class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
"*** YOUR CODE HERE ***"
for action in allActions:
#check the preconditions
if previousPropositionLayer.allPrecondsInLayer(action):
actionPropositions = action.getPre()
#check the mutex
isNotMutex = True
for prop1 in actionPropositions:
for prop2 in actionPropositions:
if not prop1 == prop2:
if previousPropositionLayer.isMutex(prop1, prop2):
isNotMutex = False
if isNotMutex:
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
"*** YOUR CODE HERE ***"
for action1 in currentLayerActions:
for action2 in currentLayerActions:
if (not action1 == action2) and\
(Pair(action1,action2) not in self.actionLayer.getMutexActions()):
if mutexActions(action1, action2, previousLayerMutexProposition):
self.actionLayer.addMutexActions(action1, action2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
"*** YOUR CODE HERE ***"
# create dictionary with proposition and actions
# leading to it
propositionDict = dict()
for action in currentLayerActions:
for prop in action.getAdd():
if prop.getName() in propositionDict.keys():
propositionDict[prop.getName()].append(action)
else:
actionList = list()
actionList.append(action)
propositionDict.update({prop.getName(): actionList})
#create proposition object and update their actions
for key in propositionDict.keys():
p = Proposition(key)
p.setProducers(propositionDict[key])
self.propositionLayer.addProposition(p)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
"*** YOUR CODE HERE ***"
for prop1 in currentLayerPropositions:
for prop2 in currentLayerPropositions:
if not prop1 == prop2 and \
(Pair(prop1, prop2) not in self.propositionLayer.getMutexProps()):
if mutexPropositions(prop1, prop2, currentLayerMutexActions):
self.propositionLayer.addMutexProp(prop1, prop2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps()
"*** YOUR CODE HERE ***"
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
"*** YOUR CODE HERE ***"
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
for action in allActions:
if previousPropositionLayer.allPrecondsInLayer(action) and\
not pre_contains_pairwise_mutex(action, previousPropositionLayer):
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
for action1 in currentLayerActions:
for action2 in currentLayerActions:
if action1 != action2 and\
mutexActions(action1, action2, previousLayerMutexProposition):
self.actionLayer.addMutexActions(action1, action2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
props_dict = dict()
for action in currentLayerActions:
for add_props in action.getAdd():
if add_props.getName() not in props_dict:
props_dict[add_props.getName()] = [action]
else:
props_dict[add_props.getName()] = \
props_dict[add_props.getName()]+[action]
for key in props_dict:
prop_temp = Proposition(key)
prop_temp.setProducers(props_dict[key]) #takes care of adding procedure
self.propositionLayer.addProposition(prop_temp)
#notice there is no mention of mutexes. is this ok?
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for prop1 in currentLayerPropositions:
for prop2 in currentLayerPropositions:
if mutexPropositions(prop1, prop2, currentLayerMutexActions) \
and prop1 != prop2:
self.propositionLayer.addMutexProp(prop1, prop2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps()
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
self.updateActionLayer(previousPropositionLayer)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [
] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [
] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [
] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
for action in allActions:
if previousPropositionLayer.allPrecondsInLayer(action) \
and True not in [previousPropositionLayer.isMutex(p1, p2) for p1, p2 in exclusiveProduct(action.getPre(), action.getPre())]:
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
actionPairs = exclusiveProduct(currentLayerActions,
currentLayerActions)
for a1, a2 in actionPairs:
if mutexActions(a1, a2, previousLayerMutexProposition):
self.actionLayer.addMutexActions(a1, a2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
props = dict()
for a in currentLayerActions:
for prop in a.getAdd():
name = prop.getName()
if name not in props.keys():
props[name] = Proposition(name)
props[name].addProducer(a)
for prop in props.values():
self.propositionLayer.addProposition(prop)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for p1, p2 in exclusiveProduct(currentLayerPropositions,
currentLayerPropositions):
if mutexPropositions(p1, p2, currentLayerMutexActions):
self.propositionLayer.addMutexProp(p1, p2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps(
)
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Expand the graph without updating the mutex relations
