output::TranslatorException("only variables and constants supported in predicates currently");
}
m_outputStream << ")";
outputStream << ")";
}
////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -501,9 +593,9 @@ void TranslatorASP::translateInitialState() const
const auto &predicate = dynamic_cast<const expressions::Predicate &>(*fact);
m_outputStream << output::Keyword("variable") << "(";
this->translatePredicate(predicate);
translatePredicate(m_outputStream, predicate);
m_outputStream << "), " << output::Keyword("value") << "(";
this->translatePredicate(predicate);
translatePredicate(m_outputStream, predicate);
m_outputStream << ", " << output::Boolean("true") << ")";
}
// Assuming that "not" expression may only contain a predicate
@@ -548,7 +640,7 @@ void TranslatorASP::translateGoal() const
{
m_outputStream << std::endl << output::Function("goal") << "(";
translateLiteral(goal);
translateLiteral(m_outputStream, goal);
m_outputStream << ").";
}
@@ -561,7 +653,7 @@ void TranslatorASP::translateGoal() const
{
m_outputStream << std::endl << output::Function("goal") << "(";
this->translateLiteral(*argument);
translateLiteral(m_outputStream, *argument);
m_outputStream << ").";
});

66
src/plasp/pddl/expressions/And.cpp
View File

@@ -23,70 +23,18 @@ const std::string And::Identifier = "and";
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer And::disjunctionNormalized()
{
for (size_t i = 0; i < m_arguments.size(); i++)
{
BOOST_ASSERT(m_arguments[i]);
m_arguments[i] = m_arguments[i]->disjunctionNormalized();
}
const auto match = std::find_if(m_arguments.begin(), m_arguments.end(),
[](const auto &argument)
{
return argument->expressionType() == Expression::Type::Or;
});
if (match == m_arguments.end())
return this;
auto orExpression = OrPointer(dynamic_cast<expressions::Or *>(match->get()));
const size_t orExpressionIndex = match - m_arguments.begin();
// Apply the distributive law
// Copy this and expression for each argument of the or expression
for (size_t i = 0; i < orExpression->arguments().size(); i++)
{
auto newAndExpression = new expressions::And;
newAndExpression->arguments().resize(m_arguments.size());
for (size_t j = 0; j < m_arguments.size(); j++)
{
if (j == orExpressionIndex)
newAndExpression->arguments()[j] = orExpression->arguments()[i]->copy();
else
newAndExpression->arguments()[j] = m_arguments[j]->copy();
}
// Replace the respective argument with the new, recursively normalized and expression
orExpression->arguments()[i] = newAndExpression->disjunctionNormalized();
}
return orExpression;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer And::decomposed(DerivedPredicates &derivedPredicates)
{
// Check that all children are simple or negated predicates
std::for_each(m_arguments.begin(), m_arguments.end(),
[&](auto &argument)
{
if (argument->expressionType() == Expression::Type::Not)
{
argument = argument->decomposed(derivedPredicates);
return;
}
derivedPredicates.emplace_back(new DerivedPredicate());
auto &derivedPredicate = derivedPredicates.back();
if (argument->expressionType() != Expression::Type::Predicate)
return;
for (auto &argument : m_arguments)
argument = argument->decomposed(derivedPredicates);
throw output::TranslatorException("Expression is not in first-order negation normal form and cannot be decomposed");
});
// Move this expression’s arguments to the derived predicate
derivedPredicate->setPreconditions({m_arguments});
return this;
return derivedPredicate;
}
////////////////////////////////////////////////////////////////////////////////////////////////////

23
src/plasp/pddl/expressions/At.cpp
View File

@@ -54,28 +54,17 @@ ExpressionPointer At::reduced()
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer At::negationNormalized()
ExpressionPointer At::existentiallyQuantified()
{
BOOST_ASSERT(m_argument);
m_argument = m_argument->negationNormalized();
m_argument = m_argument->existentiallyQuantified();
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer At::prenex(Expression::Type lastExpressionType)
{
BOOST_ASSERT(m_argument);
m_argument = m_argument->prenex(lastExpressionType);
return Expression::moveUpQuantifiers(this, m_argument);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer At::simplified()
{
BOOST_ASSERT(m_argument);
@@ -87,13 +76,9 @@ ExpressionPointer At::simplified()
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer At::disjunctionNormalized()
void At::collectParameters(std::set<VariablePointer> &parameters)
{
BOOST_ASSERT(m_argument);
m_argument = m_argument->disjunctionNormalized();
return this;
m_argument->collectParameters(parameters);
}
////////////////////////////////////////////////////////////////////////////////////////////////////

