def init(self):
PddlState.init(self)
self.num_updates = 0
self.update_input_stats()
if self.clear_visits_on_init:
self.state_visits.clear()
def __init__(self, problem, agent, clear_visits_on_init=True):
PddlState.__init__(self)
self.problem = problem
self.agent = agent
self.clear_visits_on_init = clear_visits_on_init
self.dynamic_predicates = dynamic_predicates(problem.domain)
self.__reinit_event_id = agent.GetKernel().RegisterForAgentEvent(
sml.smlEVENT_AFTER_AGENT_REINITIALIZED, init_event_handler, self)
# A dict from predicate names to dicts, where each value dict is a map
# from tuples of object refs (representing the parameters of a
# particular instance of the predicate) to SmlPredicate references
self.pred_map = {}
# dict from object ID strings to their SmlObject references
self.obj_map = {}
self.num_updates = 0
self.state_visits = {}
ilink = self.agent.GetInputLink()
self.state_wme = self.agent.CreateIdWME(ilink, 'state')
self.entity_count_wme = self.agent.CreateIntWME(
ilink, 'entity-count', 0)
self.num_updates_wme = self.agent.CreateIntWME(ilink, 'num-updates', 0)
self.num_visits_wme = self.agent.CreateIntWME(ilink, 'num-visits', 0)
self.agent.Commit()
def add_predicate(self, pred_name, *params):
PddlState.add_predicate(self, pred_name, *params)
param_refs = [self.obj_map[p] for p in params]
p = SmlPredicate(
self.agent, pred_name,
**dict(zip(self.problem.pred_param_names[pred_name], param_refs)))
self.pred_map.setdefault(pred_name, {})[tuple(params)] = p
def __init__(self, agent):
if agent:
self.state = PddlStateSmlAdapter(self, agent)
else:
self.state = PddlState()
self.state.predicates['on__table'] = set()
self.state.predicates['on'] = set()
self.state.predicates['clear'] = set()
self.pred_param_names = {}
self.pred_param_names['on__table'] = ('x', )
self.pred_param_names['on'] = (
'x',
'y',
)
self.pred_param_names['clear'] = ('x', )
def add_object(self, obj_id, obj_type):
PddlState.add_object(self, obj_id, obj_type)
o = SmlObject(self.agent, obj_type, obj_id)
self.obj_map[obj_id] = o
def from_static(self, static_rep):
self.destroy_objs_preds()
PddlState.from_static(self, static_rep)
def del_predicate(self, pred_name, *params):
PddlState.del_predicate(self, pred_name, *params)
pred = self.pred_map[pred_name].pop(params, None)
if pred: pred.destroy()
