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inst_final.c
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inst_final.c
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/*********************************************************************
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
*********************************************************************/
/*********************************************************************
* File: inst_final.c
* Description: final domain representation functions
*
*
* Author: Joerg Hoffmann 2000
*
*********************************************************************/
#include "ff.h"
#include "output.h"
#include "memory.h"
#include "expressions.h"
#include "inst_pre.h"
#include "inst_final.h"
/********************************
* POSSIBLY TRUE FACTS ANALYSIS *
********************************/
/* local globals for this part
*/
int_pointer lpos[MAX_PREDICATES];
int_pointer lneg[MAX_PREDICATES];
int_pointer luse[MAX_PREDICATES];
int_pointer lindex[MAX_PREDICATES];
int lp;
int largs[MAX_VARS];
/* for collecting poss. defined fluents
*/
int_pointer lf_def[MAX_FUNCTIONS];
int_pointer lf_index[MAX_FUNCTIONS];
int lf;
int lf_args[MAX_VARS];
void perform_reachability_analysis( void )
{
int size, i, j, k, adr, num, pargtype;
Bool fixpoint;
Facts *f;
NormOperator *no;
EasyTemplate *t1, *t2;
NormEffect *ne;
Action *tmp, *a;
Bool *had_hard_template;
PseudoAction *pa;
PseudoActionEffect *pae;
gactions = NULL;
gnum_actions = 0;
for ( i = 0; i < gnum_predicates; i++ ) {
size = 1;
for ( j = 0; j < garity[i]; j++ ) {
pargtype = gpredicates_args_type[i][j];
size *= gtype_size[pargtype];
}
lpos[i] = ( int_pointer ) calloc( size, sizeof( int ) );
lneg[i] = ( int_pointer ) calloc( size, sizeof( int ) );
luse[i] = ( int_pointer ) calloc( size, sizeof( int ) );
lindex[i] = ( int_pointer ) calloc( size, sizeof( int ) );
for ( j = 0; j < size; j++ ) {
lpos[i][j] = 0;
lneg[i][j] = 1;/* all facts but initials are poss. negative */
luse[i][j] = 0;
lindex[i][j] = -1;
}
}
had_hard_template = ( Bool * ) calloc( gnum_hard_templates, sizeof( Bool ) );
for ( i = 0; i < gnum_hard_templates; i++ ) {
had_hard_template[i] = FALSE;
}
/* mark initial facts as possibly positive, not poss. negative
*/
for ( i = 0; i < gnum_predicates; i++ ) {
lp = i;
for ( j = 0; j < gnum_initial_predicate[i]; j++ ) {
for ( k = 0; k < garity[i]; k++ ) {
largs[k] = ginitial_predicate[i][j].args[k];
}
adr = fact_adress();
lpos[lp][adr] = 1;
lneg[lp][adr] = 0;
}
}
/* compute fixpoint
*/
fixpoint = FALSE;
while ( !fixpoint ) {
fixpoint = TRUE;
/* assign next layer of easy templates to possibly positive fixpoint
*/
t1 = geasy_templates;
while ( t1 ) {
no = t1->op;
for ( i = 0; i < no->num_preconds; i++ ) {
lp = no->preconds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( no->preconds[i].args[j] >= 0 ) ?
no->preconds[i].args[j] : t1->inst_table[DECODE_VAR( no->preconds[i].args[j] )];
}
if ( !lpos[lp][fact_adress()] ) {
break;
}
}
if ( i < no->num_preconds ) {
t1 = t1->next;
continue;
}
num = 0;
for ( ne = no->effects; ne; ne = ne->next ) {
num++;
/* currently, simply ignore effect conditions and assume
* they will all be made true eventually.
