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inst_pre.c
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/*********************************************************************
* (C) Copyright 2001 Albert Ludwigs University Freiburg
* Institute of Computer Science
*
* 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.
*
*********************************************************************/
/*
* THIS SOURCE CODE IS SUPPLIED ``AS IS'' WITHOUT WARRANTY OF ANY KIND,
* AND ITS AUTHOR AND THE JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH
* (JAIR) AND JAIR'S PUBLISHERS AND DISTRIBUTORS, DISCLAIM ANY AND ALL
* WARRANTIES, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, AND
* ANY WARRANTIES OR NON INFRINGEMENT. THE USER ASSUMES ALL LIABILITY AND
* RESPONSIBILITY FOR USE OF THIS SOURCE CODE, AND NEITHER THE AUTHOR NOR
* JAIR, NOR JAIR'S PUBLISHERS AND DISTRIBUTORS, WILL BE LIABLE FOR
* DAMAGES OF ANY KIND RESULTING FROM ITS USE. Without limiting the
* generality of the foregoing, neither the author, nor JAIR, nor JAIR's
* publishers and distributors, warrant that the Source Code will be
* error-free, will operate without interruption, or will meet the needs
* of the user.
*/
/*********************************************************************
* File: inst_pre.c
* Description: functions for instantiating operators, preprocessing part.
* - transform domain into integers
* - inertia preprocessing:
* - collect inertia info
* - split initial state in special arrays
* - Wff normalization:
* - simplification
* - quantifier expansion
* - NOT s down
* - negative preconditions translation
* - split operators into easy and hard to instantiate
*
* - full DNF functions, only feasible for fully instantiated
* formulae
*
* Author: Joerg Hoffmann 2000
*
*********************************************************************/
#include "ff.h"
#include "output.h"
#include "memory.h"
#include "inst_pre.h"
/*******************************************************
* TRANSFORM DOMAIN INTO INTEGER (FACT) REPRESENTATION *
*******************************************************/
char *lvar_names[MAX_VARS];
int lvar_types[MAX_VARS];
void encode_domain_in_integers( void )
{
int i,j;
collect_all_strings();
create_member_nrs();
if ( gcmd_line.display_info == 103 ) {
printf("\nconstant table:");
for ( i = 0; i < gnum_constants; i++ ) {
printf("\n%d --> %s", i, gconstants[i]);
}
printf("\n\ntypes table:");
for ( i = 0; i < gnum_types; i++ ) {
printf("\n%d --> %s: ", i, gtype_names[i]);
for ( j = 0; j < gtype_size[i]; j++ ) {
printf("%d ", gtype_consts[i][j]);
}
}
printf("\n\npredicates table:");
for ( i = 0; i < gnum_predicates; i++ ) {
printf("\n%3d --> %s: ", i, gpredicates[i]);
for ( j = 0; j < garity[i]; j++ ) {
printf("%s ", gtype_names[gpredicates_args_type[i][j]]);
}
}
printf("\n\n");
}
create_integer_representation();
if ( gcmd_line.display_info == 104 ) {
printf("\n\nfirst step initial state is:");
for ( i = 0; i < gnum_full_initial; i++ ) {
printf("\n");
print_Fact( &(gfull_initial[i]) );
}
printf("\n\nfirst step operators are:");
for ( i = 0; i < gnum_operators; i++ ) {
print_Operator( goperators[i] );
}
printf("\n\n");
printf("\n\nfirst step goal is:\n");
print_Wff( ggoal, 0 );
}
}
void create_member_nrs( void )
{
int i, j, num;
for ( i = 0; i < MAX_CONSTANTS; i++ ) {
for ( j = 0; j < MAX_TYPES; j++ ) {
gmember_nr[i][j] = -1;
}
}
for ( i = 0; i < gnum_types; i++ ) {
num = 0;
for ( j = 0; j < gtype_size[i]; j++ ) {
gmember_nr[gtype_consts[i][j]][i] = num;
num++;
}
}
}
void collect_all_strings( void )
{
FactList *f;
TokenList *t;
int p_num, type_num, c_num, ar;
int i;
/* first are types and their objects. for = we make sure that there
* is one type that contains all objects.
