def add_effect(self, effect, c):
"""Helper function for visit_effect_stmt.
Keyword arguments:
effect -- instance of the effect data structure
c -- the formula representing the effect that we want to add to the
addlist or dellist
"""
# Needed for instance check.
from .parser import Variable
nextPredicate = None
isNegative = False
if c.key == "not":
# This is a negative effect, only one child allowed.
if len(c.children) != 1:
raise SemanticError("Error not statement with multiple "
"children in effect of action")
nextPredicate = c.children[0]
isNegative = True
else:
nextPredicate = c
# Check whether predicate was defined previously.
if not nextPredicate.key in self._predicates:
raise SemanticError("Error: unknown predicate %s used in effect "
"of action" % nextPredicate.key)
if nextPredicate == None:
raise SemanticError("Error: NoneType predicate used in effect of "
"action")
predDef = self._predicates[nextPredicate.key]
signature = list()
count = 0
# Check whether predicate is used with the correct signature.
if len(nextPredicate.children) != len(predDef.signature):
raise SemanticError("Error: wrong number of arguments for "
"predicate " + nextPredicate.key +
" in effect of action")
# Apply to all parameters.
for v in nextPredicate.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add a new effect to the positive or negative effects respectively.
if isNegative:
effect.dellist.add(pddl.Predicate(nextPredicate.key, signature))
else:
effect.addlist.add(pddl.Predicate(nextPredicate.key, signature))
def add_precond(self, precond, c):
"""Helper function for visit_precondition_stmt.
Keyword arguments:
precond -- a list of preconditions
c -- the formula representing a precondition we want to add to the list
"""
from .parser import Variable
predDef = self._predicates[c.key]
signature = list()
count = 0
# Check for correct number of arguments.
if len(c.children) != len(predDef.signature):
raise SemanticError("Error: wrong number of arguments for "
"predicate " + c.key + " in precondition of "
"action")
# Apply to all arguments.
for v in c.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add predicate to precondition list.
precond.append(pddl.Predicate(c.key, signature))
def visit_predicate(self, node):
"""Visits a PDDL predicate."""
signature = list()
# Visit all predicate parameters.
for v in node.parameters:
v.accept(self)
signatureTuple = self.get_in(v)
# Append each parameter to the predicate signature.
signature.append(signatureTuple)
# Create new PDDL predicate and store it in node.
self.set_in(node, pddl.Predicate(node.name, signature))
def visit_predicate_instance(self, node):
""" Visits a PDDL-problem predicate instance."""
signature = list()
# Visit all parameters.
for o in node.parameters:
o_type = None
# Check whether predicate was introduced in objects or domain
# constants.
if not (o in self._objects or o in self._domain.constants):
raise SemanticError("Error: object " + o + " referenced in "
"problem definition - but not defined")
elif o in self._objects:
o_type = self._objects[o]
elif o in self._domain.constants:
o_type = self._domain.constants[o]
signature.append((o, (o_type)))
self.set_in(node, pddl.Predicate(node.name, signature))
def add_goal(self, goal, c):
"""Helper function for visit_goal_stmt.
Keyword arguments:
goal -- a list of goals
c -- a formula representing a goal we want to add to the goal list
"""
# Check whether predicate was introduced in domain file.
if not c.key in self._domain.predicates:
raise SemanticError("Error: unknown predicate " + c.key +
" in goal definition")
# Get predicate from the domain data structure.
predDef = self._domain.predicates[c.key]
signature = list()
count = 0
# Check whether the predicate uses the correct signature.
if len(c.children) != len(predDef.signature):
raise SemanticError("Error: wrong number of arguments for "
"predicate " + c.key + " in goal")
for v in c.children:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add the predicate to the goal.
goal.append(pddl.Predicate(c.key, signature))