*/
for ( i = 0; i < ne->num_adds; i++ ) {
lp = ne->adds[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( ne->adds[i].args[j] >= 0 ) ?
ne->adds[i].args[j] : t1->inst_table[DECODE_VAR( ne->adds[i].args[j] )];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {
/* new relevant fact! (added non initial)
*/
lpos[lp][adr] = 1;
lneg[lp][adr] = 1;
luse[lp][adr] = 1;
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\ntoo many relevant facts! increase MAX_RELEVANT_FACTS (currently %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = lp;
for ( j = 0; j < garity[lp]; j++ ) {
grelevant_facts[gnum_relevant_facts].args[j] = largs[j];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
fixpoint = FALSE;
}
}
}
tmp = new_Action();
tmp->norm_operator = no;
tmp->axiom = no->operator->axiom;
for ( i = 0; i < no->num_vars; i++ ) {
tmp->inst_table[i] = t1->inst_table[i];
}
tmp->name = no->operator->name;
tmp->num_name_vars = no->operator->number_of_real_params;
make_name_inst_table_from_NormOperator( tmp, no, t1 );
tmp->next = gactions;
tmp->num_effects = num;
gactions = tmp;
gnum_actions++;
t2 = t1->next;
if ( t1->next ) {
t1->next->prev = t1->prev;
}
if ( t1->prev ) {
t1->prev->next = t1->next;
} else {
geasy_templates = t1->next;
}
free_single_EasyTemplate( t1 );
t1 = t2;
}
/* now assign all hard templates that have not been transformed
* to actions yet.
*/
for ( i = 0; i < gnum_hard_templates; i++ ) {
if ( had_hard_template[i] ) {
continue;
}
pa = ghard_templates[i];
for ( j = 0; j < pa->num_preconds; j++ ) {
lp = pa->preconds[j].predicate;
for ( k = 0; k < garity[lp]; k++ ) {
largs[k] = pa->preconds[j].args[k];
}
if ( !lpos[lp][fact_adress()] ) {
break;
}
}
if ( j < pa->num_preconds ) {
continue;
}
for ( pae = pa->effects; pae; pae = pae->next ) {
/* currently, simply ignore effect conditions and assume
* they will all be made true eventually.
*/
for ( j = 0; j < pae->num_adds; j++ ) {
lp = pae->adds[j].predicate;
for ( k = 0; k < garity[lp]; k++ ) {
largs[k] = pae->adds[j].args[k];
}
adr = fact_adress();
if ( !lpos[lp][adr] ) {
/* new relevant fact! (added non initial)
*/
lpos[lp][adr] = 1;
lneg[lp][adr] = 1;
luse[lp][adr] = 1;
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\ntoo many relevant facts! increase MAX_RELEVANT_FACTS (currently %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = lp;
for ( k = 0; k < garity[lp]; k++ ) {
grelevant_facts[gnum_relevant_facts].args[k] = largs[k];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
fixpoint = FALSE;
}
}
}
tmp = new_Action();
tmp->pseudo_action = pa;
tmp->axiom = pa->operator->axiom;
for ( j = 0; j < pa->operator->num_vars; j++ ) {
tmp->inst_table[j] = pa->inst_table[j];
}
tmp->name = pa->operator->name;
tmp->num_name_vars = pa->operator->number_of_real_params;
make_name_inst_table_from_PseudoAction( tmp, pa );
tmp->next = gactions;
tmp->num_effects = pa->num_effects;
gactions = tmp;
gnum_actions++;
had_hard_template[i] = TRUE;
}
}
free( had_hard_template );
gnum_pp_facts = gnum_initial + gnum_relevant_facts;
if ( gcmd_line.display_info == 118 ) {
printf("\nreachability analysys came up with:");
printf("\n\npossibly positive facts:");
for ( f = ginitial; f; f = f->next ) {
printf("\n");
print_Fact( f->fact );
}
for ( i = 0; i < gnum_relevant_facts; i++ ) {
printf("\n");
print_Fact( &(grelevant_facts[i]) );
}
printf("\n\nthis yields these %d action templates:", gnum_actions);
for ( i = 0; i < gnum_operators; i++ ) {
printf("\n\noperator %s:", goperators[i]->name);
for ( a = gactions; a; a = a->next ) {
if ( ( a->norm_operator &&
a->norm_operator->operator != goperators[i] ) ||
( a->pseudo_action &&
a->pseudo_action->operator != goperators[i] ) ) {
continue;
}
printf("\ntemplate: ");
if ( a->axiom ) printf("(axiom) ");
for ( j = 0; j < goperators[i]->number_of_real_params; j++ ) {
printf("%s", gconstants[a->name_inst_table[j]]);
if ( j < goperators[i]->num_vars-1 ) {
printf(" ");
}
}
}
}
printf("\n\n");
}
}
/* bit complicated to avoid memory explosion when high arity predicates take
* num_obs ^ arity space. take space for individual arg types only;
* must consider pred args in smallest - to - largest - type order to make
* mapping injective.