80
src/plasp/pddl/expressions/DerivedPredicate.cpp
View File

@@ -16,39 +16,97 @@ namespace expressions
//
////////////////////////////////////////////////////////////////////////////////////////////////////
DerivedPredicate::DerivedPredicate(size_t id)
: m_id{id}
void DerivedPredicate::setPreconditions(std::vector<Expressions> &&preconditions)
{
m_preconditions = std::move(preconditions);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
size_t DerivedPredicate::id() const
const std::vector<Expressions> &DerivedPredicate::preconditions() const
{
return m_id;
return m_preconditions;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void DerivedPredicate::setArgument(ExpressionPointer argument)
void DerivedPredicate::collectParameters()
{
m_argument = argument;
for (const auto &conjunction : m_preconditions)
for (const auto &precondition : conjunction)
precondition->collectParameters(m_parameters);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer DerivedPredicate::argument() const
const std::set<VariablePointer> &DerivedPredicate::parameters() const
{
return m_argument;
return m_parameters;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void DerivedPredicate::collectParameters(std::set<VariablePointer> &parameters)
{
for (auto &conjunction : m_preconditions)
for (auto &precondition : conjunction)
precondition->collectParameters(m_parameters);
// Copy in order not to interfere with potentially bound variables in parent expressions
parameters = m_parameters;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void DerivedPredicate::print(std::ostream &ostream) const
{
ostream << "(:derived <no name> ";
m_argument->print(ostream);
ostream << ")";
ostream << "(:derived <no name>";
BOOST_ASSERT(m_preconditions.size() > 0);
const auto printConjunction =
[&ostream](const auto &conjunction)
{
if (conjunction.size() == 0)
{
conjunction.front()->print(ostream);
return;
}
ostream << "(and";
for (const auto &precondition : conjunction)
{
ostream << " ";
precondition->print(ostream);
}
ostream << ")";
};
if (m_preconditions.size() == 1)
{
const auto &conjunction = m_preconditions.front();
BOOST_ASSERT(conjunction.size() > 0);
printConjunction(conjunction);
ostream << ")";
return;
}
ostream << " (or";
for (const auto conjunction : m_preconditions)
{
ostream << " ";
printConjunction(conjunction);
}
ostream << "))";
}
////////////////////////////////////////////////////////////////////////////////////////////////////

9
src/plasp/pddl/expressions/Exists.cpp
View File

@@ -20,15 +20,6 @@ const std::string Exists::Identifier = "exists";
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Exists::decomposed(DerivedPredicates &derivedPredicates)
{
m_argument = m_argument->decomposed(derivedPredicates);
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
}
}
}

15
src/plasp/pddl/expressions/ForAll.cpp
View File

@@ -3,7 +3,8 @@
#include <algorithm>
#include <iostream>
#include <plasp/pddl/expressions/DerivedPredicate.h>
#include <plasp/pddl/expressions/Exists.h>
#include <plasp/pddl/expressions/Not.h>
namespace plasp
{
@@ -22,14 +23,16 @@ const std::string ForAll::Identifier = "forall";
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer ForAll::decomposed(DerivedPredicates &derivedPredicates)
ExpressionPointer ForAll::existentiallyQuantified()
{
auto derivedPredicate = DerivedPredicatePointer(new DerivedPredicate(derivedPredicates.size()));
derivedPredicates.push_back(derivedPredicate);
auto existsExpression = ExistsPointer(new Exists());
auto notExpression = NotPointer(new Not());
derivedPredicate->setArgument(this);
notExpression->setArgument(m_argument->existentiallyQuantified());
existsExpression->setArgument(notExpression);
existsExpression->variables() = std::move(m_variables);
return derivedPredicate;
return existsExpression;
}
////////////////////////////////////////////////////////////////////////////////////////////////////

