def parse_condition_aux(alist, negated):
"""Parse a PDDL condition. The condition is translated into NNF on the fly."""
tag = alist[0]
if is_function_comparison(alist):
args = [f_expression.parse_expression(arg) for arg in alist[1:]]
assert len(args) == 2, args
if negated:
return NegatedFunctionComparison(tag, args, True)
else:
return FunctionComparison(tag, args, True)
elif tag in ("and", "or", "not", "imply"):
args = alist[1:]
if tag == "imply":
assert len(args) == 2
if tag == "not":
assert len(args) == 1
return parse_condition_aux(args[0], not negated)
elif tag in ("forall", "exists"):
parameters = pddl_types.parse_typed_list(alist[1])
args = alist[2:]
assert len(args) == 1
elif tag == "[":
assert not negated
assert alist[-1] == "]"
alist = alist[1:-1] # strip [ and ]
# where go the type checks here? parameter should match the module...
# somewhere check the "nestedness" as we want them at the top only?
# Perhaps later in translate meckern
return ModuleCall(alist[0], [parse_term(term) for term in alist[1:]])
elif negated:
return NegatedAtom(alist[0], [parse_term(term) for term in alist[1:]])
else:
return Atom(alist[0], [parse_term(term) for term in alist[1:]])
if tag == "imply":
parts = [
parse_condition_aux(args[0], not negated),
parse_condition_aux(args[1], negated)
]
tag = "or"
else:
parts = [parse_condition_aux(part, negated) for part in args]
if tag == "and" and not negated or tag == "or" and negated:
return Conjunction(parts)
elif tag == "or" and not negated or tag == "and" and negated:
return Disjunction(parts)
elif tag == "forall" and not negated or tag == "exists" and negated:
return UniversalCondition(parameters, parts)
elif tag == "exists" and not negated or tag == "forall" and negated:
return ExistentialCondition(parameters, parts)
def parse_condition_aux(alist, negated):
"""Parse a PDDL condition. The condition is translated into NNF on the fly."""
tag = alist[0]
if is_function_comparison(alist):
args = [f_expression.parse_expression(arg) for arg in alist[1:]]
assert len(args) == 2, args
if negated:
return NegatedFunctionComparison(tag, args, True)
else:
return FunctionComparison(tag, args, True)
elif tag in ("and", "or", "not", "imply"):
args = alist[1:]
if tag == "imply":
assert len(args) == 2
if tag == "not":
assert len(args) == 1
return parse_condition_aux(args[0], not negated)
elif tag in ("forall", "exists"):
parameters = pddl_types.parse_typed_list(alist[1])
args = alist[2:]
assert len(args) == 1
elif tag == "[":
assert not negated
assert alist[-1] == "]"
alist = alist[1:-1] # strip [ and ]
# where go the type checks here? parameter should match the module...
# somewhere check the "nestedness" as we want them at the top only?
# Perhaps later in translate meckern
return ModuleCall(alist[0], [parse_term(term) for term in alist[1:]])
elif negated:
return NegatedAtom(alist[0], [parse_term(term) for term in alist[1:]])
else:
return Atom(alist[0],[parse_term(term) for term in alist[1:]])
if tag == "imply":
parts = [parse_condition_aux(args[0], not negated),
parse_condition_aux(args[1], negated)]
tag = "or"
else:
parts = [parse_condition_aux(part, negated) for part in args]
if tag == "and" and not negated or tag == "or" and negated:
return Conjunction(parts)
elif tag == "or" and not negated or tag == "and" and negated:
return Disjunction(parts)
elif tag == "forall" and not negated or tag == "exists" and negated:
return UniversalCondition(parameters, parts)
elif tag == "exists" and not negated or tag == "forall" and negated:
return ExistentialCondition(parameters, parts)
def parse(alist):
iterator = iter(alist)
assert iterator.next() == ":durative-action"
name = iterator.next()
parameters_tag_opt = iterator.next()
if parameters_tag_opt == ":parameters":
parameters = pddl_types.parse_typed_list(iterator.next(),
only_variables=True)
duration_tag = iterator.next()
else:
parameters = []
duration_tag = parameters_tag_opt
assert duration_tag == ":duration"
duration_list = iterator.next()
if duration_list[0] == "and":