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
self.updateActionLayer(previousPropositionLayer)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [
] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [
] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [
] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
for action in allActions:
if previousPropositionLayer.allPrecondsInLayer(
action) and action not in self.actionLayer.getActions():
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
for a1 in currentLayerActions:
for a2 in currentLayerActions:
if a1 == a2:
continue # an action is not mutex with itself
if Pair(a1, a2) not in self.actionLayer.getMutexActions(
) and mutexActions(a1, a2, previousLayerMutexProposition):
# if a1 and a2 are mutex actions, and we didn't add them before, we should do so now
self.actionLayer.addMutexActions(a1, a2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
for action in currentLayerActions:
for p in action.getAdd():
# add the proposition if it doesn't already exist
if p not in self.propositionLayer.getPropositions():
self.propositionLayer.addProposition(p)
# add the action as a producer if it doesn't already exist
if action not in p.getProducers():
p.addProducer(action)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for p in currentLayerPropositions:
for q in currentLayerPropositions:
if p == q:
continue # a proposition is not mutex with itself
if Pair(p, q) not in self.propositionLayer.getMutexProps(
) and mutexPropositions(p, q, currentLayerMutexActions):
# if p and q are mutex props, and we didn't add them before, we should do so now
self.propositionLayer.addMutexProp(p, q)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps(
)
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
for action in allActions:
if previousPropositionLayer.allPrecondsInLayer(action) \
and True not in [previousPropositionLayer.isMutex(p1, p2) for p1, p2 in exclusiveProduct(action.getPre(), action.getPre())]:
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
actionPairs = exclusiveProduct(currentLayerActions, currentLayerActions)
for a1, a2 in actionPairs:
if mutexActions(a1, a2, previousLayerMutexProposition):
self.actionLayer.addMutexActions(a1, a2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
props = dict()
for a in currentLayerActions:
for prop in a.getAdd():
name = prop.getName()
if name not in props.keys():
props[name] = Proposition(name)
props[name].addProducer(a)
for prop in props.values():
self.propositionLayer.addProposition(prop)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for p1, p2 in exclusiveProduct(currentLayerPropositions, currentLayerPropositions):
if mutexPropositions(p1, p2, currentLayerMutexActions):
self.propositionLayer.addMutexProp(p1, p2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps()
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Expand the graph without updating the mutex relations
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
self.updateActionLayer(previousPropositionLayer)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
return self.propositionLayer
def setPropositionLayer(self, propLayer):
self.propositionLayer = propLayer
def getActionLayer(self):
return self.actionLayer
def setActionLayer(self, actionLayer):
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
allAction is the list of all the action (include noOp in the domain)
"""
allActions = PlanGraphLevel.actions
for action in allActions:
if previousPropositionLayer.allPrecondsInLayer(action):
self.actionLayer.addAction(action)
for p1 in action.getPre():
for p2 in action.getPre():
if previousPropositionLayer.isMutex(p1, p2):
self.actionLayer.removeActions(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
"""
currentLayerActions = self.actionLayer.getActions()
for a1 in currentLayerActions:
for a2 in currentLayerActions:
if a1 == a2:
continue
if mutexActions(a1, a2, previousLayerMutexProposition):
self.actionLayer.addMutexActions(a1, a2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
"""
currentLayerActions = self.actionLayer.getActions()
propsToAdd = dict()
for action in currentLayerActions:
for prop in action.getAdd():
if prop.getName() not in propsToAdd:
propsToAdd[prop.getName()] = Proposition(prop.getName())
temp = propsToAdd[prop.getName()]
if action not in temp.getProducers():
temp.addProducer(action)
for prop in propsToAdd.values():
self.propositionLayer.addProposition(prop)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for prop1 in currentLayerPropositions:
for prop2 in currentLayerPropositions:
if prop1 == prop2:
continue
if mutexPropositions(prop1, prop2, currentLayerMutexActions):
self.propositionLayer.addMutexProp(prop1, prop2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer, set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps()
