Started implementing derived predicates for decomposing complex PDDL conditions.

include/plasp/pddl/Domain.h

@@ -7,6 +7,7 @@
 #include <plasp/pddl/Parser.h>
 #include <plasp/pddl/Requirement.h>
 #include <plasp/pddl/expressions/Constant.h>
+#include <plasp/pddl/expressions/DerivedPredicate.h>
 #include <plasp/pddl/expressions/PredicateDeclaration.h>
 #include <plasp/pddl/expressions/PrimitiveType.h>
 
@@ -49,6 +50,9 @@ class Domain
 		std::vector<std::unique_ptr<Action>> &actions();
 		const std::vector<std::unique_ptr<Action>> &actions() const;
 
+		expressions::DerivedPredicates &derivedPredicates();
+		const expressions::DerivedPredicates &derivedPredicates() const;
+
 		void checkConsistency();
 
 		void normalize();
@@ -85,6 +89,8 @@ class Domain
 
 		std::vector<utils::Stream::Position> m_actionPositions;
 		std::vector<std::unique_ptr<Action>> m_actions;
+
+		expressions::DerivedPredicates m_derivedPredicates;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////

include/plasp/pddl/Expression.h

@@ -40,6 +40,10 @@ class Constant;
 using ConstantPointer = boost::intrusive_ptr<Constant>;
 using Constants = std::vector<ConstantPointer>;
 
+class DerivedPredicate;
+using DerivedPredicatePointer = boost::intrusive_ptr<DerivedPredicate>;
+using DerivedPredicates = std::vector<DerivedPredicatePointer>;
+
 class Dummy;
 using DummyPointer = boost::intrusive_ptr<Dummy>;
 
@@ -103,6 +107,7 @@ class Expression
 			At,
 			Binary,
 			Constant,
+			DerivedPredicate,
 			Dummy,
 			Either,
 			Exists,
@@ -132,6 +137,7 @@ class Expression
 		virtual ExpressionPointer prenex(Expression::Type lastQuantifierType = Expression::Type::Exists);
 		virtual ExpressionPointer simplified();
 		virtual ExpressionPointer disjunctionNormalized();
+		virtual ExpressionPointer decomposed(expressions::DerivedPredicates &derivedPredicates);
 		ExpressionPointer negated();
 
 		virtual void print(std::ostream &ostream) const = 0;

include/plasp/pddl/expressions/And.h

@@ -25,6 +25,7 @@ class And: public NAry<And>
 
 	public:
 		ExpressionPointer disjunctionNormalized() override;
+		ExpressionPointer decomposed(DerivedPredicates &derivedPredicates) override;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////

include/plasp/pddl/expressions/DerivedPredicate.h

@@ -0,0 +1,42 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__DERIVED_PREDICATE_H
+#define __PLASP__PDDL__EXPRESSIONS__DERIVED_PREDICATE_H
+
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// DerivedPredicate
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class DerivedPredicate: public ExpressionCRTP<DerivedPredicate>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::DerivedPredicate;
+
+		// TODO: consider implementing parsing functions for compatibility with older PDDL versions
+
+	public:
+		void setArgument(ExpressionPointer argument);
+		ExpressionPointer argument() const;
+
+		void print(std::ostream &ostream) const override;
+
+	private:
+		ExpressionPointer m_argument;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Exists.h

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

include/plasp/pddl/expressions/ForAll.h

@@ -22,6 +22,9 @@ class ForAll: public QuantifiedCRTP<ForAll>
 		static const Expression::Type ExpressionType = Expression::Type::ForAll;
 
 		static const std::string Identifier;
+
+	public:
+		ExpressionPointer decomposed(DerivedPredicates &derivedPredicates) override;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////

include/plasp/pddl/expressions/Not.h

@@ -39,6 +39,7 @@ class Not: public ExpressionCRTP<Not>
 		ExpressionPointer prenex(Expression::Type lastExpressionType) override;
 		ExpressionPointer simplified() override;
 		ExpressionPointer disjunctionNormalized() override;
+		ExpressionPointer decomposed(DerivedPredicates &derivedPredicates) override;
 
 		void print(std::ostream &ostream) const override;
 

include/plasp/pddl/expressions/Or.h

@@ -22,6 +22,9 @@ class Or: public NAry<Or>
 		static const Expression::Type ExpressionType = Expression::Type::Or;
 
 		static const std::string Identifier;
+
+	public:
+		ExpressionPointer decomposed(DerivedPredicates &derivedPredicates) override;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////