duration_list = duration_list[1:]
else:
duration_list = [duration_list]
duration_start = []
duration_end = []
for item in duration_list: # each item is a simple-duration-constraint
duration = duration_start
if item[0] == "at":
if item[1] == "end":
duration = duration_end
item = item[2]
assert item[0] in ("<=", ">=", "=")
assert len(item) == 3
assert item[1] == "?duration"
op = item[0]
value = f_expression.parse_expression(item[2])
duration += [(op, value)]
condition_tag = iterator.next()
if condition_tag == ":condition":
condition = conditions.parse_durative_condition(iterator.next())
effect_tag = iterator.next()
else:
condition = conditions.parse_durative_condition([])
effect_tag = condition_tag
assert effect_tag == ":effect"
effect_list = iterator.next()
effect = [[], []]
effects.parse_durative_effects(effect_list, effect)
for rest in iterator:
assert False, rest
return DurativeAction(name, parameters, (duration_start, duration_end),
condition, effect)
def parse(alist):
iterator = iter(alist)
assert iterator.next() == ":durative-action"
name = iterator.next()
parameters_tag_opt = iterator.next()
if parameters_tag_opt == ":parameters":
parameters = pddl_types.parse_typed_list(iterator.next(),
only_variables=True)
duration_tag = iterator.next()
else:
parameters = []
duration_tag = parameters_tag_opt
assert duration_tag == ":duration"
duration_list = iterator.next()
if duration_list[0] == "and":
duration_list = duration_list[1:]
else:
duration_list = [duration_list]
duration_start = []
duration_end = []
for item in duration_list: # each item is a simple-duration-constraint
duration = duration_start
if item[0] == "at":
if item[1] == "end":
duration = duration_end
item = item[2]
assert item[0] in ("<=",">=","=")
assert len(item) == 3
assert item[1] == "?duration"
op = item[0]
value = f_expression.parse_expression(item[2])
duration += [(op,value)]
condition_tag = iterator.next()
if condition_tag == ":condition":
condition = conditions.parse_durative_condition(iterator.next())
effect_tag = iterator.next()
else:
condition = conditions.parse_durative_condition([])
effect_tag = condition_tag
assert effect_tag == ":effect"
effect_list = iterator.next()
effect = [[],[]]
effects.parse_durative_effects(effect_list, effect)
for rest in iterator:
assert False, rest
return DurativeAction(name, parameters, (duration_start,duration_end), condition, effect)
def parse_condition_aux(alist, negated):
"""Parse a PDDL condition. The condition is translated into NNF on the fly."""
tag = alist[0]
if is_function_comparison(alist):
args = [f_expression.parse_expression(arg) for arg in alist[1:]]
assert len(args) == 2, args
if negated:
return NegatedFunctionComparison(tag, args, True)
else:
return FunctionComparison(tag, args, True)
elif tag in ("and", "or", "not", "imply"):
args = alist[1:]
if tag == "imply":
assert len(args) == 2
if tag == "not":
assert len(args) == 1
return parse_condition_aux(args[0], not negated)
elif tag in ("forall", "exists"):
import __builtin__
__builtin__.containsQuantifiedConditions = True
parameters = pddl_types.parse_typed_list(alist[1])
args = alist[2:]
assert len(args) == 1
elif negated:
return NegatedAtom(alist[0], [parse_term(term) for term in alist[1:]])
else:
return Atom(alist[0], [parse_term(term) for term in alist[1:]])
if tag == "imply":
parts = [
parse_condition_aux(args[0], not negated),
parse_condition_aux(args[1], negated)
]
tag = "or"
else:
parts = [parse_condition_aux(part, negated) for part in args]
if tag == "and" and not negated or tag == "or" and negated:
return Conjunction(parts)
elif tag == "or" and not negated or tag == "and" and negated:
return Disjunction(parts)
elif tag == "forall" and not negated or tag == "exists" and negated:
return UniversalCondition(parameters, parts)
elif tag == "exists" and not negated or tag == "forall" and negated:
return ExistentialCondition(parameters, parts)
def parse_condition_aux(alist, negated):
"""Parse a PDDL condition. The condition is translated into NNF on the fly."""
