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!
"""
independent_actions = set(
) # updated to the independent_actions of the problem (graph_plan.py line 32)
actions = [
] # updated to the actions of the problem (graph_plan.py line 33 and planning_problem.py line 36)
props = [
] # updated to the propositions of the problem (graph_plan.py line 34 and planning_problem.py line 36)
@staticmethod
def set_independent_actions(independent_actions):
PlanGraphLevel.independent_actions = independent_actions
@staticmethod
def set_actions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def set_props(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.action_layer = ActionLayer() # see action_layer.py
self.proposition_layer = PropositionLayer() # see proposition_layer.py
def get_proposition_layer(self): # returns the proposition layer
return self.proposition_layer
def set_proposition_layer(self, prop_layer): # sets the proposition layer
self.proposition_layer = prop_layer
def get_action_layer(self): # returns the action layer
return self.action_layer
def set_action_layer(self, action_layer): # sets the action layer
self.action_layer = action_layer
def update_action_layer(self, previous_proposition_layer):
"""
Updates the action layer given the previous proposition layer (see proposition_layer.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.
all_actions is the set of all the action (include noOp) in the domain
You might want to use those functions:
previous_proposition_layer.is_mutex(prop1, prop2) returns true
if prop1 and prop2 are mutex at the previous propositions layer
previous_proposition_layer.all_preconds_in_layer(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
"""
all_actions = PlanGraphLevel.actions
"*** YOUR CODE HERE ***"
for action in all_actions:
if not previous_proposition_layer.all_preconds_in_layer(action):
continue
else:
all_combinations = [
previous_proposition_layer.is_mutex(cond1, cond2)
for cond1 in action.get_pre()
for cond2 in action.get_pre() if cond1 != cond2
]
if not any(all_combinations):
self.action_layer.add_action(action)
def update_mutex_actions(self, previous_layer_mutex_proposition):
"""
Updates the mutex set in self.action_layer,
given the mutex proposition from the previous layer.
current_layer_actions are the actions in the current action layer
You might want to use this function:
self.actionLayer.add_mutex_actions(action1, action2)
adds the pair (action1, action2) to the mutex set in the current action layer
Note that an action is *not* mutex with itself
"""
current_layer_actions = self.action_layer.get_actions()
"*** YOUR CODE HERE ***"
all_combinations = [(action1, action2)
for action1 in current_layer_actions
for action2 in current_layer_actions
if action1 != action2]
for combination in all_combinations:
if mutex_actions(combination[0], combination[1],
previous_layer_mutex_proposition):
if Pair(combination[0], combination[1]
) not in self.action_layer.get_mutex_actions():
self.action_layer.add_mutex_actions(
combination[0], combination[1])
def update_proposition_layer(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.
current_layer_actions 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.proposition_layer.add_proposition(prop) adds the proposition prop to the current layer
"""
dic = dict()
current_layer_actions = self.action_layer.get_actions()
"*** YOUR CODE HERE ***"
for action in current_layer_actions:
for proposition in action.get_add():
if proposition.get_name() not in dic.values():
new_prop = Proposition(proposition.get_name())
self.proposition_layer.add_proposition(new_prop)
dic[new_prop] = new_prop.get_name()
keys = list(dic.keys())
values = list(dic.values())
new_prop = keys[values.index(proposition.name)]
new_prop.add_producer(action)
def update_mutex_proposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutex_propositions(prop1, prop2, current_layer_mutex_actions) returns true
if prop1 and prop2 are mutex in the current layer
self.proposition_layer.add_mutex_prop(prop1, prop2) adds the pair (prop1, prop2)
to the mutex set of the current layer
"""
current_layer_propositions = self.proposition_layer.get_propositions()
current_layer_mutex_actions = self.action_layer.get_mutex_actions()
"*** YOUR CODE HERE ***"
combinations = [(proposition1, proposition2)
for proposition1 in current_layer_propositions
for proposition2 in current_layer_propositions
if proposition1 != proposition2]
for pair in combinations:
if mutex_propositions(pair[0], pair[1], current_layer_mutex_actions) and \
Pair(pair[0], pair[1]) not in self.proposition_layer.get_mutex_props():
self.proposition_layer.add_mutex_prop(pair[0], pair[1])
def expand(self, previous_layer):
"""
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.
"""
previous_proposition_layer = previous_layer.get_proposition_layer()
previous_layer_mutex_proposition = previous_proposition_layer.get_mutex_props(
)
"*** YOUR CODE HERE ***"
self.update_action_layer(previous_proposition_layer)
self.update_mutex_actions(previous_layer_mutex_proposition)
self.update_proposition_layer()
self.update_mutex_proposition()
# print("actions")
# for action in self.action_layer.get_actions():
# print(action, end = " ")
# print("mutex_action")
# for mutex_action in self.action_layer.get_mutex_actions():
# print(mutex_action, end = " ")
# print("props")
# for prop in self.proposition_layer.get_propositions():
# print(prop, end = " ")
# print("mutex_props")
# for mutex_prop in self.proposition_layer.get_mutex_props():
# print(mutex_prop, end = " ")
# print("end")
def expand_without_mutex(self, previous_layer):
"""
Questions 11 and 12
You don't have to use this function
"""
previous_layer_proposition = previous_layer.get_proposition_layer()
"*** YOUR CODE HERE ***"
self.update_action_layer(previous_layer_proposition)
self.update_proposition_layer()
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!
