def project_primary_over_vars(task, G, variable_set):
variable_map = {}
inv_variable_map = {}
action_map = {}
inv_action_map = {}
# create projected primary task
projected_primary = Task(task.domain_name, task.instance_name)
# re-map primary task variables
for new_index, old_index in enumerate(variable_set):
variable_map[old_index] = new_index
inv_variable_map[new_index] = old_index
x = task.state_vars[old_index]
projected_primary.create_state_var(x.name, x.domain, x.default_value)
# re-map planning task actions
for old_index, action in enumerate(task.actions):
new_index = len(projected_primary.actions)
new_primary_precs = []
for x, v in action.prim_precs:
if x not in variable_map:
continue
new_primary_precs.append((variable_map[x], v))
new_effect = []
for x, v in action.effect:
if x not in variable_map:
continue
new_effect.append((variable_map[x], v))
if len(new_effect) == 0:
continue
projected_primary.actions.append(
Action(action.name, new_primary_precs, action.sec_precs,
new_effect, action.cost))
action_map[old_index] = new_index
inv_action_map[new_index] = old_index
#print( 'Projected task created' )
#projected_primary.print_statistics( sys.stdout )
projected_G = []
for x, v in G:
if x not in variable_map: continue
projected_G.append((variable_map[x], v))
return projected_primary, projected_G, (variable_map,
inv_variable_map), (action_map,
inv_action_map)
def project_primary_over_vars(task, G, variable_set):
variable_map = {}
inv_variable_map = {}
action_map = {}
inv_action_map = {}
# create projected primary task
projected_primary = Task(task.domain_name, task.instance_name)
#print("Projecting primary")
# re-map primary task variables
for new_index, old_index in enumerate(variable_set):
variable_map[old_index] = new_index
inv_variable_map[new_index] = old_index
x = task.state_vars[old_index]
projected_primary.create_state_var(x.name, x.domain, x.default_value)
#print("Name: ", x.name, " Old index: ",old_index , " New index", new_index)
#print("Done with primary. Actions now.")
# re-map planning task actions
for old_index, action in enumerate(task.actions):
new_index = len(projected_primary.actions)
new_primary_precs = []
for x, v in action.prim_precs:
if x not in variable_map:
continue
new_primary_precs.append((variable_map[x], v))
new_effect = []
for x, v in action.effect:
if x not in variable_map:
continue
new_effect.append((variable_map[x], v))
if len(new_effect) == 0:
continue
new_conditional_costs = []
for cc in action.conditional_costs:
new_primary_condition = []
for x, v in cc.primary_conditions:
if x not in variable_map:
print("x not in variable map:", x)
continue
new_primary_condition.append((variable_map[x], v))
new_secondary_condition = []
if len(new_primary_condition) == 0 and len(
new_secondary_condition) == 0:
print("No primary or secondary conditions")
continue
new_conditional_costs.append(
ConditionalCost(primary_condition=new_primary_condition,
secondary_condition=new_secondary_condition,
ccost=cc.ccost))
#print("variable_map is ", variable_map)
#print("conditional_costs are ")
#for cc in action.conditional_costs :
#print("conditions :")
#for x,v in cc.primary_conditions :
#print(x,v)
#print("cost ", cc.ccost)
#print("new conditional costs are : ")
#for ncc in new_conditional_costs :
#print("conditions :")
#for x,v in ncc.primary_conditions :
# print(x,v)
#print("cost ", cc.ccost)
projected_primary.actions.append(
Action(action.name,
new_primary_precs,
action.sec_precs,
new_effect,
action.cost,
conditional_costs=new_conditional_costs,
objective_function=action.objective_function,
of_vname=action.of_varname))
#print("Addng action: ", action.name, " New primary precs: ", new_primary_precs, " Effects: ", new_effect)
action_map[old_index] = new_index
inv_action_map[new_index] = old_index
projected_G = []
for x, v in G:
if x not in variable_map: continue
projected_G.append((variable_map[x], v))
return projected_primary, projected_G, (variable_map,
inv_variable_map), (action_map,
inv_action_map)