*/
int fact_adress( void )
{
int r = 0, b = 1, i, j, min, minj;
Bool done[MAX_ARITY];
for ( i = 0; i < garity[lp]; i++ ) {
done[i] = FALSE;
}
for ( i = 0; i < garity[lp]; i++ ) {
min = -1;
minj = -1;
for ( j = 0; j < garity[lp]; j++ ) {
if ( !done[j] ) {
if ( min == -1 ||
gtype_size[gpredicates_args_type[lp][j]] < min ) {
min = gtype_size[gpredicates_args_type[lp][j]];
minj = j;
}
}
}
if ( minj == -1 || min == -1 ) {
printf("\n\nmin or minj not made in fact adress?\n\n");
exit( 1 );
}
/* now minj is remaining arg with lowest type size min
*/
/* need number **within type** here! */
r += b * gmember_nr[largs[minj]][gpredicates_args_type[lp][minj]];
b *= min;
done[minj] = TRUE;
}
return r;
}
int fluent_adress( void )
{
int r = 0, b = 1, i;
for ( i = gf_arity[lf] - 1; i > -1; i-- ) {
r += b * lf_args[i];
b *= gnum_constants;
}
return r;
}
void make_name_inst_table_from_NormOperator( Action *a, NormOperator *o, EasyTemplate *t )
{
int i, r = 0, m = 0;
for ( i = 0; i < o->operator->number_of_real_params; i++ ) {
if ( o->num_removed_vars > r &&
o->removed_vars[r] == i ) {
/* this var has been removed in NormOp;
* insert type constraint constant
*
* at least one there, as empty typed pars ops are removed
*/
a->name_inst_table[i] = gtype_consts[o->type_removed_vars[r]][0];
r++;
} else {
/* this par corresponds to par m in NormOp
*/
a->name_inst_table[i] = t->inst_table[m];
m++;
}
}
}
void make_name_inst_table_from_PseudoAction( Action *a, PseudoAction *pa )
{
int i;
for ( i = 0; i < pa->operator->number_of_real_params; i++ ) {
a->name_inst_table[i] = pa->inst_table[i];
}
}
/***********************************************************
* RELEVANCE ANALYSIS AND FINAL DOMAIN AND PROBLEM CLEANUP *
***********************************************************/
/* counts effects for later allocation
*/
int lnum_effects;
void collect_relevant_facts_and_fluents( void )
{
Action *a;
NormOperator *no;
NormEffect *ne;
int i, j, adr, size;
PseudoAction *pa;
PseudoActionEffect *pae;
FluentValues *fvs;
/* facts: mark all deleted facts; such facts, that are also pos, are relevant.
*/
for ( a = gactions; a; a = a->next ) {
if ( a->norm_operator ) {
no = a->norm_operator;
for ( ne = no->effects; ne; ne = ne->next ) {
for ( i = 0; i < ne->num_dels; i++ ) {
lp = ne->dels[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = ( ne->dels[i].args[j] >= 0 ) ?