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
"*** YOUR CODE HERE ***"
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = None # updated to the independentActions of the propblem GraphPlan.py line 25
actions = None # updated to the actions of the problem GraphPlan.py line 26 and planningProblem.py line 25
props = None # updated to the propositions of the problem GraphPlan.py line 27 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self): # returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer): # sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self): # returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer): # sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the set of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
for action in allActions:
if previousPropositionLayer.allPrecondsInLayer(action):
pre = action.getPre()
add = True
for prop1 in pre:
for prop2 in pre:
if prop1 != prop2 and previousPropositionLayer.isMutex(prop1, prop2):
add = False
break
if not add:
break
if add:
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex set in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex set in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
for a1 in currentLayerActions:
for a2 in currentLayerActions:
if(a1 == a2):
continue
elif haveCompetingNeeds(a1, a2, previousLayerMutexProposition):
self.actionLayer.addMutexActions(a1, a2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the set of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
propostions = {}
for action in currentLayerActions:
for prop in action.getAdd():
if not prop.getName() in propostions:
newProp = Proposition(prop.getName())
propostions[prop.getName()] = newProp
propostions[prop.getName()].addProducer(action)
for prop in propostions:
self.propositionLayer.addProposition(propostions[prop])
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex set of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for prop1 in currentLayerPropositions:
for prop2 in currentLayerPropositions:
if prop1 == prop2:
continue
elif mutexPropositions(prop1, prop2, currentLayerMutexActions):
self.propositionLayer.addMutexProp(prop1, prop2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps()
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = None # updated to the independentActions of the propblem GraphPlan.py line 25
actions = None # updated to the actions of the problem GraphPlan.py line 26 and planningProblem.py line 25
props = None # updated to the propositions of the problem GraphPlan.py line 27 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self): # returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer): # sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self): # returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer): # sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the set of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
"*** YOUR CODE HERE ***"
for a in allActions:
if previousPropositionLayer.allPrecondsInLayer(a):
self.actionLayer.addAction(a)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex set in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex set in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
"*** YOUR CODE HERE ***"
for a_i in currentLayerActions:
for a_j in currentLayerActions:
if a_i != a_j and mutexActions(a_i, a_j, previousLayerMutexProposition):
if Pair(a_i,a_j) not in self.actionLayer.mutexActions:
self.actionLayer.addMutexActions(a_i,a_j)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the set of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
"*** YOUR CODE HERE ***"
for a in currentLayerActions:
for p in a.getAdd():
if p not in self.propositionLayer.getPropositions():
self.propositionLayer.addProposition(p)
p.addProducer(a)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex set of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
"*** YOUR CODE HERE ***"
for p_i in currentLayerPropositions:
for p_j in currentLayerPropositions:
if p_i != p_j and mutexPropositions(p_i,p_j,currentLayerMutexActions):
if Pair(p_i,p_j) not in self.propositionLayer.mutexPropositions:
self.propositionLayer.mutexPropositions.append(Pair(p_i,p_j))
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps()
"*** YOUR CODE HERE ***"
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
"*** YOUR CODE HERE ***"
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
def mutexActions(a1, a2, mutexProps):
"""
This function returns true if a1 and a2 are mutex actions.
We first check whether a1 and a2 are in PlanGraphLevel.independentActions,
this is the list of all the independent pair of actions (according to your implementation in question 1).
