def pddl(self, costs):
s = '(:action ' + self.name + '\n'
s += '\t:parameters (' + ' '.join(param.typed_pddl()
for param in self.parameters) + ')\n'
s += '\t:precondition ' + self.condition.pddl() + '\n'
augmented_effect = self.effect
if costs and self.cost is not None and not self.cost_included:
augmented_effect = And(augmented_effect, Cost(self.cost))
s += '\t:effect ' + augmented_effect.pddl()
return s + ')'
def pddl(self, costs, durative=False):
if durative:
return self.durative_pddl()
parameters_pddl = ' '.join(param.typed_pddl()
for param in self.parameters)
augmented_effect = self.effect
if costs and (
self.cost is not None
) and not self.cost_included: # Can only have one cost effect (uses last effect parsed)
augmented_effect = And(augmented_effect, Cost(self.cost))
return OPERATOR_PDDL.format(self._pddl_name, self.name,
parameters_pddl, self.condition.pddl(),
augmented_effect.pddl())