ne->dels[i].args[j] : a->inst_table[DECODE_VAR( ne->dels[i].args[j] )];
}
adr = fact_adress();
lneg[lp][adr] = 1;
if ( lpos[lp][adr] &&
!luse[lp][adr] ) {
luse[lp][adr] = 1;
lindex[lp][adr] = gnum_relevant_facts;
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\nincrease MAX_RELEVANT_FACTS! (current value: %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = lp;
for ( j = 0; j < garity[lp]; j++ ) {
grelevant_facts[gnum_relevant_facts].args[j] = largs[j];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
}
}
}
} else {
pa = a->pseudo_action;
for ( pae = pa->effects; pae; pae = pae->next ) {
for ( i = 0; i < pae->num_dels; i++ ) {
lp = pae->dels[i].predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = pae->dels[i].args[j];
}
adr = fact_adress();
lneg[lp][adr] = 1;
if ( lpos[lp][adr] &&
!luse[lp][adr] ) {
luse[lp][adr] = 1;
lindex[lp][adr] = gnum_relevant_facts;
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\nincrease MAX_RELEVANT_FACTS! (current value: %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = lp;
for ( j = 0; j < garity[lp]; j++ ) {
grelevant_facts[gnum_relevant_facts].args[j] = largs[j];
}
lindex[lp][adr] = gnum_relevant_facts;
gnum_relevant_facts++;
}
}
}
}
}
/* fluents: collect all that are defined in initial state, plus
* all that are assigned to by an effect of an action
* (i.e. preconds poss. pos. due to reachability)
*
* first initialise fast access structures
*/
for ( i = 0; i < gnum_functions; i++ ) {
size = 1;
for ( j = 0; j < gf_arity[i]; j++ ) {
size *= gnum_constants;
}
lf_def[i] = ( int_pointer ) calloc( size, sizeof( int ) );
lf_index[i] = ( int_pointer ) calloc( size, sizeof( int ) );
for ( j = 0; j < size; j++ ) {
lf_def[i][j] = 0;
lf_index[i][j] = -1;
}
}
/* from initial state, only those that are not static.
*/
for ( fvs = gf_initial; fvs; fvs = fvs->next ) {
lf = fvs->fluent.function;
for ( j = 0; j < gf_arity[lf]; j++ ) {
lf_args[j] = fvs->fluent.args[j];
}
adr = fluent_adress();
if ( !lf_def[lf][adr] ) {
lf_def[lf][adr] = 1;
if ( gnum_relevant_fluents == MAX_RELEVANT_FLUENTS ) {
printf("\ntoo many relevant fluents! increase MAX_RELEVANT_FLUENTS (currently %d)\n\n",
MAX_RELEVANT_FLUENTS);
exit( 1 );
}
grelevant_fluents[gnum_relevant_fluents].function = lf;
grelevant_fluents_name[gnum_relevant_fluents] =
( char * ) calloc( MAX_LENGTH, sizeof( char ) );
strcpy( grelevant_fluents_name[gnum_relevant_fluents], gfunctions[lf] );
for ( j = 0; j < gf_arity[lf]; j++ ) {
grelevant_fluents[gnum_relevant_fluents].args[j] = lf_args[j];
strcat( grelevant_fluents_name[gnum_relevant_fluents], "_" );
strcat( grelevant_fluents_name[gnum_relevant_fluents], gconstants[lf_args[j]] );
}
lf_index[lf][adr] = gnum_relevant_fluents;
gnum_relevant_fluents++;
} else {
printf("\n\nfluent ");
print_Fluent( &(fvs->fluent) );
printf(" defined twice in initial state! check input files\n\n");
exit( 1 );
}
}
/* from actions, all assigns (are non-static anyway)
*/
for ( a = gactions; a; a = a->next ) {
if ( a->norm_operator ) {
no = a->norm_operator;
for ( ne = no->effects; ne; ne = ne->next ) {
for ( i = 0; i < ne->num_numeric_effects; i++ ) {
if ( ne->numeric_effects_neft[i] != ASSIGN ) continue;
lf = ne->numeric_effects_fluent[i].function;
for ( j = 0; j < gf_arity[lf]; j++ ) {
lf_args[j] = ( ne->numeric_effects_fluent[i].args[j] >= 0 ) ?
ne->numeric_effects_fluent[i].args[j] :
a->inst_table[DECODE_VAR( ne->numeric_effects_fluent[i].args[j] )];
}
adr = fluent_adress();
if ( !lf_def[lf][adr] ) {
lf_def[lf][adr] = 1;
if ( gnum_relevant_fluents == MAX_RELEVANT_FLUENTS ) {
printf("\ntoo many relevant fluents! increase MAX_RELEVANT_FLUENTS (currently %d)\n\n",
MAX_RELEVANT_FLUENTS);
exit( 1 );
}
grelevant_fluents[gnum_relevant_fluents].function = lf;
grelevant_fluents_name[gnum_relevant_fluents] =
( char * ) calloc( MAX_LENGTH, sizeof( char ) );
strcpy( grelevant_fluents_name[gnum_relevant_fluents], gfunctions[lf] );
for ( j = 0; j < gf_arity[lf]; j++ ) {
grelevant_fluents[gnum_relevant_fluents].args[j] = lf_args[j];
strcat( grelevant_fluents_name[gnum_relevant_fluents], "_" );
strcat( grelevant_fluents_name[gnum_relevant_fluents], gconstants[lf_args[j]] );
}
lf_index[lf][adr] = gnum_relevant_fluents;
gnum_relevant_fluents++;
}
}
}
} else {
pa = a->pseudo_action;
for ( pae = pa->effects; pae; pae = pae->next ) {
for ( i = 0; i < pae->num_numeric_effects; i++ ) {
if ( pae->numeric_effects_neft[i] != ASSIGN ) continue;
lf = pae->numeric_effects_fluent[i].function;
for ( j = 0; j < gf_arity[lf]; j++ ) {
lf_args[j] = ( pae->numeric_effects_fluent[i].args[j] >= 0 ) ?