If not, we check whether a1 and a2 have competing needs
"""
if Pair(a1,a2) not in PlanGraphLevel.independentActions:
return True
return haveCompetingNeeds(a1, a2, mutexProps)
def haveCompetingNeeds(a1, a2, mutexProps):
pre1 = a1.getPre()
pre2 = a2.getPre()
"""
Complete code for deciding whether actions a1 and a2 have competing needs,
given the mutex proposition from previous level (list of pairs of propositions).
Hint: for propositions p and q, the command "Pair(p, q) in mutexProps"
returns true if p and q are mutex in the previous level
"""
"*** YOUR CODE HERE ***"
# Get preconditions of both actions
# Competing needs: Check if a1 and a2 have preconditions that are mutex
for p1 in pre1:
for p2 in pre2:
if Pair(p1, p2) in mutexProps:
return True
return False
def mutexPropositions(prop1, prop2, mutexActions):
prod1 = prop1.getProducers()
prod2 = prop2.getProducers()
"""
complete code for deciding whether two propositions are mutex,
given the mutex action from the current level (set of pairs of actions).
Your updateMutexProposition function should call this function
You might want to use this function:
prop1.getProducers() returns the set of all the possible actions in the layer that have prop1 on their add list
"""
"*** YOUR CODE HERE ***"
for a1 in prod1:
for a2 in prod2:
# Check if all actions are pairwise mutex
if Pair(a1,a2) not in mutexActions:
return False
return True
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
return self.propositionLayer
def setPropositionLayer(self, propLayer):
self.propositionLayer = propLayer
def getActionLayer(self):
return self.actionLayer
def setActionLayer(self, actionLayer):
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
allAction is the list of all the actions (include noOp in the domain)
"""
allActions = PlanGraphLevel.actions
for a in allActions:
if previousPropositionLayer.allPrecondsInLayer(a):
self.actionLayer.addAction(a)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
"""
currentLayerActions = self.actionLayer.getActions()
for a_i in currentLayerActions:
for a_j in currentLayerActions:
if a_i != a_j and mutexActions(a_i, a_j, previousLayerMutexProposition):
if Pair(a_i,a_j) not in self.actionLayer.mutexActions:
self.actionLayer.addMutexActions(a_i,a_j)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
"""
currentLayerActions = self.actionLayer.getActions()
for a in currentLayerActions:
for p in a.getAdd():
if p not in self.propositionLayer.getPropositions():
self.propositionLayer.addProposition(p)
p.addProducer(a)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for p_i in currentLayerPropositions:
for p_j in currentLayerPropositions:
if p_i != p_j and mutexPropositions(p_i,p_j,currentLayerMutexActions):
if Pair(p_i,p_j) not in self.propositionLayer.mutexPropositions:
self.propositionLayer.mutexPropositions.append(Pair(p_i,p_j))
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer, set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps()
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [
] # updated to the independentActions of the propblem GraphPlan.py line 31
# updated to the actions of the problem GraphPlan.py line 32 and
# planningProblem.py line 25
actions = []
# updated to the propositions of the problem GraphPlan.py line 33 and
# planningProblem.py line 26
props = []
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
def isAllPrecondsInLayer(action):
return previousPropositionLayer.allPrecondsInLayer(action)
def isPropositionMutex(action):
# create all the combinations of the actions preconditions
all_combinations = [(cond1, cond2) for cond1 in action.getPre()
for cond2 in action.getPre()]
# check if exists at least one mutex
are_any_mutex = any(
lmap(
lambda conds: previousPropositionLayer.isMutex(
conds[0], conds[1]),
lfilter(isDifferent, all_combinations)))
# retun if rthere are no mutex
return not are_any_mutex
addActionToLayer = self.actionLayer.addAction
lmap(
addActionToLayer,
lfilter(isPropositionMutex,
lfilter(isAllPrecondsInLayer, allActions)))
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
# create all the combinations of the actions
all_combinations = [(action1, action2)
for action1 in currentLayerActions
for action2 in currentLayerActions]
def isMutexActions(actions):
a1, a2 = actions
return mutexActions(a1, a2, previousLayerMutexProposition)
