285 lines
12 KiB
C++
285 lines
12 KiB
C++
#include <pddlparse/detail/normalization/Precondition.h>
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#include <pddlparse/AST.h>
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#include <pddlparse/Exception.h>
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#include <pddlparse/NormalizedAST.h>
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#include <pddlparse/detail/normalization/AtomicFormula.h>
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#include <pddlparse/detail/normalization/CollectFreeVariables.h>
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namespace pddl
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{
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namespace detail
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{
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////////////////////////////////////////////////////////////////////////////////////////////////////
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//
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// Precondition
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//
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////////////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////////////
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// Forward Declarations
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::AndPointer<ast::Precondition> &and_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates);
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normalizedAST::Literal normalizeNested(ast::ExistsPointer<ast::Precondition> &exists, normalizedAST::DerivedPredicateDeclarations &derivedPredicates);
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normalizedAST::Literal normalizeNested(ast::ForAllPointer<ast::Precondition> &forAll, normalizedAST::DerivedPredicateDeclarations &derivedPredicates);
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normalizedAST::Literal normalizeNested(ast::ImplyPointer<ast::Precondition> &, normalizedAST::DerivedPredicateDeclarations &);
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normalizedAST::Literal normalizeNested(ast::NotPointer<ast::Precondition> ¬_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates);
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normalizedAST::Literal normalizeNested(ast::OrPointer<ast::Precondition> &or_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates);
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normalizedAST::Literal normalizeNested(ast::UnsupportedPointer &unsupported, normalizedAST::DerivedPredicateDeclarations &);
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normalizedAST::Literal normalizeNested(ast::AtomicFormula &, normalizedAST::DerivedPredicateDeclarations &);
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normalizedAST::PredicatePointer normalize(ast::UnsupportedPointer &&unsupported, normalizedAST::DerivedPredicateDeclarations &);
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normalizedAST::AtomicFormula normalize(ast::AtomicFormula &atomicFormula, normalizedAST::DerivedPredicateDeclarations &);
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normalizedAST::NotPointer<normalizedAST::AtomicFormula> normalize(ast::NotPointer<ast::Precondition> &¬_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates);
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normalizedAST::AndPointer<normalizedAST::Literal> normalize(ast::AndPointer<ast::Precondition> &&and_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates);
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::DerivedPredicatePointer addDerivedPredicate(const std::vector<normalizedAST::VariableDeclaration *> ¶meters, normalizedAST::DerivedPredicateDeclarations &derivedPredicates)
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{
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auto name = "derived-predicate-" + std::to_string(derivedPredicates.size() + 1);
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normalizedAST::DerivedPredicate::Arguments arguments;
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arguments.reserve(parameters.size());
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for (const auto ¶meter : parameters)
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arguments.emplace_back(std::make_unique<normalizedAST::Variable>(parameter));
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derivedPredicates.emplace_back(std::make_unique<normalizedAST::DerivedPredicateDeclaration>());
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auto *derivedPredicate = derivedPredicates.back().get();
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derivedPredicate->name = std::move(name);
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derivedPredicate->parameters = std::move(parameters);
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return std::make_unique<normalizedAST::DerivedPredicate>(std::move(arguments), derivedPredicate);
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::AndPointer<ast::Precondition> &and_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates)
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{
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std::vector<normalizedAST::VariableDeclaration *> parameters;
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VariableStack variableStack;
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collectFreeVariables(and_, parameters, variableStack);
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auto derivedPredicate = addDerivedPredicate(parameters, derivedPredicates);
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normalizedAST::And<normalizedAST::Literal>::Arguments normalizedArguments;
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normalizedArguments.reserve(and_->arguments.size());
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for (auto &argument : and_->arguments)
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normalizedArguments.emplace_back(argument.match(
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[&](auto &x) -> normalizedAST::Literal
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{
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return normalizeNested(x, derivedPredicates);
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}));
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derivedPredicate->declaration->precondition = std::make_unique<normalizedAST::And<normalizedAST::Literal>>(std::move(normalizedArguments));
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// TODO: investigate, could be a compiler bug
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return std::move(derivedPredicate);
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::ExistsPointer<ast::Precondition> &exists, normalizedAST::DerivedPredicateDeclarations &derivedPredicates)
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{
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std::vector<normalizedAST::VariableDeclaration *> parameters;
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VariableStack variableStack;
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collectFreeVariables(exists, parameters, variableStack);
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auto derivedPredicate = addDerivedPredicate(parameters, derivedPredicates);
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derivedPredicate->declaration->existentialParameters = std::move(exists->parameters);
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derivedPredicate->declaration->precondition = exists->argument.match([&](auto &x){return normalizeNested(x, derivedPredicates);});
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// TODO: investigate, could be a compiler bug
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return std::move(derivedPredicate);
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::ForAllPointer<ast::Precondition> &, normalizedAST::DerivedPredicateDeclarations &)
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{
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// “forall” expressions should be reduced to negated “exists” statements at this point
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throw std::logic_error("precondition not in normal form (forall), please report to the bug tracker");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::ImplyPointer<ast::Precondition> &, normalizedAST::DerivedPredicateDeclarations &)
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{
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// “imply” expressions should be reduced to disjunctions at this point
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throw std::logic_error("precondition not in normal form (imply), please report to the bug tracker");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::NotPointer<ast::Precondition> ¬_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates)
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{
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std::vector<normalizedAST::VariableDeclaration *> parameters;
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VariableStack variableStack;
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collectFreeVariables(not_, parameters, variableStack);
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auto derivedPredicate = addDerivedPredicate(parameters, derivedPredicates);
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auto normalizedArgumentLiteral = not_->argument.match(
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[&](auto &x) -> normalizedAST::Literal
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{
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return normalizeNested(x, derivedPredicates);