*/
gtype_names[0] = new_Token( 50 );
gtype_names[0] = "ARTFICIAL-ALL-OBJECTS";
gtype_size[0] = 0;
for ( i = 0; i < MAX_CONSTANTS; i++ ) {
gis_member[i][0] = FALSE;
}
gnum_types = 1;
for ( f = gorig_constant_list; f; f = f->next ) {
if ( (type_num = position_in_types_table( f->item->next->item )) == -1 ) {
if ( gnum_types == MAX_TYPES ) {
printf("\ntoo many types! increase MAX_TYPES (currently %d)\n\n",
MAX_TYPES);
exit( 1 );
}
gtype_names[gnum_types] = new_Token( strlen( f->item->next->item ) + 1 );
strcpy( gtype_names[gnum_types], f->item->next->item );
gtype_size[gnum_types] = 0;
for ( i = 0; i < MAX_CONSTANTS; i++ ) {
gis_member[i][gnum_types] = FALSE;
}
type_num = gnum_types++;
}
if ( (c_num = position_in_constants_table( f->item->item )) == -1 ) {
if ( gnum_constants == MAX_CONSTANTS ) {
printf("\ntoo many constants! increase MAX_CONSTANTS (currently %d)\n\n",
MAX_CONSTANTS);
exit( 1 );
}
gconstants[gnum_constants] = new_Token( strlen( f->item->item ) + 1 );
strcpy( gconstants[gnum_constants], f->item->item );
c_num = gnum_constants++;
/* all constants into 0-type.
*/
if ( gtype_size[0] == MAX_TYPE ) {
printf("\ntoo many consts in type %s! increase MAX_TYPE (currently %d)\n\n",
gtype_names[0], MAX_TYPE);
exit( 1 );
}
gtype_consts[0][gtype_size[0]++] = c_num;
gis_member[c_num][0] = TRUE;
}
if ( !gis_member[c_num][type_num] ) {
if ( gtype_size[type_num] == MAX_TYPE ) {
printf("\ntoo many consts in type %s! increase MAX_TYPE (currently %d)\n\n",
gtype_names[type_num], MAX_TYPE);
exit( 1 );
}
gtype_consts[type_num][gtype_size[type_num]++] = c_num;
gis_member[c_num][type_num] = TRUE;
}
}
/* next are predicates; first of all, create in-built predicate =
*/
gpredicates[0] = new_Token( 5 );
gpredicates[0] = "=";
gpredicates_args_type[0][0] = 0;/* all objects type */
gpredicates_args_type[0][1] = 0;
garity[0] = 2;
gnum_predicates = 1;
for ( f = gpredicates_and_types; f; f = f->next ) {
if ( (p_num = position_in_predicates_table( f->item->item )) != -1 ) {
printf("\npredicate %s declared twice!\n\n", f->item->item);
exit( 1 );
}
if ( gnum_predicates == MAX_PREDICATES ) {
printf("\ntoo many predicates! increase MAX_PREDICATES (currently %d)\n\n",
MAX_PREDICATES);
exit( 1 );
}
gpredicates[gnum_predicates] = new_Token( strlen( f->item->item ) + 1 );
strcpy( gpredicates[gnum_predicates], f->item->item );
ar = 0;
for ( t = f->item->next; t; t = t->next ) {
if ( (type_num = position_in_types_table( t->item )) == -1 ) {
printf("\npredicate %s is declared to use unknown or empty type %s\n\n",
f->item->item, t->item);
exit( 1 );
}
if ( ar == MAX_ARITY ) {
printf("\narity of %s to high! increase MAX_ARITY (currently %d)\n\n",
gpredicates[gnum_predicates], MAX_ARITY);
exit( 1 );
}
gpredicates_args_type[gnum_predicates][ar++] = type_num;
}
garity[gnum_predicates++] = ar;
}
free_FactList( gorig_constant_list );
free_FactList( gpredicates_and_types );
}
int position_in_types_table( char *str )
{
int i;
/* start at 1 because 0 is our artificial one
*/
for ( i=1; i<gnum_types; i++ ) {
if ( str == gtype_names[i] ||
(strcmp( str, gtype_names[i] ) == SAME) ) {
break;
}
}
return ( i == gnum_types ) ? -1 : i;
}
int position_in_constants_table( char *str )
{
int i;
for ( i=0; i<gnum_constants; i++ ) {
if ( str == gconstants[i] ||
strcmp( str, gconstants[i] ) == SAME ) {
break;
}
}
return ( i == gnum_constants ) ? -1 : i;
}
int position_in_predicates_table( char *str )
{
int i;
for ( i=0; i<gnum_predicates; i++ ) {
if ( str == gpredicates[i] ||
strcmp( str, gpredicates[i] ) == SAME ) {
break;
}
}
return ( i == gnum_predicates ) ? -1 : i;
}
void create_integer_representation( void )
{
PlNode *n, *nn;
PlOperator *o;
Operator *tmp;
FactList *ff;
int type_num, i, s = 0;
if ( gorig_initial_facts ) {
for ( n = gorig_initial_facts->sons; n; n = n->next ) s++;
s += gnum_constants;/* space for equalities */
gfull_initial = ( Fact * ) calloc( s, sizeof( Fact ) );
for ( n = gorig_initial_facts->sons; n; n = n->next ) {
make_Fact( &(gfull_initial[gnum_full_initial]), n, 0 );
if ( gfull_initial[gnum_full_initial].predicate == -1 ) {
printf("\nequality in initial state! check input files.\n\n");
exit( 1 );
}
gnum_full_initial++;
}
free_PlNode( gorig_initial_facts );
}
/* now insert all our artificial equality constraints into initial state.
