def extract_static_facts(plan, certificate, initial_confs):
# TODO: use certificate instead
# TODO: only keep objects used on the plan
#static_facts = []
static_facts = [
f for f in certificate.all_facts
if get_prefix(get_function(f)) in ['distance', 'trajtrajcollision']
]
for name, actions in partition_plan(plan).items():
last_element = None
last_conf = initial_confs[name]
for i, action in enumerate(actions):
if action.name == 'print':
r, n1, e, n2, q1, q2, t = action.args
static_facts.extend([
('PrintAction', ) + action.args,
('Assigned', r, e),
('Conf', r, q1),
('Conf', r, q2),
('Traj', r, t),
('CTraj', r, t),
# (Start ?r ?n1 ?e ?q1) (End ?r ?e ?n2 ?q2)
('Transition', r, q2, last_conf),
])
if last_element is not None:
static_facts.append(('Order', e, last_element))
last_element = e
last_conf = q1
# TODO: save collision information
else:
raise NotImplementedError(action.name)
static_facts.extend([
('Transition', name, initial_confs[name], last_conf),
])
return static_facts
def partition_facts(domain, facts):
fluents = get_fluents(domain)
static_facts = []
fluent_facts = []
for fact in facts:
if get_prefix(get_function(fact)).lower() in fluents:
fluent_facts.append(fact)
else:
static_facts.append(fact)
return static_facts, fluent_facts