From e9c464b319646963b0107070ccaa1481147c41fe Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Patrick=20L=C3=BChne?= <patrick-github@luehne.de>
Date: Mon, 13 Jun 2016 02:59:43 +0200
Subject: [PATCH] =?UTF-8?q?Added=20translation=20of=20a=20PDDL=20problem?=
 =?UTF-8?q?=E2=80=99s=20initial=20state.?=
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---
 include/plasp/pddl/TranslatorASP.h |  1 +
 src/plasp/pddl/TranslatorASP.cpp   | 37 ++++++++++++++++++++++++++++++
 2 files changed, 38 insertions(+)

diff --git a/include/plasp/pddl/TranslatorASP.h b/include/plasp/pddl/TranslatorASP.h
index a8b2037..32da5a9 100644
--- a/include/plasp/pddl/TranslatorASP.h
+++ b/include/plasp/pddl/TranslatorASP.h
@@ -34,6 +34,7 @@ class TranslatorASP
 
 		void translateProblem() const;
 		void translateObjects() const;
+  		void translateInitialState() const;
 
 		void translateVariablesHead(const expressions::Variables &variables) const;
   		void translateVariablesBody(const expressions::Variables &variables) const;
diff --git a/src/plasp/pddl/TranslatorASP.cpp b/src/plasp/pddl/TranslatorASP.cpp
index f6cc81d..66e0166 100644
--- a/src/plasp/pddl/TranslatorASP.cpp
+++ b/src/plasp/pddl/TranslatorASP.cpp
@@ -464,6 +464,10 @@ void TranslatorASP::translateProblem() const
 		m_ostream << std::endl;
 		translateObjects();
 	}
+
+	// Initial State
+	m_ostream << std::endl;
+	translateInitialState();
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -492,5 +496,38 @@ void TranslatorASP::translateObjects() const
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
+void TranslatorASP::translateInitialState() const
+{
+	m_ostream << "% initial state";
+
+	const auto &initialStateFacts = m_description.problem().initialState().facts();
+
+	std::for_each(initialStateFacts.cbegin(), initialStateFacts.cend(),
+		[&](const auto &fact)
+		{
+			m_ostream << std::endl << "initialState(";
+
+			// Translate single predicate
+			if (fact->expressionType() == Expression::Type::Predicate)
+				this->translatePredicate(dynamic_cast<const expressions::Predicate &>(*fact));
+			// Assuming that "not" expression may only contain a predicate
+			else if (fact->expressionType() == Expression::Type::Not)
+			{
+				const auto &notExpression = dynamic_cast<const expressions::Not &>(*fact);
+
+				if (notExpression.argument()->expressionType() != Expression::Type::Predicate)
+					throw utils::TranslatorException("Only negations of simple predicates supported in initial state currently");
+			}
+			else
+				throw utils::TranslatorException("Only predicates and their negations supported in initial state currently");
+
+			m_ostream << ").";
+		});
+
+	m_ostream << std::endl;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
 }
 }