def visit_bipartite_stmt(self, node):
fab_decomp = pddl.Effect()
disc_decomp = pddl.Effect()
fab_formula = node.fab_formula
disc_formula = node.disc_formula
if fab_formula.key == 'and':
for c in fab_formula.children:
self.add_decomp(fab_decomp, c)
else:
self.add_decomp(fab_decomp, fab_formula)
if disc_formula.key == 'and':
for c in disc_formula.children:
self.add_decomp(disc_decomp, c)
else:
self.add_decomp(disc_decomp, disc_formula)
self.set_in(node, fab_decomp)
self.set_in(node, disc_decomp)
def visit_effect_stmt(self, node):
""" Visits a PDDL effect statement."""
formula = node.formula
effect = pddl.Effect()
# For now we only allow 'and' in the effect.
if formula.key == 'and':
for c in formula.children:
# Call helper.
self.add_effect(effect, c)
else:
# Call helper.
self.add_effect(effect, formula)
# Store effect in node.
self.set_in(node, effect)
def visit_decomp_stmt(self, node):
"""Visits a PDDL requirement statement."""
from pddl.parser import Variable
decomp = pddl.Effect()
formula = node.formula
# For now we only allow 'and' in the effect.
if formula.key == 'and':
for c in formula.children:
self.add_decomp(decomp, c)
else:
self.add_decomp(decomp, formula)
# Store precondition in node.
self.set_in(node, decomp)
def visit_goal_stmt(self, node):
""" Visits a PDDL-problem goal state statement."""
formula = node.formula
goal = pddl.Effect() #to enable delete list
# For now we only allow 'and' in the goal.
if formula.key == 'and':
for c in formula.children:
if not isinstance(c.key, str):
raise SemanticError('Error predicate with non str key: ' +
''.join([c2.key.name + ' '
for c2 in formula.children]))
# Call helper.
self.add_goal(goal, c)
else:
# Only a single predicate is allowed then (s.a.)
if not formula.key in self._domain.predicates:
raise SemanticError('Error: predicate in goal definition is '
'not in CNF')
# Call helper.
self.add_goal(goal, formula)
self.set_in(node, goal)
def visit_precondition_stmt(self, node):
""" Visits a PDDL precond statement."""
precond = pddl.Effect()
formula = node.formula
if formula.key in {'forall', 'for-all'}:
pass
# For now we only allow 'and' in the effect.
if formula.key == 'and':
for c in formula.children:
# Call helper.
if c.key in {'equals', 'equal', '='}:
continue
self.add_precond(precond, c)
else:
# Call helper.
#if formula.key in {'forall', 'for-all', 'exists', 'equals', '=', 'equal'}:
if not formula.key in {'equals', 'equal', '='}:
self.add_precond(precond, formula)
# Store precondition in node.
self.set_in(node, precond)