129
src/plasp/pddl/expressions/Not.cpp
View File

@@ -62,113 +62,61 @@ ExpressionPointer Not::reduced()
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Not::negationNormalized()
ExpressionPointer Not::existentiallyQuantified()
{
BOOST_ASSERT(m_argument);
// Remove immediate double negations
if (m_argument->expressionType() == Expression::Type::Not)
{
auto &argument = dynamic_cast<Not &>(*m_argument);
return argument.m_argument->negationNormalized();
}
// Normalize argument
m_argument = m_argument->negationNormalized();
// Remove double negations occurring after normalizing the argument
if (m_argument->expressionType() == Expression::Type::Not)
{
auto &argument = dynamic_cast<Not &>(*m_argument);
return argument.m_argument;
}
// De Morgan for negative conjunctions
if (m_argument->expressionType() == Expression::Type::And)
{
auto &andExpression = dynamic_cast<And &>(*m_argument);
auto orExpression = OrPointer(new Or);
orExpression->arguments().reserve(andExpression.arguments().size());
for (size_t i = 0; i < andExpression.arguments().size(); i++)
orExpression->addArgument(andExpression.arguments()[i]->negated());
return orExpression->negationNormalized();
}
// De Morgan for negative disjunctions
if (m_argument->expressionType() == Expression::Type::Or)
{
auto &orExpression = dynamic_cast<Or &>(*m_argument);
auto andExpression = AndPointer(new And);
andExpression->arguments().reserve(orExpression.arguments().size());
for (size_t i = 0; i < orExpression.arguments().size(); i++)
andExpression->addArgument(orExpression.arguments()[i]->negated());
return andExpression->negationNormalized();
}
// De Morgen for existential quantifiers
if (m_argument->expressionType() == Expression::Type::Exists)
{
auto &existsExpression = dynamic_cast<Exists &>(*m_argument);
auto forAllExpression = ForAllPointer(new ForAll);
forAllExpression->setArgument(existsExpression.argument()->negated());
return forAllExpression->negationNormalized();
}
// De Morgen for universal quantifiers
if (m_argument->expressionType() == Expression::Type::ForAll)
{
auto &forAllExpression = dynamic_cast<ForAll &>(*m_argument);
auto existsExpression = ExistsPointer(new Exists);
existsExpression->setArgument(forAllExpression.argument()->negated());
return existsExpression->negationNormalized();
}
m_argument = m_argument->existentiallyQuantified();
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Not::prenex(Expression::Type lastExpressionType)
{
BOOST_ASSERT(m_argument);
m_argument = m_argument->prenex(lastExpressionType);
return Expression::moveUpQuantifiers(this, m_argument);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Not::simplified()
{
BOOST_ASSERT(m_argument);
m_argument = m_argument->simplified();
// Remove double negations
if (m_argument->expressionType() == Expression::Type::Not)
{
const auto &notExpression = dynamic_cast<expressions::Not &>(*m_argument);
return notExpression.argument();
}
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Not::disjunctionNormalized()
void Not::collectParameters(std::set<VariablePointer> &parameters)
{
BOOST_ASSERT(m_argument);
m_argument->collectParameters(parameters);
}
m_argument = m_argument->disjunctionNormalized();
////////////////////////////////////////////////////////////////////////////////////////////////////
return this;
ExpressionPointer Not::decomposed(DerivedPredicates &derivedPredicates)
{
m_argument = m_argument->decomposed(derivedPredicates);
// Predicates and derived predicates can be directly negated
if (m_argument->expressionType() == Expression::Type::Predicate
|| m_argument->expressionType() == Expression::Type::DerivedPredicate)
{
return this;
}
derivedPredicates.emplace_back(new DerivedPredicate());
auto &derivedPredicate = derivedPredicates.back();
// Move this expression’s arguments to the derived predicate
derivedPredicate->setPreconditions({{this}});
return derivedPredicate;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -184,19 +132,6 @@ void Not::print(std::ostream &ostream) const
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Not::decomposed(DerivedPredicates &)
{
if (m_argument->expressionType() != Expression::Type::Not
&& m_argument->expressionType() != Expression::Type::Predicate)
{
throw output::TranslatorException("Expression is not in first-order negation normal form and cannot be decomposed");
}
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
}
}
}

