rairlab/Spectra
1
0
Fork 0
mirror of https://github.com/RAIRLab/Spectra.git synced 2024-11-09 11:10:34 -05:00
Code Issues Projects Releases Packages Wiki Activity

Added new case of trivial actions

Browse source
This commit is contained in:
Brandon Rozek 2023-10-31 12:02:57 -04:00
parent 937ede1026
commit 3d01e065a6
No known key found for this signature in database
GPG key ID: 26E457DA82C9F480
1 changed files with 10 additions and 5 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

15
src/main/java/com/naveensundarg/planner/Action.java
View file

@ -156,21 +156,23 @@ public class Action {
public Action instantiate(Map<Variable, Value> binding){ public Action instantiate(Map<Variable, Value> binding){
// Apply binding to precondition, additions, and deletions
Set<Formula> newPreconditions = preconditions.stream().map(x->x.apply(binding)).collect(Collectors.toSet()); Set<Formula> newPreconditions = preconditions.stream().map(x->x.apply(binding)).collect(Collectors.toSet());
Set<Formula> newAdditions = additions.stream().map(x->x.apply(binding)).collect(Collectors.toSet()); Set<Formula> newAdditions = additions.stream().map(x->x.apply(binding)).collect(Collectors.toSet());
Set<Formula> newDeletions = deletions.stream().map(x->x.apply(binding)).collect(Collectors.toSet()); Set<Formula> newDeletions = deletions.stream().map(x->x.apply(binding)).collect(Collectors.toSet());
List<Variable> newFreeVraibles = CollectionUtils.newEmptyList(); // Allow for partial instantiation, grab variables that aren't
List<Variable> newFreeVariables = CollectionUtils.newEmptyList();
for(Variable var: freeVariables){ for(Variable var: freeVariables){
if(!binding.keySet().contains(var)){ if(!binding.keySet().contains(var)){
newFreeVraibles.add(var); newFreeVariables.add(var);
} }
} }
List<Value> valuesList = interestedVars.stream().collect(Collectors.toList());; List<Value> valuesList = interestedVars.stream().collect(Collectors.toList());;
Compound shorthand = (Compound)(new Compound(name, valuesList)).apply(binding); Compound shorthand = (Compound)(new Compound(name, valuesList)).apply(binding);
return new Action(name, newPreconditions, newAdditions, newDeletions, newFreeVraibles, shorthand); return new Action(name, newPreconditions, newAdditions, newDeletions, newFreeVariables, shorthand);
} }
public String getName() { public String getName() {
@ -183,13 +185,16 @@ public class Action {
public boolean computeTrivialOrNot(){ public boolean computeTrivialOrNot(){
// All the additions are already in the preconditions and nothing gets deleted
boolean case1Trivial = Sets.subset(additions, preconditions) && deletions.isEmpty(); boolean case1Trivial = Sets.subset(additions, preconditions) && deletions.isEmpty();
// There are no additions and the deletes that are there are already negated in the precondition so they don't exist.
boolean case2Trivial = additions.isEmpty() && deletions.stream().allMatch(x->preconditions.stream().anyMatch(y->y.equals(Logic.negated(x)))); boolean case2Trivial = additions.isEmpty() && deletions.stream().allMatch(x->preconditions.stream().anyMatch(y->y.equals(Logic.negated(x))));
boolean trivial = case1Trivial || case2Trivial; // All additions are already in preconditions and the deletions are negated in the preconditions
boolean case3Trivial = Sets.subset(additions, preconditions) && deletions.stream().allMatch(x->preconditions.stream().anyMatch(y->y.equals(Logic.negated(x))));
return trivial; return case1Trivial || case2Trivial || case3Trivial;
} }
public Compound getShorthand() { public Compound getShorthand() {