def get_equality_map(constraints, var_map):
equality_map = {}
for component in get_components(constraints):
constants = filter(is_constant, component)
parameters = filter(is_parameter, component)
if constants:
assignment = constants[0]
if any(val != assignment for val in constants):
print 'Warning! Infeasible transition'
return None
else:
assignment = component[0]
dtypes = []
for param in parameters:
if isinstance(param, FreeParameter):
dtypes.append(param.type)
if isinstance(param, VarMember):
dtypes.append(var_map[var_name(param.var)].dtype)
if dtypes:
dtype = dtypes[0]
assert all(t == dtype for t in dtypes)
for param in parameters:
equality_map[param] = assignment
return equality_map
def get_fluent_preconditions(var_map, effect_vars, eq_map, assign_map):
fluent_preconditions = []
for var in effect_vars:
name, args = var_name(var), make_var_constants(var, var_map)
pre_args = [assign_map.get(p, p) for p in args + [X[var]]]
predicate = var_map[name].predicate
fluent_preconditions.append(predicate(*pre_args))
for item in eq_map:
if isinstance(
item,
VarMember) and item.temp == X and item.var not in effect_vars:
name, args = var_name(item.var), make_var_constants(
item.var, var_map)
pre_args = [assign_map.get(p, p) for p in args + [X[item.var]]]
fluent_preconditions.append(var_map[name].predicate(*pre_args))
return fluent_preconditions
def get_effects(var_map, effect_vars, assign_map):
effects = []
for var in effect_vars:
name, args = var_name(var), make_var_constants(var, var_map)
pre_args = [assign_map.get(p, p) for p in args + [X[var]]]
eff_args = [assign_map.get(p, p) for p in args + [nX[var]]]
predicate = var_map[name].predicate
effects += [predicate(*eff_args), Not(predicate(*pre_args))]
return effects
def get_assignments(internal_params, var_map, eq_map):
assign_map = {}
for param in internal_params:
if isinstance(param, FreeParameter):
dtype = param.type
elif isinstance(param, VarMember):
dtype = var_map[var_name(param.var)].dtype
else:
raise ValueError(param)
eq_param = eq_map.get(param, param)
if not is_constant(eq_param):
if eq_param not in assign_map:
assign_map[eq_param] = Par('%s' % len(assign_map), dtype)
assign_map[param] = assign_map[eq_param]
else:
assign_map[param] = dtype(eq_param)
return assign_map