def translate_strips_operator(operator, dictionary, mod_effects_dict, ranges,
comp_axioms):
# NOTE: This function does not really deal with the intricacies of properly
# encoding delete effects for grouped propositions in the presence of
# conditional effects. It should work ok but will bail out in more
# complicated cases even though a conflict does not necessarily exist.
assert False, "Actions not supported, use durative actions"
condition = translate_strips_conditions(operator.condition, dictionary,
ranges, comp_axioms)
if condition is None:
return None
effect, possible_add_conflict, mod_eff = translate_add_effects(
operator.add_effects, dictionary, mod_effects_dict, ranges,
comp_axioms, False)
translate_del_effects(operator.del_effects, dictionary, ranges, effect,
condition, comp_axioms, False, None)
if possible_add_conflict:
print operator.name
assert not possible_add_conflict, "Conflicting add effects?"
assign_effect, possible_assign_conflict = \
translate_assignment_effects(operator.assign_effects, dictionary, ranges, comp_axioms, False)
if possible_assign_conflict:
print operator.name
assert not possible_assign_conflict, "Conflicting assign effects?"
pre_post = []
for var in effect:
for (post, eff_condition_lists) in effect[var].iteritems():
pre = condition.get(var, -1)
if pre != -1:
del condition[var]
for eff_condition in eff_condition_lists:
pre_post.append((var, pre, post, eff_condition))
prevail = condition.items()
assign_effects = []
for var in assign_effect:
for ((op, valvar),
eff_condition_lists) in assign_effect[var].iteritems():
for eff_condition in eff_condition_lists:
sas_effect = sas_tasks.SASAssignmentEffect(
var, op, valvar, eff_condition)
assign_effects.append(sas_effect)
return sas_tasks.SASOperator(operator.name, prevail, pre_post,
assign_effects)
def translate_temporal_strips_operator_aux(operator, dictionary, ranges,
comp_axioms, condition, true_atoms,
false_atoms):
# NOTE: This function does not really deal with the intricacies of properly
# encoding delete effects for grouped propositions in the presence of
# conditional effects. It should work ok but will bail out in more
# complicated cases even though a conflict does not necessarily exist.
duration = translate_operator_duration(operator.duration, dictionary)
if condition is None:
print "operator condition is None (invalid)"
return None
effect = []
possible_add_conflict = False
for time in range(2):
eff, poss_conflict = translate_add_effects(operator.add_effects[time],
dictionary, ranges,
comp_axioms, True,
true_atoms, false_atoms)
translate_del_effects(operator.del_effects[time], dictionary, ranges,
eff, condition, comp_axioms, True, time,
true_atoms, false_atoms)
effect.append(eff)
possible_add_conflict |= poss_conflict
if possible_add_conflict:
print operator.name
assert not possible_add_conflict
assign_effect = []
possible_assign_conflict = False
for time in range(2):
eff, conflict = translate_assignment_effects(
operator.assign_effects[time], dictionary, ranges, comp_axioms,
True, true_atoms, false_atoms)
assign_effect.append(eff)
possible_assign_conflict |= conflict
if possible_assign_conflict:
print operator.name
assert not possible_assign_conflict
pre_post = [[], []]
for time in range(2):
cond_time = time * 2 # start -> start condition, end -> end_condition
for var in effect[time]:
for (post, eff_condition_lists) in effect[time][var].iteritems():
pre = condition[cond_time].get(var, -1)
if pre != -1:
del condition[cond_time][var]
# substitute normal effect for conditional effects if it has only
# one at-start condition on a binary variable which is equivalent
# to the effect variable
# example: temporal effect 1 6 0 0 0 6 -1 1
# becomes 0 0 0 6 0 1
# NOTE: this changes the applicability of the action, because we
# introduce a "write operation" on the variable in the case, where
# the original conditional effect does not trigger (hence not
# affecting the variable)
if len(eff_condition_lists) == 1: # only one conditon
eff_condition = eff_condition_lists[0]
if (eff_condition[1] == [] and eff_condition[2] == []
and len(eff_condition[0]) == 1):
ecvar, ecval = eff_condition[0][0]
if ecvar == var and ranges[var] == 2:
eff_condition[0] = []
for eff_condition in eff_condition_lists:
pre_post[time].append((var, pre, post, eff_condition))
prevail = [cond.items() for cond in condition]
assign_effects = [[], []]
for time in range(2):
for var in assign_effect[time]:
for ((op, valvar), eff_condition_lists) \
in assign_effect[time][var].iteritems():
for eff_condition in eff_condition_lists:
sas_effect = sas_tasks.SASAssignmentEffect(
var, op, valvar, eff_condition, True)
assign_effects[time].append(sas_effect)
return sas_tasks.SASTemporalOperator(operator.name, duration, prevail,
pre_post, assign_effects)