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});
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// Multiple negations should be eliminated at this point
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if (normalizedArgumentLiteral.is<normalizedAST::NotPointer<normalizedAST::AtomicFormula>>())
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throw std::logic_error("precondition not in normal form (multiple negation), please report to the bug tracker");
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auto &normalizedArgument = normalizedArgumentLiteral.get<normalizedAST::AtomicFormula>();
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derivedPredicate->declaration->precondition = std::make_unique<normalizedAST::Not<normalizedAST::AtomicFormula>>(std::move(normalizedArgument));
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// TODO: investigate, could be a compiler bug
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return std::move(derivedPredicate);
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::OrPointer<ast::Precondition> &or_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates)
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{
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std::vector<normalizedAST::VariableDeclaration *> parameters;
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VariableStack variableStack;
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collectFreeVariables(or_, parameters, variableStack);
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auto derivedPredicate = addDerivedPredicate(parameters, derivedPredicates);
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normalizedAST::Or<normalizedAST::Literal>::Arguments normalizedArguments;
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normalizedArguments.reserve(or_->arguments.size());
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for (auto &argument : or_->arguments)
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normalizedArguments.emplace_back(argument.match(
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[&](auto &x) -> normalizedAST::Literal
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{
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return normalizeNested(x, derivedPredicates);
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}));
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derivedPredicate->declaration->precondition = std::make_unique<normalizedAST::Or<normalizedAST::Literal>>(std::move(normalizedArguments));
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// TODO: investigate, could be a compiler bug
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return std::move(derivedPredicate);
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::UnsupportedPointer &unsupported, normalizedAST::DerivedPredicateDeclarations &)
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{
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throw NormalizationException("“" + unsupported->type + "” expressions in preconditions can’t be normalized currently");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Literal normalizeNested(ast::AtomicFormula &atomicFormula, normalizedAST::DerivedPredicateDeclarations &)
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{
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return normalize(std::move(atomicFormula));
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::PredicatePointer normalize(ast::UnsupportedPointer &&unsupported, normalizedAST::DerivedPredicateDeclarations &)
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{
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throw NormalizationException("“" + unsupported->type + "” expressions in preconditions can’t be normalized currently");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::AtomicFormula normalize(ast::AtomicFormula &&atomicFormula, normalizedAST::DerivedPredicateDeclarations &)
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{
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return normalize(std::move(atomicFormula));
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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// Normalize top-level negations
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normalizedAST::NotPointer<normalizedAST::AtomicFormula> normalize(ast::NotPointer<ast::Precondition> &¬_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates)
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{
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// “not” expressions may be nested one time to form simple literals
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if (not_->argument.is<ast::AtomicFormula>())
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return std::make_unique<normalizedAST::Not<normalizedAST::AtomicFormula>>(normalize(std::move(not_->argument.get<ast::AtomicFormula>())));
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auto normalizedArgument = not_->argument.match(
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[&](auto &nested) -> normalizedAST::AtomicFormula
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{
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auto normalizedLiteral = normalizeNested(nested, derivedPredicates);
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// Multiple negations should be eliminated at this point
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if (normalizedLiteral.template is<normalizedAST::NotPointer<normalizedAST::AtomicFormula>>())
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throw std::logic_error("precondition not in normal form (multiple negation), please report to the bug tracker");
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return std::move(normalizedLiteral.template get<normalizedAST::AtomicFormula>());
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});
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return std::make_unique<normalizedAST::Not<normalizedAST::AtomicFormula>>(std::move(normalizedArgument));
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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// Normalize top-level conjunctions
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normalizedAST::AndPointer<normalizedAST::Literal> normalize(ast::AndPointer<ast::Precondition> &&and_, normalizedAST::DerivedPredicateDeclarations &derivedPredicates)
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{
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normalizedAST::And<normalizedAST::Literal>::Arguments arguments;
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arguments.reserve(and_->arguments.size());
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const auto handleAtomicFormula =
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[&](ast::AtomicFormula &atomicFormula) -> normalizedAST::Literal
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{
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return normalize(std::move(atomicFormula));
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};
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const auto handleNot =
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[&](ast::NotPointer<ast::Precondition> ¬_) -> normalizedAST::Literal
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{
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return normalize(std::move(not_), derivedPredicates);
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};
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const auto handleNested =
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[&](auto &nested) -> normalizedAST::Literal
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{
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return normalizeNested(nested, derivedPredicates);
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};
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const auto handleUnsupported =
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[&](ast::UnsupportedPointer &unsupported) -> normalizedAST::Literal
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{
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throw NormalizationException("“" + unsupported->type + "” expressions in preconditions can’t be normalized currently");
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};
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for (auto &&argument : and_->arguments)
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{
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auto normalizedArgument = argument.match(handleAtomicFormula, handleNot, handleNested, handleUnsupported);
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arguments.emplace_back(std::move(normalizedArgument));
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}
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return std::make_unique<normalizedAST::And<normalizedAST::Literal>>(std::move(arguments));
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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normalizedAST::Precondition normalize(ast::Precondition &&precondition, normalizedAST::DerivedPredicateDeclarations &derivedPredicates)
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{
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return precondition.match(
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[&](auto &x) -> normalizedAST::Precondition
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{
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return normalize(std::move(x), derivedPredicates);
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});
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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}
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}
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