"""
independent_actions = set(
) # updated to the independent_actions of the problem (graph_plan.py line 32)
actions = [
] # updated to the actions of the problem (graph_plan.py line 33 and planning_problem.py line 36)
props = [
] # updated to the propositions of the problem (graph_plan.py line 34 and planning_problem.py line 36)
@staticmethod
def set_independent_actions(independent_actions):
PlanGraphLevel.independent_actions = independent_actions
@staticmethod
def set_actions(actions):
PlanGraphLevel.actions = actions
@staticmethod
def set_props(props):
PlanGraphLevel.props = props
def __init__(self):
"""
Constructor
"""
self.action_layer = ActionLayer() # see action_layer.py
self.proposition_layer = PropositionLayer() # see proposition_layer.py
def get_proposition_layer(self): # returns the proposition layer
return self.proposition_layer
def set_proposition_layer(self, prop_layer): # sets the proposition layer
self.proposition_layer = prop_layer
def get_action_layer(self): # returns the action layer
return self.action_layer
def set_action_layer(self, action_layer): # sets the action layer
self.action_layer = action_layer
def update_action_layer(self, previous_proposition_layer):
"""
Updates the action layer given the previous proposition layer (see proposition_layer.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.
all_actions is the set of all the action (include noOp) in the domain
You might want to use those functions:
previous_proposition_layer.is_mutex(prop1, prop2) returns true
if prop1 and prop2 are mutex at the previous propositions layer
previous_proposition_layer.all_preconds_in_layer(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
"""
all_actions = PlanGraphLevel.actions
for action in all_actions: # TODO might have to change the mutex check
if action is not self.action_layer:
if previous_proposition_layer.all_preconds_in_layer(action):
self.action_layer.add_action(action)
def update_mutex_actions(self, previous_layer_mutex_proposition):
"""
Updates the mutex set in self.action_layer,
given the mutex proposition from the previous layer.
current_layer_actions are the actions in the current action layer
You might want to use this function:
self.actionLayer.add_mutex_actions(action1, action2)
adds the pair (action1, action2) to the mutex set in the current action layer
Note that an action is *not* mutex with itself
"""
current_layer_actions = self.action_layer.get_actions()
mutex_action = self.action_layer.get_mutex_actions()
for action1 in current_layer_actions:
for action2 in current_layer_actions:
if Pair(action1,
action2) not in mutex_action and action1 != action2:
if mutex_actions(action1, action2,
previous_layer_mutex_proposition):
self.action_layer.add_mutex_actions(action1, action2)
def update_proposition_layer(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.
current_layer_actions 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.proposition_layer.add_proposition(prop) adds the proposition prop to the current layer
"""
current_layer_actions = self.action_layer.get_actions()
current_layer_propositions = set(
self.proposition_layer.get_propositions())
for action in current_layer_actions: #TODO debug and see all works!!
for addProp in action.get_add():
if addProp not in current_layer_propositions:
self.proposition_layer.add_proposition(addProp)
current_layer_propositions.add(addProp)
elif action not in addProp.get_producers():
addProp.add_producer(action)
def update_mutex_proposition(self):
"""
updates the mutex propositions in the current proposition layer
You might want to use those functions:
mutex_propositions(prop1, prop2, current_layer_mutex_actions) returns true
if prop1 and prop2 are mutex in the current layer
self.proposition_layer.add_mutex_prop(prop1, prop2) adds the pair (prop1, prop2)
to the mutex set of the current layer
"""
current_layer_propositions = self.proposition_layer.get_propositions()
current_layer_mutex_actions = self.action_layer.get_mutex_actions()
mutexProps = self.proposition_layer.get_mutex_props()
for prop1 in current_layer_propositions:
for prop2 in current_layer_propositions:
if prop1 != prop2 and (Pair(prop1, prop2) not in mutexProps):
if mutex_propositions(prop1, prop2,
current_layer_mutex_actions):
self.proposition_layer.add_mutex_prop(prop1, prop2)
def expand(self, previous_layer):
"""
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.
"""
previous_proposition_layer = previous_layer.get_proposition_layer()
previous_layer_mutex_proposition = previous_proposition_layer.get_mutex_props(
)
self.update_action_layer(previous_proposition_layer)
self.update_mutex_actions(previous_layer_mutex_proposition)
self.update_proposition_layer()
self.update_mutex_proposition()
def expand_without_mutex(self, previous_layer):
"""
Questions 11 and 12
You don't have to use this function
"""
previous_layer_proposition = previous_layer.get_proposition_layer()
self.update_action_layer(previous_layer_proposition)
self.update_proposition_layer()