39
src/plasp/pddl/expressions/Or.cpp
View File

@@ -1,5 +1,7 @@
#include <plasp/pddl/expressions/Or.h>
#include <plasp/output/TranslatorException.h>
#include <plasp/pddl/expressions/And.h>
#include <plasp/pddl/expressions/DerivedPredicate.h>
namespace plasp
@@ -21,17 +23,38 @@ const std::string Or::Identifier = "or";
ExpressionPointer Or::decomposed(DerivedPredicates &derivedPredicates)
{
// Check that all children are simple or negated predicates
std::for_each(m_arguments.begin(), m_arguments.end(),
[&](auto &argument)
derivedPredicates.emplace_back(new DerivedPredicate());
auto &derivedPredicate = derivedPredicates.back();
std::vector<Expressions> preconditions;
for (auto &argument : m_arguments)
{
Expressions conjunction;
// “and” expressions can directly be inlined into the derived predicate
if (argument->expressionType() == Expression::Type::And)
{
argument = argument->decomposed(derivedPredicates);
});
const auto &andExpression = dynamic_cast<expressions::And &>(*argument);
auto derivedPredicate = DerivedPredicatePointer(new DerivedPredicate(derivedPredicates.size()));
derivedPredicates.push_back(derivedPredicate);
conjunction = std::move(andExpression.arguments());
derivedPredicate->setArgument(this);
for (auto &argument : conjunction)
argument = argument->decomposed(derivedPredicates);
break;
}
else
{
conjunction.emplace_back(argument->decomposed(derivedPredicates));
break;
}
// Move this expression’s arguments to the derived predicate
preconditions.emplace_back(std::move(conjunction));
}
derivedPredicate->setPreconditions(std::move(preconditions));
return derivedPredicate;
}

16
src/plasp/pddl/expressions/Predicate.cpp
View File

@@ -156,6 +156,22 @@ bool Predicate::isDeclared() const
////////////////////////////////////////////////////////////////////////////////////////////////////
ExpressionPointer Predicate::decomposed(expressions::DerivedPredicates &)
{
// Predicates cannot be further decomposed
return this;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void Predicate::collectParameters(std::set<VariablePointer> &parameters)
{
for (const auto &argument : m_arguments)
argument->collectParameters(parameters);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
const std::string &Predicate::name() const
{
return m_name;

34
src/plasp/pddl/expressions/Variable.cpp
View File

@@ -143,33 +143,6 @@ void Variable::parseTypedDeclarations(Context &context, ExpressionContext &expre
////////////////////////////////////////////////////////////////////////////////////////////////////
/*
VariablePointer Variable::parseAndFind(Context &context, const ExpressionContext &expressionContext)
{
auto &parser = context.parser;
parser.skipWhiteSpace();
parser.expect<std::string>("?");
const auto variableName = parser.parseIdentifier();
const auto &variables = expressionContext.parameters;
const auto match = std::find_if(variables.cbegin(), variables.cend(),
[&](const auto &variable)
{
return variable->name() == variableName;
});
if (match == variables.cend())
throw input::ParserException(parser.location(), "parameter “" + variableName + "” used but never declared");
return match->get();
}*/
////////////////////////////////////////////////////////////////////////////////////////////////////
void Variable::setName(std::string name)
{
m_name = name;
@@ -212,6 +185,13 @@ bool Variable::isDirty() const
////////////////////////////////////////////////////////////////////////////////////////////////////
void Variable::collectParameters(std::set<VariablePointer> &parameters)
{
parameters.emplace(this);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void Variable::print(std::ostream &ostream) const
{
ostream << "?" << m_name;

