def split_rule(rule, name_generator):
important_conditions, trivial_conditions = [], []
for cond in rule.conditions:
for arg in cond.args:
if arg[0] == "?":
important_conditions.append(cond)
break
else:
trivial_conditions.append(cond)
# important_conditions = [cond for cond in rule.conditions if cond.args]
# trivial_conditions = [cond for cond in rule.conditions if not cond.args]
components = get_connected_conditions(important_conditions)
if len(components) == 1 and not trivial_conditions:
return split_into_binary_rules(rule, name_generator)
projected_rules = [
project_rule(rule, conditions, name_generator)
for conditions in components
]
result = []
for proj_rule in projected_rules:
result += split_into_binary_rules(proj_rule, name_generator)
conditions = ([proj_rule.effect
for proj_rule in projected_rules] + trivial_conditions)
combining_rule = Rule(conditions, rule.effect)
if len(conditions) >= 2:
combining_rule.type = "product"
else:
combining_rule.type = "project"
result.append(combining_rule)
return result
def split_rule(rule, name_generator):
important_conditions, trivial_conditions = [], []
for cond in rule.conditions:
for arg in cond.args:
if arg[0] == "?":
important_conditions.append(cond)
break
else:
trivial_conditions.append(cond)
# important_conditions = [cond for cond in rule.conditions if cond.args]
# trivial_conditions = [cond for cond in rule.conditions if not cond.args]
components = get_connected_conditions(important_conditions)
if len(components) == 1 and not trivial_conditions:
return split_into_binary_rules(rule, name_generator)
projected_rules = [project_rule(rule, conditions, name_generator)
for conditions in components]
result = []
for proj_rule in projected_rules:
result += split_into_binary_rules(proj_rule, name_generator)
conditions = [proj_rule.effect for proj_rule in projected_rules] + \
trivial_conditions
combining_rule = Rule(conditions, rule.effect)
if len(conditions) >= 2:
combining_rule.type = "product"
else:
combining_rule.type = "project"
result.append(combining_rule)
return result
def split_rule(rule, name_generator):
# Capture original rule weight
weight = rule.weight
important_conditions, trivial_conditions = [], []
for cond in rule.conditions:
for arg in cond.args:
if arg[0] == "?":
important_conditions.append(cond)
break
else:
trivial_conditions.append(cond)
# important_conditions = [cond for cond in rule.conditions if cond.args]
# trivial_conditions = [cond for cond in rule.conditions if not cond.args]
components = get_connected_conditions(important_conditions)
if len(components) == 1 and not trivial_conditions:
return split_into_binary_rules(rule, name_generator)
projected_rules = [
project_rule(rule, conditions, name_generator)
for conditions in components
]
result = []
for proj_rule in projected_rules:
result += split_into_binary_rules(proj_rule, name_generator)
conditions = ([proj_rule.effect
for proj_rule in projected_rules] + trivial_conditions)
combining_rule = Rule(conditions, rule.effect)
if len(conditions) >= 2:
combining_rule.type = "product"
else:
combining_rule.type = "project"
result.append(combining_rule)
# Last rule is always the "root" rule. It weight should be updated
# TODO Make this more reliable
result[-1].weight = weight
return result
def test_normalization():
prog = PrologProgram()
prog.add_fact(pddl.Atom("at", ["foo", "bar"]))
prog.add_fact(pddl.Atom("truck", ["bollerwagen"]))
prog.add_fact(pddl.Atom("truck", ["segway"]))
prog.add_rule(Rule([pddl.Atom("truck", ["?X"])], pddl.Atom("at", ["?X", "?Y"])))
prog.add_rule(Rule([pddl.Atom("truck", ["X"]), pddl.Atom("location", ["?Y"])],
pddl.Atom("at", ["?X", "?Y"])))
prog.add_rule(Rule([pddl.Atom("truck", ["?X"]), pddl.Atom("location", ["?Y"])],
pddl.Atom("at", ["?X", "?X"])))
prog.add_rule(Rule([pddl.Atom("p", ["?Y", "?Z", "?Y", "?Z"])],
pddl.Atom("q", ["?Y", "?Y"])))
prog.add_rule(Rule([], pddl.Atom("foo", [])))
prog.add_rule(Rule([], pddl.Atom("bar", ["X"])))
prog.normalize()
output = StringIO()
prog.dump(file=output)
sorted_output = "\n".join(sorted(output.getvalue().splitlines()))
assert sorted_output == """\
def project_rule(rule, conditions, name_generator):
predicate = next(name_generator)
effect_variables = set(rule.effect.args) & get_variables(conditions)
effect = pddl.Atom(predicate, sorted(effect_variables))
projected_rule = Rule(conditions, effect)
return projected_rule