pae->numeric_effects_fluent[i].args[j] :
a->inst_table[DECODE_VAR( pae->numeric_effects_fluent[i].args[j] )];
}
adr = fluent_adress();
if ( !lf_def[lf][adr] ) {
lf_def[lf][adr] = 1;
if ( gnum_relevant_fluents == MAX_RELEVANT_FLUENTS ) {
printf("\ntoo many relevant fluents! increase MAX_RELEVANT_FLUENTS (currently %d)\n\n",
MAX_RELEVANT_FLUENTS);
exit( 1 );
}
grelevant_fluents[gnum_relevant_fluents].function = lf;
grelevant_fluents_name[gnum_relevant_fluents] =
( char * ) calloc( MAX_LENGTH, sizeof( char ) );
strcpy( grelevant_fluents_name[gnum_relevant_fluents], gfunctions[lf] );
for ( j = 0; j < gf_arity[lf]; j++ ) {
grelevant_fluents[gnum_relevant_fluents].args[j] = lf_args[j];
strcat( grelevant_fluents_name[gnum_relevant_fluents], "_" );
strcat( grelevant_fluents_name[gnum_relevant_fluents], gconstants[lf_args[j]] );
}
lf_index[lf][adr] = gnum_relevant_fluents;
gnum_relevant_fluents++;
}
}
}
}
}
if ( gcmd_line.display_info == 119 ) {
printf("\n\nfacts selected as relevant:");
for ( i = 0; i < gnum_relevant_facts; i++ ) {
printf("\n%d: ", i);
print_Fact( &(grelevant_facts[i]) );
}
printf("\n\nfluents selected as relevant:");
for ( i = 0; i < gnum_relevant_fluents; i++ ) {
printf("\n%d: ", i);
print_Fluent( &(grelevant_fluents[i]) );
}
printf("\n\n");
}
lnum_effects = 0;
create_final_goal_state();
create_final_initial_state();
create_final_actions();
if ( gmetric != NULL ) {
if ( !set_relevants_in_exp( &gmetric ) ) {
if ( gcmd_line.display_info ) {
printf("\nwarning: undefined fluent used in optimization expression. defaulting to plan length");
}
free_ExpNode( gmetric );
gmetric = NULL;
}
}
if ( gcmd_line.display_info == 120 ) {
printf("\n\nfinal domain representation is:\n\n");
for ( i = 0; i < gnum_operators; i++ ) {
printf("\n\n------------------operator %s-----------\n\n", goperators[i]->name);
for ( a = gactions; a; a = a->next ) {
if ( ( !a->norm_operator &&
!a->pseudo_action ) ||
( a->norm_operator &&
a->norm_operator->operator != goperators[i] ) ||
( a->pseudo_action &&
a->pseudo_action->operator != goperators[i] ) ) {
continue;
}
print_Action( a );
}
}
printf("\n\n--------------------GOAL REACHED ops-----------\n\n");
for ( a = gactions; a; a = a->next ) {
if ( !a->norm_operator &&
!a->pseudo_action ) {
print_Action( a );
}
}
printf("\n\nfinal initial state is:\n\n");
print_State( ginitial_state );
printf("\n\nfinal goal is:\n\n");
for ( i = 0; i < gnum_logic_goal; i++ ) {
print_ft_name( glogic_goal[i] );
printf("\n");
}
for ( i = 0; i < gnum_numeric_goal; i++ ) {
switch ( gnumeric_goal_comp[i] ) {
case LE:
printf("(< ");
break;
case LEQ:
printf("(<= ");
break;
case EQ:
printf("(= ");
break;
case GEQ:
printf("(>= ");
break;
case GE:
printf("(> ");
break;
default:
printf("\nwrong comparator in gnumeric_goal %d\n\n", gnumeric_goal_comp[i]);
exit( 1 );
}
print_ExpNode( gnumeric_goal_lh[i] );