206
tests/TestPDDLNormalization.cpp
View File

@@ -79,7 +79,7 @@ TEST_CASE("[PDDL normalization] Implications are correctly replaced", "[PDDL nor
i->setArgument(1, new expressions::Dummy("b"));
std::stringstream output;
i->normalized()->print(output);
i->reduced()->print(output);
CHECK(output.str() == "(or (not (a)) (b))");
}
@@ -95,68 +95,35 @@ TEST_CASE("[PDDL normalization] Double negations are correctly replaced", "[PDDL
n1->setArgument(n2);
std::stringstream output;
n1->normalized()->print(output);
n1->simplified()->print(output);
CHECK(output.str() == "(a)");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[PDDL normalization] De Morgan’s rule is correctly applied to negative conjunctions", "[PDDL normalization]")
{
auto a = expressions::AndPointer(new expressions::And);
a->addArgument(new expressions::Dummy("a"));
a->addArgument(new expressions::Dummy("b"));
a->addArgument(new expressions::Dummy("c"));
auto n = expressions::NotPointer(new expressions::Not);
n->setArgument(a);
std::stringstream output;
n->normalized()->print(output);
CHECK(output.str() == "(or (not (a)) (not (b)) (not (c)))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[PDDL normalization] De Morgan’s rule is correctly applied to negative disjunctions", "[PDDL normalization]")
{
auto a = expressions::OrPointer(new expressions::Or);
a->addArgument(new expressions::Dummy("a"));
a->addArgument(new expressions::Dummy("b"));
a->addArgument(new expressions::Dummy("c"));
auto n = expressions::NotPointer(new expressions::Not);
n->setArgument(a);
std::stringstream output;
n->normalized()->print(output);
CHECK(output.str() == "(and (not (a)) (not (b)) (not (c)))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[PDDL normalization] Expressions inside double negations are also normalized", "[PDDL normalization]")
TEST_CASE("[PDDL normalization] Expressions inside double negations are also simplified", "[PDDL normalization]")
{
auto n1 = expressions::NotPointer(new expressions::Not);
auto n2 = expressions::NotPointer(new expressions::Not);
auto n3 = expressions::NotPointer(new expressions::Not);
auto a = expressions::AndPointer(new expressions::And);
auto a1 = expressions::AndPointer(new expressions::And);
auto a2 = expressions::AndPointer(new expressions::And);
a->addArgument(new expressions::Dummy("a"));
a->addArgument(new expressions::Dummy("b"));
a->addArgument(new expressions::Dummy("c"));
a2->addArgument(new expressions::Dummy("d"));
a2->addArgument(new expressions::Dummy("e"));
n3->setArgument(a);
n2->setArgument(n3);
a1->addArgument(new expressions::Dummy("a"));
a1->addArgument(new expressions::Dummy("b"));
a1->addArgument(new expressions::Dummy("c"));
a1->addArgument(a2);
n2->setArgument(a1);
n1->setArgument(n2);
std::stringstream output;
n1->normalized()->print(output);
n1->simplified()->print(output);
CHECK(output.str() == "(or (not (a)) (not (b)) (not (c)))");
CHECK(output.str() == "(and (a) (b) (c) (d) (e))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -180,7 +147,7 @@ TEST_CASE("[PDDL normalization] Nested “for all” expressions are correctly s
f2->setArgument(new expressions::Dummy("a"));
std::stringstream output;
f1->normalized()->print(output);
f1->simplified()->print(output);
CHECK(output.str() == "(forall (?x ?y ?z ?u ?v ?w) (a))");
}
@@ -206,149 +173,36 @@ TEST_CASE("[PDDL normalization] Nested “exists” expressions are correctly si
e2->setArgument(new expressions::Dummy("a"));
std::stringstream output;
e1->normalized()->print(output);
e1->simplified()->print(output);
CHECK(output.str() == "(exists (?x ?y ?z ?u ?v ?w) (a))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[PDDL normalization] Prenex normal form is correctly established", "[PDDL normalization]")
TEST_CASE("[PDDL normalization] “for all” expressions are correctly replaced by “exists” expressions during normalization", "[PDDL normalization]")
{
auto a = expressions::AndPointer(new expressions::And);
auto f1 = expressions::ForAllPointer(new expressions::ForAll);
auto o = expressions::OrPointer(new expressions::Or);
auto e = expressions::ExistsPointer(new expressions::Exists);
auto f2 = expressions::ForAllPointer(new expressions::ForAll);
auto v1 = expressions::VariablePointer(new expressions::Variable("x"));
auto v2 = expressions::VariablePointer(new expressions::Variable("y"));
auto v3 = expressions::VariablePointer(new expressions::Variable("z"));
auto v4 = expressions::VariablePointer(new expressions::Variable("u"));
