def compose_state_action(state, axioms, action, check=True):
""" Compose a state and an action, returning a state """
# print "state: {}".format(state)
# print "action: {}".format(action)
su, sc, sp = state
au, ac, ap = action
sc, sp = clausify(sc), clausify(sp)
if check:
pre_test = and_clauses(and_clauses(sc, ap), axioms)
model = small_model_clauses(pre_test)
if model != None:
trans = extract_pre_post_model(pre_test, model, au)
post_updated = [new(s) for s in au]
pre_test = exist_quant(post_updated, pre_test)
raise ActionFailed(pre_test, trans)
if su != None: # none means all moded
ssu = set(su) # symbols already modified in state
rn = dict((x, old(x)) for x in au if x not in ssu)
sc = rename_clauses(sc, rn)
ac = rename_clauses(ac, rn)
su = list(su)
union_to_list(su, au)
img = forward_image(sc, axioms, action)
## print "compose: {}".format((su,img,sp))
return (su, img, sp)
def compose_state_action(state,axioms,action, check=True):
""" Compose a state and an action, returning a state """
# print "state: {}".format(state)
# print "action: {}".format(action)
su,sc,sp = state
au,ac,ap = action
sc,sp = clausify(sc),clausify(sp)
if check:
pre_test = and_clauses(and_clauses(sc,ap),axioms)
model = small_model_clauses(pre_test)
if model != None:
trans = extract_pre_post_model(pre_test,model,au)
post_updated = [new(s) for s in au]
pre_test = exist_quant(post_updated,pre_test)
raise ActionFailed(pre_test,trans)
if su != None: # none means all moded
ssu = set(su) # symbols already modified in state
rn = dict((x,old(x)) for x in au if x not in ssu)
sc = rename_clauses(sc,rn)
ac = rename_clauses(ac,rn)
su = list(su)
union_to_list(su,au)
img = forward_image(sc,axioms,action)
## print "compose: {}".format((su,img,sp))
return (su,img,sp)
def compose_state_action(state, axioms, action, check=True):
""" Compose a state and an action, returning a state """
# print "state: {}".format(state)
# print "action: {}".format(action)
su, sc, sp = state
au, ac, ap = action
sc, sp = clausify(sc), clausify(sp)
if check:
pre_test = and_clauses(and_clauses(sc, ap), axioms)
if clauses_sat(pre_test):
raise ActionFailed(pre_test)
if su != None: # none means all moded
ssu = set(su) # symbols already modified in state
rn = dict((x, old(x)) for x in au if x not in ssu)
sc = rename_clauses(sc, rn)
ac = rename_clauses(ac, rn)
su = list(su)
union_to_list(su, au)
img = forward_image(sc, axioms, action)
## print "compose: {}".format((su,img,sp))
return (su, img, sp)
def compose_state_action(state,axioms,action, check=True):
""" Compose a state and an action, returning a state """
# print "state: {}".format(state)
# print "action: {}".format(action)
su,sc,sp = state
au,ac,ap = action
sc,sp = clausify(sc),clausify(sp)
if check:
pre_test = and_clauses(and_clauses(sc,ap),axioms)
if clauses_sat(pre_test):
raise ActionFailed(pre_test)
if su != None: # none means all moded
ssu = set(su) # symbols already modified in state
rn = dict((x,old(x)) for x in au if x not in ssu)
sc = rename_clauses(sc,rn)
ac = rename_clauses(ac,rn)
su = list(su)
union_to_list(su,au)
img = forward_image(sc,axioms,action)
## print "compose: {}".format((su,img,sp))
return (su,img,sp)
def get_predicates(self,clauses):
# print "get_predicates: {}".format(clauses)
d = self.parent_state.domain
sig = d.sig
urs = [x for x in used_unary_relations_clauses(clauses) if not is_skolem(x)]
cs = [x for x in used_constants_clauses(clauses)
if not is_skolem(x) and not has_enumerated_sort(sig,x) and not x.is_numeral()]
ufs = [x for x in used_unary_functions_clauses(clauses)
if not is_skolem(x) and has_enumerated_sort(sig,x)]
nrs = [x for x,arity in d.relations.iteritems() if arity == 0]
union_to_list(urs,[x for x,arity in d.relations.iteritems() if arity == 1])
union_to_list(cs,[x for x,arity in d.functions.iteritems()
if arity == 0 and not has_enumerated_sort(sig,x)])
union_to_list(ufs,[x for x,arity in d.functions.iteritems()
if arity == 1 and has_enumerated_sort(sig,x)])
# print "ufs: {}".format(ufs)
ccs = [Constant(c) for c in cs]
# print "sorts: {}".format([(c,c.get_sort()) for c in ccs])
return ([Literal(1,Atom(c,[])) for c in nrs] +
[Literal(1,Atom(equals,[Variable("X",c.get_sort()),c])) for c in ccs] +
[Literal(1,Atom(r,[Variable("X",r.sort.dom[0])])) for r in urs] +
[(App(f,Variable('X',f.sort.dom[0])),[Constant(Symbol(x,f.sort.rng)) for x in f.sort.rng.defines()]) for f in ufs])
def get_predicates(self, clauses):
# print "get_predicates: {}".format(clauses)
d = self.parent_state.domain
sig = d.sig
urs = [
x for x in used_unary_relations_clauses(clauses)
if not is_skolem(x)
]
cs = [
x for x in used_constants_clauses(clauses) if not is_skolem(x)
and not has_enumerated_sort(sig, x) and not x.is_numeral()
]
ufs = [
x for x in used_unary_functions_clauses(clauses)
if not is_skolem(x) and has_enumerated_sort(sig, x)
]
nrs = [x for x, arity in d.relations.iteritems() if arity == 0]
union_to_list(
urs, [x for x, arity in d.relations.iteritems() if arity == 1])
union_to_list(cs, [
x for x, arity in d.functions.iteritems()
if arity == 0 and not has_enumerated_sort(sig, x)
])
union_to_list(ufs, [
x for x, arity in d.functions.iteritems()
if arity == 1 and has_enumerated_sort(sig, x)
])
# print "ufs: {}".format(ufs)
ccs = [Constant(c) for c in cs]
# print "sorts: {}".format([(c,c.get_sort()) for c in ccs])
return ([Literal(1, Atom(c, [])) for c in nrs] + [
Literal(1, Atom(equals, [Variable("X", c.get_sort()), c]))
for c in ccs
] + [Literal(1, Atom(r, [Variable("X", r.sort.dom[0])]))
for r in urs] + [(App(f, Variable('X', f.sort.dom[0])), [
Constant(Symbol(x, f.sort.rng)) for x in f.sort.rng.defines()
]) for f in ufs])
