Added initial normalized PDDL debug output functionality.
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319
lib/pddlparse/include/pddlparse/NormalizedASTOutput.h
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319
lib/pddlparse/include/pddlparse/NormalizedASTOutput.h
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#ifndef __PDDL_PARSE__NORMALIZED_AST_OUTPUT_H
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#define __PDDL_PARSE__NORMALIZED_AST_OUTPUT_H
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#include <colorlog/ColorStream.h>
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#include <colorlog/Formatting.h>
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#include <pddlparse/ASTOutput.h>
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#include <pddlparse/NormalizedAST.h>
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#include <pddlparse/detail/OutputUtils.h>
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#include <pddlparse/detail/parsing/Requirement.h>
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namespace pddl
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{
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namespace normalizedAST
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{
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////////////////////////////////////////////////////////////////////////////////////////////////////
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//
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// Output
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//
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////////////////////////////////////////////////////////////////////////////////////////////////////
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using ast::print;
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////////////////////////////////////////////////////////////////////////////////////////////////////
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// Forward declarations
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const DerivedPredicate &derivedPredicate, pddl::detail::PrintContext &printContext);
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const DerivedPredicateDeclaration &derivedPredicateDeclaration, pddl::detail::PrintContext &printContext);
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Action &action, pddl::detail::PrintContext &printContext);
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Domain &domain, pddl::detail::PrintContext &printContext);
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const InitialState &initialState, pddl::detail::PrintContext &printContext);
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Problem &problem, pddl::detail::PrintContext &printContext);
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Requirement &requirement, pddl::detail::PrintContext &printContext);
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Description &description, pddl::detail::PrintContext &printContext);
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////////////////////////////////////////////////////////////////////////////////////////////////////
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// Compounds
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const DerivedPredicate &derivedPredicate, pddl::detail::PrintContext &printContext)
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{
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// TODO: implement correctly
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stream << "(" << pddl::detail::Identifier(derivedPredicate.declaration->name);
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for (const auto &argument : derivedPredicate.arguments)
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{
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stream << " ";
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print(stream, argument, printContext);
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}
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return (stream << ")");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const DerivedPredicateDeclaration &derivedPredicateDeclaration, pddl::detail::PrintContext &printContext)
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{
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// TODO: implement correctly
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stream << "(" << pddl::detail::Identifier(derivedPredicateDeclaration.name);
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for (const auto ¶meter : derivedPredicateDeclaration.parameters)
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{
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stream << " ";
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print(stream, *parameter, printContext);
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}
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return (stream << ")");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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// PDDL Structure
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Action &action, pddl::detail::PrintContext &printContext)
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{
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stream << "(" << colorlog::Keyword(":action") << " " << pddl::detail::Identifier(action.name);
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printContext.indentationLevel++;
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if (!action.parameters.empty())
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{
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printIndentedNewline(stream, printContext);
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stream << colorlog::Keyword(":parameters");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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stream << "(";
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print(stream, action.parameters, printContext);
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stream << ")";
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printContext.indentationLevel--;
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}
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if (action.precondition)
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{
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printIndentedNewline(stream, printContext);
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stream << colorlog::Keyword(":precondition");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, action.precondition.value(), printContext);
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printContext.indentationLevel--;
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}
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if (action.effect)
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{
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printIndentedNewline(stream, printContext);
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stream << colorlog::Keyword(":effect");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, action.effect.value(), printContext);
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printContext.indentationLevel--;
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}
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printContext.indentationLevel--;
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return (stream << ")");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Domain &domain, pddl::detail::PrintContext &printContext)
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{
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stream << "(" << colorlog::Keyword("define") << " (" << colorlog::Keyword("domain") << " " << pddl::detail::Identifier(domain.name) << ")";
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printContext.indentationLevel++;
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if (!domain.types.empty())
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{
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printIndentedNewline(stream, printContext);
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stream << "(" << colorlog::Keyword(":types");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, domain.types, printContext);
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stream << ")";
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printContext.indentationLevel--;
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}
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if (!domain.constants.empty())
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{
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printIndentedNewline(stream, printContext);
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stream << "(" << colorlog::Keyword(":constants");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, domain.constants, printContext);
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stream << ")";
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printContext.indentationLevel--;
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}
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if (!domain.predicates.empty())
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{
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printIndentedNewline(stream, printContext);
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stream << "(" << colorlog::Keyword(":predicates");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, domain.predicates, printContext);
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stream << ")";
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printContext.indentationLevel--;
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}
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if (!domain.derivedPredicates.empty())
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{
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printIndentedNewline(stream, printContext);
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stream << "(" << colorlog::Keyword(":derived-predicates");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, domain.derivedPredicates, printContext);
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stream << ")";
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printContext.indentationLevel--;
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}
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if (!domain.actions.empty())
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{
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printIndentedNewline(stream, printContext);
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print(stream, domain.actions, printContext);
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}
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printContext.indentationLevel--;
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return (stream << ")");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const InitialState &initialState, pddl::detail::PrintContext &printContext)
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{
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assert(!initialState.facts.empty());
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stream << "(" << colorlog::Keyword(":init");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, initialState.facts, printContext);
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printContext.indentationLevel--;
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return (stream << ")");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Problem &problem, pddl::detail::PrintContext &printContext)
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{
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stream << "(" << colorlog::Keyword("define") << " (" << colorlog::Keyword("problem") << " " << pddl::detail::Identifier(problem.name) << ")";
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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stream << "(" << colorlog::Keyword(":domain") << " " << pddl::detail::Identifier(problem.domain->name) << ")";
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if (!problem.derivedPredicates.empty())
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{
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printIndentedNewline(stream, printContext);
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stream << "(" << colorlog::Keyword(":derived-predicates");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, problem.derivedPredicates, printContext);
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stream << ")";
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printContext.indentationLevel--;
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}
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if (!problem.objects.empty())
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{
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printIndentedNewline(stream, printContext);
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stream << "(" << colorlog::Keyword(":objects");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, problem.objects, printContext);
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stream << ")";
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printContext.indentationLevel--;
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}
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if (!problem.initialState.facts.empty())
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{
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printIndentedNewline(stream, printContext);
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print(stream, problem.initialState, printContext);
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}
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if (problem.goal)
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{
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printIndentedNewline(stream, printContext);
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stream << "(" << colorlog::Keyword(":goal");
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printContext.indentationLevel++;
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printIndentedNewline(stream, printContext);
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print(stream, problem.goal.value(), printContext);
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stream << ")";
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printContext.indentationLevel--;
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}
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printContext.indentationLevel--;
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return (stream << ")");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &print(colorlog::ColorStream &stream, const Description &description, pddl::detail::PrintContext &printContext)
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{
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print(stream, *description.domain, printContext);
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stream << std::endl;
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if (description.problem)
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{
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stream << std::endl;
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print(stream, *description.problem.value(), printContext);
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stream << std::endl;
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}
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return stream;
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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inline colorlog::ColorStream &operator<<(colorlog::ColorStream &stream, const Description &description)
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{
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pddl::detail::PrintContext printContext;
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return print(stream, description, printContext);
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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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