auto v5 = expressions::VariablePointer(new expressions::Variable("v"));
auto v6 = expressions::VariablePointer(new expressions::Variable("w"));
a->addArgument(new expressions::Dummy("a"));
a->addArgument(f1);
f1->variables() = {v1};
f1->setArgument(o);
o->addArgument(e);
e->variables() = {v3};
e->setArgument(new expressions::Dummy("b"));
o->addArgument(f2);
f2->variables() = {v2};
f2->setArgument(new expressions::Dummy("c"));
auto normalized = a->reduced()->negationNormalized()->prenex();
SECTION("normalized")
{
std::stringstream output;
normalized->print(output);
CHECK(output.str() == "(forall (?x) (forall (?y) (exists (?z) (and (a) (or (b) (c))))))");
}
SECTION("simplified")
{
normalized = normalized->simplified();
std::stringstream output;
normalized->print(output);
CHECK(output.str() == "(forall (?x ?y) (exists (?z) (and (a) (or (b) (c)))))");
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[PDDL normalization] Same-type first-order expressions are correctly grouped in prenex normal form", "[PDDL normalization]")
{
auto f1 = expressions::ForAllPointer(new expressions::ForAll);
auto f2 = expressions::ForAllPointer(new expressions::ForAll);
auto f3 = expressions::ForAllPointer(new expressions::ForAll);
auto f4 = expressions::ForAllPointer(new expressions::ForAll);
auto f5 = expressions::ForAllPointer(new expressions::ForAll);
auto f6 = expressions::ForAllPointer(new expressions::ForAll);
auto e1 = expressions::ExistsPointer(new expressions::Exists);
auto e2 = expressions::ExistsPointer(new expressions::Exists);
auto e3 = expressions::ExistsPointer(new expressions::Exists);
auto a = expressions::AndPointer(new expressions::And);
f1->variables() = {new expressions::Variable("v1")};
f1->setArgument(a);
// forall exists forall exists
a->addArgument(f2);
f2->variables() = {new expressions::Variable("v2")};
f2->setArgument(e1);
e1->variables() = {new expressions::Variable("v3")};
e1->setArgument(f3);
f3->variables() = {new expressions::Variable("v4")};
f3->setArgument(e2);
e2->variables() = {new expressions::Variable("v5")};
e2->setArgument(new expressions::Dummy("a"));
// forall forall exists forall
a->addArgument(f4);
f4->variables() = {new expressions::Variable("v6")};
f4->setArgument(f5);
f5->variables() = {new expressions::Variable("v7")};
f5->setArgument(e3);
e3->variables() = {new expressions::Variable("v8")};
e3->setArgument(f6);
f6->variables() = {new expressions::Variable("v9")};
f6->setArgument(new expressions::Dummy("b"));
auto normalized = f1->normalized();
std::stringstream output;
normalized->print(output);
CHECK(output.str() == "(forall (?v1 ?v2 ?v6 ?v7) (exists (?v3 ?v8) (forall (?v4 ?v9) (exists (?v5) (and (a) (b))))))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[PDDL normalization] Disjunctive normal form is correctly established", "[PDDL normalization]")
{
auto f = expressions::ForAllPointer(new expressions::ForAll);
auto e = expressions::ExistsPointer(new expressions::Exists);
auto a = expressions::AndPointer(new expressions::And);
auto o1 = expressions::OrPointer(new expressions::Or);
auto o2 = expressions::OrPointer(new expressions::Or);
auto o3 = expressions::OrPointer(new expressions::Or);
auto f2 = expressions::ForAllPointer(new expressions::ForAll);
f->variables() = {new expressions::Variable("v1")};
f->setArgument(e);
f1->variables() = {v1, v2};
e->variables() = {v3, v4};
f2->variables() = {v5, v6};
e->variables() = {new expressions::Variable("v2")};
e->setArgument(o1);
o1->addArgument(a);
o1->addArgument(new expressions::Dummy("h"));
a->addArgument(new expressions::Dummy("a"));
a->addArgument(new expressions::Dummy("b"));
a->addArgument(o2);
a->addArgument(o3);
o2->addArgument(new expressions::Dummy("c"));
o2->addArgument(new expressions::Dummy("d"));
o2->addArgument(new expressions::Dummy("e"));
o3->addArgument(new expressions::Dummy("f"));
o3->addArgument(new expressions::Dummy("g"));
auto normalized = f->normalized();
f1->setArgument(e);
e->setArgument(f2);
f2->setArgument(new expressions::Dummy("a"));
std::stringstream output;
normalized->print(output);
f1->normalized()->print(output);
CHECK(output.str() == "(forall (?v1) (exists (?v2) (or "
"(and (a) (b) (c) (f)) "
"(h) "
"(and (a) (b) (d) (f)) "
"(and (a) (b) (e) (f)) "
"(and (a) (b) (c) (g)) "
"(and (a) (b) (d) (g)) "
"(and (a) (b) (e) (g))"
")))");
CHECK(output.str() == "(exists (?x ?y) (not (exists (?z ?u ?v ?w) (not (a)))))");
}