print_ExpNode( gnumeric_goal_rh[i] );
printf(")\n");
}
if ( gmetric ) {
printf("\n\nmetric is (minimize):\n");
print_ExpNode( gmetric );
} else {
printf("\n\nmetric: none, i.e. plan length\n");
}
}
}
void create_final_goal_state( void )
{
WffNode *w, *ww;
int m, mn, i, adr;
Action *tmp;
if ( !set_relevants_in_wff( &ggoal ) ) {
printf("\n\nff: goal accesses a fluent that will never have a defined value. Problem unsolvable.\n\n");
exit( 1 );
}
cleanup_wff( &ggoal );
if ( ggoal->connective == TRU ) {
printf("\nff: goal can be simplified to TRUE. The empty plan solves it\n\n");
gnum_plan_ops = 0;
exit( 1 );
}
if ( ggoal->connective == FAL ) {
printf("\nff: goal can be simplified to FALSE. No plan will solve it\n\n");
exit( 1 );
}
switch ( ggoal->connective ) {
case OR:
if ( gnum_relevant_facts == MAX_RELEVANT_FACTS ) {
printf("\nincrease MAX_RELEVANT_FACTS! (current value: %d)\n\n",
MAX_RELEVANT_FACTS);
exit( 1 );
}
grelevant_facts[gnum_relevant_facts].predicate = -3;
gnum_relevant_facts++;
for ( w = ggoal->sons; w; w = w->next ) {
tmp = new_Action();
if ( w->connective == AND ) {
m = 0; mn = 0;
for ( ww = w->sons; ww; ww = ww->next ) {
if ( ww->connective == ATOM ) m++;
if ( ww->connective == COMP ) mn++;
}
tmp->preconds = ( int * ) calloc( m, sizeof( int ) );
tmp->numeric_preconds_comp = ( Comparator * ) calloc( mn, sizeof( Comparator ) );
tmp->numeric_preconds_lh = ( ExpNode_pointer * ) calloc( mn, sizeof( ExpNode_pointer ) );
tmp->numeric_preconds_rh = ( ExpNode_pointer * ) calloc( mn, sizeof( ExpNode_pointer ) );
tmp->num_preconds = m;
tmp->num_numeric_preconds = mn;
m = 0; mn = 0;
for ( ww = w->sons; ww; ww = ww->next ) {
if ( ww->connective == ATOM ) {
lp = ww->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = ww->fact->args[i];
}
adr = fact_adress();
tmp->preconds[m] = lindex[lp][adr];
m++;
}
if ( ww->connective == COMP ) {
tmp->numeric_preconds_comp[mn] = ww->comp;
tmp->numeric_preconds_lh[mn] = copy_Exp( ww->lh );
tmp->numeric_preconds_rh[mn] = copy_Exp( ww->rh );
mn++;
}
}
} else {
if ( w->connective == ATOM ) {
tmp->preconds = ( int * ) calloc( 1, sizeof( int ) );
tmp->num_preconds = 1;
lp = w->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = w->fact->args[i];
}
adr = fact_adress();
tmp->preconds[0] = lindex[lp][adr];
}
if ( w->connective == COMP ) {
tmp->numeric_preconds_comp = ( Comparator * ) calloc( 1, sizeof( Comparator ) );
tmp->numeric_preconds_lh = ( ExpNode_pointer * ) calloc( 1, sizeof( ExpNode_pointer ) );
tmp->numeric_preconds_rh = ( ExpNode_pointer * ) calloc( 1, sizeof( ExpNode_pointer ) );
tmp->numeric_preconds_comp[0] = w->comp;
tmp->numeric_preconds_lh[0] = copy_Exp( w->lh );
tmp->numeric_preconds_rh[0] = copy_Exp( w->rh );
tmp->num_numeric_preconds = 1;
}
}
tmp->effects = ( ActionEffect * ) calloc( 1, sizeof( ActionEffect ) );