def isNotIn(actions):
a1, a2 = actions
return Pair(a1, a2) not in self.actionLayer.mutexActions
def addMutexActions(actions):
a1, a2 = actions
self.actionLayer.addMutexActions(a1, a2)
lmap(
addMutexActions,
lfilter(
isNotIn,
lfilter(isMutexActions, lfilter(isDifferent,
all_combinations))))
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
def isNotIn(prop):
return prop not in self.propositionLayer.getPropositions()
addProposition = self.propositionLayer.addProposition
for action in currentLayerActions:
for prop in action.getAdd():
if isNotIn(prop):
addProposition(prop)
prop.addProducer(action)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
# create all the combinations of the propositions
all_combinations = [(prop1, prop2)
for prop1 in currentLayerPropositions
for prop2 in currentLayerPropositions]
def isMutexPropositions(propositions):
p1, p2 = propositions
return mutexPropositions(p1, p2, currentLayerMutexActions)
def isNotIn(propositions):
p1, p2 = propositions
return Pair(p1, p2) not in self.propositionLayer.mutexPropositions
def addMutexPropositions(propositions):
p1, p2 = propositions
return self.propositionLayer.mutexPropositions.append(Pair(p1, p2))
lmap(
addMutexPropositions,
lfilter(
isNotIn,
lfilter(isMutexPropositions,
lfilter(isDifferent, all_combinations))))
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps(
)
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
# Check all possible actions
for action in PlanGraphLevel.actions:
if previousPropositionLayer.allPrecondsInLayer(action): # only if all pre. exist, then try to add it
mutexes = previousPropositionLayer.getMutexProps()
has_mutexes = False
# check for all pairs of mutexes, also if we have one pre. only, it will work
for p1, p2 in product(action.getPre(), action.getPre()):
if Pair(p1, p2) in mutexes:
has_mutexes = True
break # mutex found, we don't want to continue our checking
if not has_mutexes:
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
current_layer_actions = self.actionLayer.getActions()
for a1, a2 in product(current_layer_actions, current_layer_actions):
if a1 != a2 and mutexActions(a1, a2, previousLayerMutexProposition):
self.actionLayer.addMutexActions(a1, a2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
added_props = {} # this dictionary will see what propositions were added
# for all actions do the test
for action in self.actionLayer.getActions():
for prop in action.getAdd():
if prop.getName() not in added_props: # we don't wan't to add proposition twice
added_props[prop.getName()] = prop
self.getPropositionLayer().addProposition(prop)
else:
# in case action not in producers, not see that issue but was asked to add that line in description
if action not in prop.getProducers():
prop.addProducer(action)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for p1, p2 in product(currentLayerPropositions, currentLayerPropositions):
if p1 != p2 and mutexPropositions(p1, p2, currentLayerMutexActions):
self.getPropositionLayer().addMutexProp(p1, p2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps()
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [
] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [
] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [
] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
"*** YOUR CODE HERE ***"
for action in allActions:
if previousPropositionLayer.allPrecondsInLayer(action):
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
"*** YOUR CODE HERE ***"
index = 0
for action1 in currentLayerActions:
index += 1
for action2 in currentLayerActions[index:]:
is_mutex = False
for pre1 in action1.getPre():
for pre2 in action2.getPre():
if Pair(pre1, pre2) in previousLayerMutexProposition:
is_mutex = True
break
if Pair(action1, action2) not in self.independentActions:
is_mutex = True
if is_mutex:
self.actionLayer.addMutexActions(action1, action2)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
"*** YOUR CODE HERE ***"
Propositions = dict()
for action in currentLayerActions:
for prop in action.getAdd():
name = prop.getName()
if Propositions.has_key(name):
new_prop = Propositions[name]
else:
new_prop = Proposition(name)
Propositions[name] = new_prop
self.propositionLayer.addProposition(new_prop)
new_prop.addProducer(action)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
"*** YOUR CODE HERE ***"
