def augment_evaluations(evaluations, future_map):
for evaluation in list(filter(is_atom, evaluations)):
name = evaluation.head.function
if name in future_map:
new_head = Head(future_map[name], evaluation.head.args)
new_evaluation = Evaluation(new_head, evaluation.value)
evaluations[new_evaluation] = None
def augment_evaluations(evaluations, future_map):
for evaluation in list(filter(is_atom, evaluations)):
name = evaluation.head.function
if name in future_map:
new_head = Head(future_map[name], evaluation.head.args)
new_evaluation = Evaluation(new_head, evaluation.value)
add_fact(evaluations, fact_from_evaluation(new_evaluation),
result=INTERNAL_EVALUATION, complexity=0)
def evaluation_from_fd(fd):
if isinstance(fd, pddl.Literal):
head = Head(fd.predicate, tuple(map(obj_from_pddl, fd.args)))
return Evaluation(head, not fd.negated)
if isinstance(fd, pddl.f_expression.Assign):
raise NotImplementedError(fd)
#head = Head(fd.fluent.symbol, tuple(map(obj_from_pddl, fd.fluent.args)))
#return Evaluation(head, float(fd.expression.value) / get_cost_scale()) # Need to be careful due to rounding
raise ValueError(fd)
def get_action_cost(domain, results_from_head, name, args):
import pddl
action = find_unique(lambda a: a.name == name, domain.actions)
if action.cost is None:
return 0.
if isinstance(action.cost.expression, pddl.NumericConstant):
return action.cost.expression.value / get_cost_scale()
var_mapping = {p.name: a for p, a in zip(action.parameters, args)}
args = tuple(var_mapping[p] for p in action.cost.expression.args)
head = Head(action.cost.expression.symbol, args)
[(value, _)] = results_from_head[head]
return value
def extract_function_results(results_from_head, action, pddl_args):
import pddl
if (action.cost is None) or not isinstance(
action.cost.expression, pddl.PrimitiveNumericExpression):
return None
var_mapping = {p.name: a for p, a in zip(action.parameters, pddl_args)}
pddl_args = tuple(
obj_from_pddl(var_mapping[p]) for p in action.cost.expression.args)
head = Head(action.cost.expression.symbol, pddl_args)
[(_, result)] = results_from_head[head]
if result is None:
return None
return result
def extract_function_result(results_from_head, action, pddl_args):
import pddl
if action.cost is None:
return None
# TODO: retrieve constant action costs
# TODO: associate costs with the steps they are applied
expression = action.cost.expression
if not isinstance(expression, pddl.PrimitiveNumericExpression):
return None
var_mapping = {p.name: a for p, a in zip(action.parameters, pddl_args)}
obj_args = tuple(
obj_from_pddl(var_mapping[p] if is_parameter(p) else p)
for p in expression.args)
head = Head(expression.symbol, obj_args)
[result] = results_from_head[head]
if result is None:
return None
return result
def head_from_fact(fact):
return Head(get_prefix(fact), get_args(fact))