tag = alist[0]
if is_function_comparison(alist):
args = [f_expression.parse_expression(arg) for arg in alist[1:]]
assert len(args) == 2, args
if negated:
return NegatedFunctionComparison(tag, args, True)
else:
return FunctionComparison(tag, args, True)
elif tag in ("and", "or", "not", "imply"):
args = alist[1:]
if tag == "imply":
assert len(args) == 2
if tag == "not":
assert len(args) == 1
return parse_condition_aux(args[0], not negated)
elif tag in ("forall", "exists"):
parameters = pddl_types.parse_typed_list(alist[1])
args = alist[2:]
assert len(args) == 1
elif negated:
return NegatedAtom(alist[0], [parse_term(term) for term in alist[1:]])
else:
return Atom(alist[0],[parse_term(term) for term in alist[1:]])
if tag == "imply":
parts = [parse_condition_aux(args[0], not negated),
parse_condition_aux(args[1], negated)]
tag = "or"
else:
parts = [parse_condition_aux(part, negated) for part in args]
if tag == "and" and not negated or tag == "or" and negated:
return Conjunction(parts)
elif tag == "or" and not negated or tag == "and" and negated:
return Disjunction(parts)
elif tag == "forall" and not negated or tag == "exists" and negated:
return UniversalCondition(parameters, parts)
elif tag == "exists" and not negated or tag == "forall" and negated:
return ExistentialCondition(parameters, parts)
def parse(alist):
assert len(alist) >= 3
name = alist[0]
# effects might contain (set) functions here like (x ?a)
parameterList = [
someParam for someParam in alist[1:-2]
if not isinstance(someParam, list)
]
functionParamList = [
someParam for someParam in alist[1:-2]
if isinstance(someParam, list)
]
parameters = pddl_types.parse_typed_list(parameterList)
effects = [
f_expression.parse_expression(entry) for entry in functionParamList
]
#effects = [functions.Function.parse_typed(entry, "number") for entry in functionParamList]
modulecall = alist[-1]
type = alist[-2]
return Module(name, parameters, type, modulecall, effects)
def parse(alist):
iterator = iter(alist)
assert iterator.next() == ":durative-action"
name = iterator.next()
print "Parsing durative-action", name
parameters_tag_opt = iterator.next()
if parameters_tag_opt == ":parameters":
parameters = pddl_types.parse_typed_list(iterator.next(),
only_variables=True)
grounding_tag = iterator.next()
else:
parameters = []
grounding_tag = parameters_tag_opt
if grounding_tag == ":grounding":
grounding_list = iterator.next()
grounding_call = conditions.parse_condition(grounding_list)
duration_tag = iterator.next()
else:
grounding_call = None
duration_tag = grounding_tag
assert duration_tag == ":duration"
duration_list = iterator.next()
if duration_list[0] == "and":
duration_list = duration_list[1:]
else:
duration_list = [duration_list]
duration_start = []
duration_end = []
for item in duration_list: # each item is a simple-duration-constraint
duration = duration_start
if item[0] == "at":
if item[1] == "end":
duration = duration_end
item = item[2]
assert item[0] in ("<=",">=","=")
if len(item) == 3: # = ?duration 1
assert item[1] == "?duration"
op = item[0]
value = f_expression.parse_expression(item[2])
duration += [(op,value)]
else: # should be module: = ?duration [module]
assert item[1] == "?duration"
op = item[0]
mod_list = item[2:]
#print "Modlist:", mod_list
value = conditions.parse_condition(mod_list)
#print "parse to ", value
duration += [(op,value)]
pass
condition_tag = iterator.next()
if condition_tag == ":condition":
condition = conditions.parse_durative_condition(iterator.next())
effect_tag = iterator.next()
else:
condition = conditions.parse_durative_condition([])
effect_tag = condition_tag
assert effect_tag == ":effect"
effect_list = iterator.next()
effect = [[],[]]
effects.parse_durative_effects(effect_list, effect)
for rest in iterator:
assert False, rest
return DurativeAction(name, parameters, grounding_call, (duration_start,duration_end), condition, effect)
def parse(alist):
iterator = iter(alist)
assert iterator.next() == ":durative-action"
name = iterator.next()
print "Parsing durative-action", name
parameters_tag_opt = iterator.next()
if parameters_tag_opt == ":parameters":
parameters = pddl_types.parse_typed_list(iterator.next(),
only_variables=True)
grounding_tag = iterator.next()
else:
parameters = []
grounding_tag = parameters_tag_opt
if grounding_tag == ":grounding":
grounding_list = iterator.next()
grounding_call = conditions.parse_condition(grounding_list)
duration_tag = iterator.next()
else:
grounding_call = None
duration_tag = grounding_tag
assert duration_tag == ":duration"
duration_list = iterator.next()
if duration_list[0] == "and":
duration_list = duration_list[1:]
else:
duration_list = [duration_list]
duration_start = []
duration_end = []
for item in duration_list: # each item is a simple-duration-constraint
duration = duration_start
if item[0] == "at":
if item[1] == "end":
duration = duration_end
item = item[2]
assert item[0] in ("<=", ">=", "=")
if len(item) == 3: # = ?duration 1
assert item[1] == "?duration"
op = item[0]
value = f_expression.parse_expression(item[2])
duration += [(op, value)]
else: # should be module: = ?duration [module]
assert item[1] == "?duration"
op = item[0]
mod_list = item[2:]
#print "Modlist:", mod_list
value = conditions.parse_condition(mod_list)
#print "parse to ", value
duration += [(op, value)]
pass
condition_tag = iterator.next()
if condition_tag == ":condition":
condition = conditions.parse_durative_condition(iterator.next())
effect_tag = iterator.next()
else:
condition = conditions.parse_durative_condition([])
effect_tag = condition_tag
assert effect_tag == ":effect"
effect_list = iterator.next()
effect = [[], []]
effects.parse_durative_effects(effect_list, effect)
for rest in iterator:
assert False, rest
return DurativeAction(name, parameters, grounding_call,
(duration_start, duration_end), condition,
effect)