tmp->num_effects = 1;
tmp->effects[0].conditions = NULL;
tmp->effects[0].num_conditions = 0;
tmp->effects[0].dels = NULL;
tmp->effects[0].num_dels = 0;
tmp->effects[0].adds = ( int * ) calloc( 1, sizeof( int ) );
tmp->effects[0].adds[0] = gnum_relevant_facts - 1;
tmp->effects[0].num_adds = 1;
tmp->effects[0].numeric_conditions_comp = NULL;
tmp->effects[0].numeric_conditions_lh = NULL;
tmp->effects[0].numeric_conditions_rh = NULL;
tmp->effects[0].num_numeric_conditions = 0;
tmp->effects[0].numeric_effects_neft = NULL;
tmp->effects[0].numeric_effects_fl = NULL;
tmp->effects[0].numeric_effects_rh = NULL;
tmp->effects[0].num_numeric_effects = 0;
tmp->next = gactions;
gactions = tmp;
gnum_actions++;
lnum_effects++;
}
glogic_goal = ( int * ) calloc( 1, sizeof( int ) );
glogic_goal[0] = gnum_relevant_facts - 1;
gnum_logic_goal = 1;
break;
case AND:
m = 0; mn = 0;
for ( w = ggoal->sons; w; w = w->next ) {
if ( w->connective == ATOM ) m++;
if ( w->connective == COMP ) mn++;
}
glogic_goal = ( int * ) calloc( m, sizeof( int ) );
gnumeric_goal_comp = ( Comparator * ) calloc( mn, sizeof( Comparator ) );
gnumeric_goal_lh = ( ExpNode_pointer * ) calloc( mn, sizeof( ExpNode_pointer ) );
gnumeric_goal_rh = ( ExpNode_pointer * ) calloc( mn, sizeof( ExpNode_pointer ) );
gnum_logic_goal = m;
gnum_numeric_goal = mn;
m = 0; mn = 0;
for ( w = ggoal->sons; w; w = w->next ) {
if ( w->connective == ATOM ) {
lp = w->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = w->fact->args[i];
}
adr = fact_adress();
glogic_goal[m] = lindex[lp][adr];
m++;
}
if ( w->connective == COMP ) {
gnumeric_goal_comp[mn] = w->comp;
gnumeric_goal_lh[mn] = copy_Exp( w->lh );
gnumeric_goal_rh[mn] = copy_Exp( w->rh );
mn++;
}
}
break;
case ATOM:
glogic_goal = ( int * ) calloc( 1, sizeof( int ) );
gnum_logic_goal = 1;
lp = ggoal->fact->predicate;
for ( i = 0; i < garity[lp]; i++ ) {
largs[i] = ggoal->fact->args[i];
}
adr = fact_adress();
glogic_goal[0] = lindex[lp][adr];
break;
case COMP:
gnumeric_goal_comp = ( Comparator * ) calloc( 1, sizeof( Comparator ) );
gnumeric_goal_lh = ( ExpNode_pointer * ) calloc( 1, sizeof( ExpNode_pointer ) );
gnumeric_goal_rh = ( ExpNode_pointer * ) calloc( 1, sizeof( ExpNode_pointer ) );
gnum_numeric_goal = 1;
gnumeric_goal_comp[0] = ggoal->comp;
gnumeric_goal_lh[0] = copy_Exp( ggoal->lh );
gnumeric_goal_rh[0] = copy_Exp( ggoal->rh );
break;
default:
printf("\n\nwon't get here: non COMP,ATOM,AND,OR in fully simplified goal\n\n");
exit( 1 );
}
}
Bool set_relevants_in_wff( WffNode **w )
{
WffNode *i;
int j, adr;
switch ( (*w)->connective ) {
case AND:
case OR:
for ( i = (*w)->sons; i; i = i->next ) {
if ( !set_relevants_in_wff( &i ) ) {
return FALSE;
}
}
break;
case ATOM:
/* no equalities, as fully instantiated
*/
lp = (*w)->fact->predicate;
for ( j = 0; j < garity[lp]; j++ ) {
largs[j] = (*w)->fact->args[j];