index = 0
for prop1 in currentLayerPropositions:
index += 1
for prop2 in currentLayerPropositions[index:]:
if mutexPropositions(prop1, prop2, currentLayerMutexActions):
self.propositionLayer.addMutexProp(prop1, prop2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps(
)
"*** YOUR CODE HERE ***"
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
#print('expand')
#print('actions ' + str([action.getName() for action in self.actionLayer.actions]))
#print('propositions ' + str([prop.getName() for prop in self.propositionLayer.propositions]))
#print('actions mutexes ' + str([pair.a.getName()+","+pair.b.getName() for pair in self.actionLayer.mutexActions]))
#print('propositions mutexes ' + str([pair.a.getName()+","+pair.b.getName() for pair in self.propositionLayer.mutexPropositions]))
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
"*** YOUR CODE HERE ***"
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [
] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [
] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [
] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
return self.propositionLayer
def setPropositionLayer(self, propLayer):
self.propositionLayer = propLayer
def getActionLayer(self):
return self.actionLayer
def setActionLayer(self, actionLayer):
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
allAction is the list of all the actions (include noOp in the domain)
"""
allActions = PlanGraphLevel.actions
for a in allActions:
if previousPropositionLayer.allPrecondsInLayer(a):
self.actionLayer.addAction(a)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
"""
currentLayerActions = self.actionLayer.getActions()
for a_i in currentLayerActions:
for a_j in currentLayerActions:
if a_i != a_j and mutexActions(a_i, a_j,
previousLayerMutexProposition):
if Pair(a_i, a_j) not in self.actionLayer.mutexActions:
self.actionLayer.addMutexActions(a_i, a_j)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
"""
currentLayerActions = self.actionLayer.getActions()
for a in currentLayerActions:
for p in a.getAdd():
if p not in self.propositionLayer.getPropositions():
self.propositionLayer.addProposition(p)
p.addProducer(a)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for p_i in currentLayerPropositions:
for p_j in currentLayerPropositions:
if p_i != p_j and mutexPropositions(p_i, p_j,
currentLayerMutexActions):
if Pair(p_i, p_j
) not in self.propositionLayer.mutexPropositions:
self.propositionLayer.mutexPropositions.append(
Pair(p_i, p_j))
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer, set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps(
)
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
self.updateActionLayer(previousLayerProposition)
self.updatePropositionLayer()
class PlanGraphLevel(object):
"""
A class for representing a level in the plan graph.
For each level i, the PlanGraphLevel consists of the actionLayer and propositionLayer at this level in this order!
"""
independentActions = [
] # updated to the independentActions of the propblem GraphPlan.py line 31
actions = [
] # updated to the actions of the problem GraphPlan.py line 32 and planningProblem.py line 25
props = [
] # updated to the propositions of the problem GraphPlan.py line 33 and planningProblem.py line 26
@staticmethod
def setIndependentActions(independentActions):
PlanGraphLevel.independentActions = independentActions
@staticmethod
def setActions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def setProps(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.actionLayer = ActionLayer() # see actionLayer.py
self.propositionLayer = PropositionLayer() # see propositionLayer.py
def getPropositionLayer(self):
# returns the proposition layer
return self.propositionLayer
def setPropositionLayer(self, propLayer):
# sets the proposition layer
self.propositionLayer = propLayer
def getActionLayer(self):
# returns the action layer
return self.actionLayer
def setActionLayer(self, actionLayer):
# sets the action layer
self.actionLayer = actionLayer
def updateActionLayer(self, previousPropositionLayer):
"""
Updates the action layer given the previous proposition layer (see propositionLayer.py)
You should add an action to the layer if its preconditions are in the previous propositions layer,
and the preconditions are not pairwise mutex.
