def get_cluster_values(stream_plan):
param_from_obj = {}
macro_from_micro = []
inputs, domain, outputs, certified, functions = [], set(), [], set(), set()
input_objects, output_objects = [], []
fluent_facts = []
for result in stream_plan:
local_mapping = {} # global_from_local
stream = result.instance.external
add_result_inputs(result, param_from_obj, local_mapping, inputs, input_objects)
domain.update(set(substitute_expression(stream.domain, local_mapping)) - certified)
if isinstance(result, PredicateResult):
# functions.append(Equal(stream.head, result.value))
# TODO: do I need the new mapping here?
mapping = {inp: param_from_obj[inp] for inp in result.instance.input_objects}
functions.update(substitute_expression(result.get_certified(), mapping))
elif isinstance(result, FunctionResult):
functions.add(substitute_expression(Minimize(stream.head), local_mapping))
else:
fluent_facts.extend(result.instance.fluent_facts)
add_result_outputs(result, param_from_obj, local_mapping, outputs, output_objects)
certified.update(substitute_expression(stream.certified, local_mapping))
macro_from_micro.append(local_mapping)
#assert not fluent_facts
return inputs, domain, outputs, certified, functions, \
macro_from_micro, input_objects, output_objects, fluent_facts
('motion', '?q3', '?t2', '?q2'),
#('conf', '?q0'),
#('conf', '?q1'),
#('conf', '?q2'),
#('conf', '?q3'),
#('pose', 'A', '?p0'),
#('pose', 'B', '?p1'),
#('traj', '?t0'),
#('traj', '?t1'),
#('traj', '?t2'),
#('traj', '?t3'),
]
OBJECTIVES = [
Minimize(('dist', CONF0, '?q0')),
Minimize(('dist', '?q0', '?q1')),
Minimize(('dist', '?q1', '?q3')),
Minimize(('dist', '?q3', '?q2')),
]
##################################################
# SKELETON = TIGHT_SKELETON
SKELETON = [
('move', ['r0', CONF0, '?t0', '?q0']),
('pick', ['r0', 'A', POSE0, '?g0', '?q0']),
('move', ['r0', '?q0', '?t1', '?q1']),
('place', ['r0', 'A', '?p0', '?g0', '?q1']),
('move', ['r0', '?q1', '?t3', '?q3']),
('pick', ['r0', 'B', POSE1, '?g1', '?q3']),