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Implemented translation of derived predicates.

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This commit is contained in:
Patrick Lühne
2017-06-24 23:54:57 +02:00
parent 6b1d079f69
commit 6c9ca0ccb8
6 changed files with 359 additions and 17 deletions
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129
src/plasp/pddl/TranslatorASP.cpp
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@@ -8,6 +8,8 @@
#include <plasp/TranslatorException.h>
#include <plasp/pddl/translation/DerivedPredicate.h>
#include <plasp/pddl/translation/DerivedPredicatePrecondition.h>
#include <plasp/pddl/translation/Effect.h>
#include <plasp/pddl/translation/Goal.h>
#include <plasp/pddl/translation/Precondition.h>
@@ -71,6 +73,12 @@ void TranslatorASP::translateDomain() const
translatePredicates();
}
if (!domain->derivedPredicates.empty())
{
m_outputStream << std::endl;
translateDerivedPredicates();
}
// Actions
if (!domain->actions.empty())
{
@@ -148,7 +156,11 @@ void TranslatorASP::translatePredicates() const
m_outputStream << ")";
translateVariablesForRuleBody(m_outputStream, predicate->parameters);
if (!predicate->parameters.empty())
{
m_outputStream << " :- ";
translateVariablesForRuleBody(m_outputStream, predicate->parameters);
}
m_outputStream << ".";
}
@@ -168,6 +180,115 @@ void TranslatorASP::translatePredicates() const
////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateDerivedPredicates() const
{
m_outputStream << colorlog::Heading2("derived predicates");
const auto &derivedPredicates = m_description.domain->derivedPredicates;
for (const auto &derivedPredicate : derivedPredicates)
{
m_outputStream << std::endl << colorlog::Function("derivedVariable") << "(";
translateDerivedPredicateDeclaration(m_outputStream, *derivedPredicate);
m_outputStream << ")";
if (!derivedPredicate->parameters.empty() || !derivedPredicate->existentialParameters.empty())
{
m_outputStream << " :- ";
translateVariablesForRuleBody(m_outputStream, derivedPredicate->parameters);
}
m_outputStream << ".";
}
m_outputStream
<< std::endl << std::endl
<< colorlog::Function("boolean") << "(" << colorlog::Boolean("true") << ")." << std::endl
<< colorlog::Function("boolean") << "(" << colorlog::Boolean("false") << ")." << std::endl
<< std::endl
<< colorlog::Function("contains") << "("
<< colorlog::Keyword("derivedVariable") << "(" << colorlog::Variable("X") << "), "
<< colorlog::Keyword("value") << "(" << colorlog::Variable("X") << ", " << colorlog::Variable("B") << ")) :- "
<< colorlog::Function("derivedVariable") << "(" << colorlog::Keyword("derivedVariable") << "(" << colorlog::Variable("X") << ")), "
<< colorlog::Function("boolean") << "(" << colorlog::Variable("B") << ")."
<< std::endl << std::endl;
for (const auto &derivedPredicate : derivedPredicates)
{
const auto printDerivedPredicateName =
[&]()
{
m_outputStream << colorlog::Keyword("derivedPredicate") << "(";
if (derivedPredicate->parameters.empty())
{
m_outputStream << *derivedPredicate << ")";
return;
}
m_outputStream << "(" << *derivedPredicate;
// TODO: add existentially quantified parameters
translateVariablesForRuleHead(m_outputStream, derivedPredicate->parameters);
if (!derivedPredicate->existentialParameters.empty())
translateVariablesForRuleHead(m_outputStream, derivedPredicate->existentialParameters);
m_outputStream << "))";
};
m_outputStream << std::endl;
// Name
m_outputStream << colorlog::Function("derivedPredicate") << "(";
printDerivedPredicateName();
m_outputStream << ", " << colorlog::Keyword("type") << "(";
if (derivedPredicate->precondition.value().is<::pddl::normalizedAST::OrPointer<::pddl::normalizedAST::Literal>>())
m_outputStream << colorlog::Reserved("or");
else
m_outputStream << colorlog::Reserved("and");
m_outputStream << "))";
if (!derivedPredicate->parameters.empty() || !derivedPredicate->existentialParameters.empty())
m_outputStream << " :- ";
if (!derivedPredicate->parameters.empty())
translateVariablesForRuleBody(m_outputStream, derivedPredicate->parameters);
if (!derivedPredicate->existentialParameters.empty())
{
if (!derivedPredicate->parameters.empty())
m_outputStream << ", ";
translateVariablesForRuleBody(m_outputStream, derivedPredicate->existentialParameters);
}
m_outputStream << ".";
// Precondition
if (derivedPredicate->precondition)
translateDerivedPredicatePrecondition(m_outputStream, derivedPredicate->precondition.value(), "derivedPredicate", printDerivedPredicateName);
m_outputStream << std::endl << colorlog::Function("postcondition") << "(";
printDerivedPredicateName();
m_outputStream
<< ", " << colorlog::Keyword("effect") << "("
<< colorlog::Reserved("unconditional") << ")"
<< ", ";
translateDerivedPredicateDeclarationToVariable(m_outputStream, *derivedPredicate, true);
m_outputStream << ") :- " << colorlog::Function("derivedPredicate") << "(";
printDerivedPredicateName();
m_outputStream << ").";
m_outputStream << std::endl;
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void TranslatorASP::translateActions() const
{
m_outputStream << colorlog::Heading2("actions");
@@ -199,7 +320,11 @@ void TranslatorASP::translateActions() const
printActionName();
m_outputStream << ")";
translateVariablesForRuleBody(m_outputStream, action->parameters);
if (!action->parameters.empty())
{
m_outputStream << " :- ";
translateVariablesForRuleBody(m_outputStream, action->parameters);
}
m_outputStream << ".";