allAction is the list of all the action (include noOp) in the domain
You might want to use those functions:
previousPropositionLayer.isMutex(prop1, prop2) returns true if prop1 and prop2 are mutex at the previous propositions layer
previousPropositionLayer.allPrecondsInLayer(action) returns true if all the preconditions of action are in the previous propositions layer
self.actionLayer.addAction(action) adds action to the current action layer
"""
allActions = PlanGraphLevel.actions
# For each action that is not in this actionLayer and was in the previous one. We will add it to this layer too (as noOp)
for action in allActions:
if action not in self.actionLayer.getActions(
) and previousPropositionLayer.allPrecondsInLayer(action):
self.actionLayer.addAction(action)
def updateMutexActions(self, previousLayerMutexProposition):
"""
Updates the mutex list in self.actionLayer,
given the mutex proposition from the previous layer.
currentLayerActions are the actions in the current action layer
You might want to use this function:
self.actionLayer.addMutexActions(action1, action2)
adds the pair (action1, action2) to the mutex list in the current action layer
Note that action is *not* mutex with itself
"""
currentLayerActions = self.actionLayer.getActions()
for ai in currentLayerActions:
for aj in currentLayerActions:
# For each action 1,2 in current action layer, if they are mutex, and they are not in mutex actions, we will ad them too.
if ai != aj and \
Pair(ai, aj) not in self.actionLayer.getMutexActions() and \
mutexActions(ai, aj, previousLayerMutexProposition):
self.actionLayer.addMutexActions(ai, aj)
def updatePropositionLayer(self):
"""
Updates the propositions in the current proposition layer,
given the current action layer.
don't forget to update the producers list!
Note that same proposition in different layers might have different producers lists,
hence you should create two different instances.
currentLayerActions is the list of all the actions in the current layer.
You might want to use those functions:
dict() creates a new dictionary that might help to keep track on the propositions that you've
already added to the layer
self.propositionLayer.addProposition(prop) adds the proposition prop to the current layer
"""
currentLayerActions = self.actionLayer.getActions()
for action in currentLayerActions:
for prop in action.getAdd():
if prop not in self.propositionLayer.getPropositions():
self.propositionLayer.addProposition(prop)
# updating action's producers
if action not in prop.getProducers():
prop.addProducer(action)
def updateMutexProposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutexPropositions(prop1, prop2, currentLayerMutexActions) returns true if prop1 and prop2 are mutex in the current layer
self.propositionLayer.addMutexProp(prop1, prop2) adds the pair (prop1, prop2) to the mutex list of the current layer
"""
currentLayerPropositions = self.propositionLayer.getPropositions()
currentLayerMutexActions = self.actionLayer.getMutexActions()
for p1 in currentLayerPropositions:
for p2 in currentLayerPropositions:
if p1 != p2 and \
Pair(p1, p2) not in self.propositionLayer.getMutexProps() and \
mutexPropositions(p1, p2, currentLayerMutexActions):
self.propositionLayer.addMutexProp(p1, p2)
def expand(self, previousLayer):
"""
Your algorithm should work as follows:
First, given the propositions and the list of mutex propositions from the previous layer,
set the actions in the action layer.
Then, set the mutex action in the action layer.
Finally, given all the actions in the current layer,
set the propositions and their mutex relations in the proposition layer.
"""
previousPropositionLayer = previousLayer.getPropositionLayer()
previousLayerMutexProposition = previousPropositionLayer.getMutexProps(
)
# doing the algorithm of adding a layer,
self.updateActionLayer(previousPropositionLayer)
self.updateMutexActions(previousLayerMutexProposition)
self.updatePropositionLayer()
self.updateMutexProposition()
def expandWithoutMutex(self, previousLayer):
"""
Questions 11 and 12
You don't have to use this function
"""
previousLayerProposition = previousLayer.getPropositionLayer()
# self.updateActionLayer(previousLayerProposition)
# self.updatePropositionLayer()
"*** YOUR CODE HERE ***"