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Checking if an action is non-trivial
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parent
079af81ce0
commit
8d5f2464a1
5 changed files with 16 additions and 8 deletions
6
pom.xml
6
pom.xml
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@ -36,6 +36,8 @@
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</dependency>
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</dependency>
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</dependencies>
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</dependencies>
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<properties>
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<maven.compiler.source>1.8</maven.compiler.source>
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<maven.compiler.target>1.8</maven.compiler.target>
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</properties>
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</project>
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</project>
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@ -140,6 +140,12 @@ public class Action {
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}
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}
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public boolean isNonTrivial(){
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boolean case1Trivial = Sets.subset(additions, preconditions) && deletions.isEmpty();
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return !case1Trivial;
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}
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@Override
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@Override
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public String toString() {
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public String toString() {
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return shorthand.getArguments().length == 0? name: shorthand.toString();
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return shorthand.getArguments().length == 0? name: shorthand.toString();
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@ -15,8 +15,8 @@ import java.util.stream.Collectors;
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public class DepthFirstPlanner implements Planner {
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public class DepthFirstPlanner implements Planner {
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private static int MAX_DEPTH = 4;
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private static int MAX_DEPTH = 3;
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private static boolean EXHAUSTIVE_TILL_MAX_DEPTH = true;
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private static boolean EXHAUSTIVE_TILL_MAX_DEPTH = false;
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public static int getMaxDepth() {
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public static int getMaxDepth() {
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return MAX_DEPTH;
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return MAX_DEPTH;
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@ -77,7 +77,7 @@ public class DepthFirstPlanner implements Planner {
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Set<Plan> allPlans = Sets.newSet();
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Set<Plan> allPlans = Sets.newSet();
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boolean atleastOnePlanFound = false;
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boolean atleastOnePlanFound = false;
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for (Action action : actions) {
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for (Action action : actions.stream().filter(Action::isNonTrivial).collect(Collectors.toSet())) {
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Optional<Set<Pair<State, Action>>> nextStateActionPairs = Operations.apply(background, action, start);
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Optional<Set<Pair<State, Action>>> nextStateActionPairs = Operations.apply(background, action, start);
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@ -1,5 +1,4 @@
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package edu.rpi.rair.utils;
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package edu.rpi.rair.utils;
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import com.diogonunes.jcdp.color.ColoredPrinter;
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import com.diogonunes.jcdp.color.ColoredPrinter;
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import com.diogonunes.jcdp.color.api.Ansi;
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import com.diogonunes.jcdp.color.api.Ansi;
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import com.naveensundarg.shadow.prover.Sandbox;
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import com.naveensundarg.shadow.prover.Sandbox;
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@ -12,6 +11,7 @@ import edu.rpi.rair.Goal;
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import edu.rpi.rair.GoalTracker;
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import edu.rpi.rair.GoalTracker;
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import edu.rpi.rair.Plan;
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import edu.rpi.rair.Plan;
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import edu.rpi.rair.Planner;
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import edu.rpi.rair.Planner;
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import edu.rpi.rair.utils.GoalTrackingProblem;
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import java.util.List;
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import java.util.List;
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import java.util.Optional;
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import java.util.Optional;
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@ -39,7 +39,7 @@ public class RunDemo {
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});
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});
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planningProblemWarmUp();
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planningProblemWarmUp();
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System.out.println("WARM UP DONE");
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System.out.println("\nWARM UP DONE");
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} catch (Reader.ParsingException e) {
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} catch (Reader.ParsingException e) {
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e.printStackTrace();
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e.printStackTrace();
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}
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}
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@ -35,7 +35,7 @@
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(in ?person ?room2)
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(in ?person ?room2)
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(open (door ?room2))]
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(open (door ?room2))]
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:additions [(in ?person ?room1)]
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:additions [(in ?person ?room1)]
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:deletions [(in ?person ?room1)]
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:deletions [(in ?person ?room2)]
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})
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})
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(define-action keepDoorClosed [?actor ?room]
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(define-action keepDoorClosed [?actor ?room]
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{:preconditions [(robot ?actor)
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{:preconditions [(robot ?actor)
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