*/
for ( i = 0; i < gnum_constants; i++ ) {
gfull_initial[gnum_full_initial].predicate = 0;
gfull_initial[gnum_full_initial].args[0] = i;
gfull_initial[gnum_full_initial].args[1] = i;
gnum_full_initial++;
}
/* FINITO. the rest of equality handling will fully
* automatically be done by the rest of the machinery.
*/
ggoal = make_Wff( gorig_goal_facts, 0 );
for ( o = gloaded_ops; o; o = o->next ) {
tmp = new_Operator( o->name, o->number_of_real_params );
for ( ff = o->params; ff; ff = ff->next ) {
if ( (type_num = position_in_types_table( ff->item->next->item )) == -1 ) {
printf("\nwarning: parameter %s of op %s has unknown or empty type %s. skipping op",
ff->item->item, o->name, ff->item->next->item);
break;
}
if ( tmp->num_vars == MAX_VARS ) {
printf("\ntoo many parameters! increase MAX_VARS (currently %d)\n\n",
MAX_VARS);
exit( 1 );
}
for ( i = 0; i < tmp->num_vars; i++ ) {
if ( tmp->var_names[i] == ff->item->item ||
strcmp( tmp->var_names[i], ff->item->item ) == SAME ) {
printf("\nwarning: operator %s parameter %s overwrites previous declaration\n\n",
tmp->name, ff->item->item);
}
}
tmp->var_names[tmp->num_vars] = new_Token( strlen( ff->item->item ) + 1 );
strcpy( tmp->var_names[tmp->num_vars], ff->item->item );
tmp->var_types[tmp->num_vars++] = type_num;
}
if ( ff ) {
free_Operator( tmp );
continue;
}
for ( i = 0; i < tmp->num_vars; i++ ) {
lvar_types[i] = tmp->var_types[i];
lvar_names[i] = tmp->var_names[i];
}
tmp->preconds = make_Wff( o->preconds, tmp->num_vars );
if ( o->effects ) {
/* in make_effect, make sure that no one afects equality.
*/
nn = o->effects->sons;
while ( nn &&
(tmp->effects = make_effect( nn, tmp->num_vars )) == NULL ) {
nn = nn->next;
}
if ( nn ) {
for ( n = nn->next; n; n = n->next ) {
if ( (tmp->effects->prev = make_effect( n, tmp->num_vars )) == NULL ) {
continue;
}
tmp->effects->prev->next = tmp->effects;
tmp->effects = tmp->effects->prev;
}
}
}
if ( gnum_operators == MAX_OPERATORS ) {
printf("\ntoo many operators! increase MAX_OPERATORS (currently %d)\n\n",
MAX_OPERATORS);
exit( 1 );
}
goperators[gnum_operators++] = tmp;
}
if ( 0 ) {
/* currently not in use; leads to free memory reads and
* free memory frees (no memory leaks), which are hard to explain.
*
* almost no memory consumption anyway.
*/
free_PlOperator( gloaded_ops );
}
}
void make_Fact( Fact *f, PlNode *n, int num_vars )
{
int m, i;
TokenList *t;
if ( !n->atom ) {
/* can't happen after previous syntax check. Oh well, whatever...
*/
printf("\nillegal (empty) atom used in domain. check input files\n\n");
exit( 1 );
}
f->predicate = position_in_predicates_table( n->atom->item );
if ( f->predicate == -1 ) {
printf("\nundeclared predicate %s used in domain definition\n\n",
n->atom->item);
exit( 1 );
}
m = 0;
for ( t = n->atom->next; t; t = t->next ) {
if ( t->item[0] == '?' ) {
for ( i=num_vars-1; i>-1; i-- ) {
/* downwards, to always get most recent declaration/quantification
* of that variable
*/
if ( lvar_names[i] == t->item ||
strcmp( lvar_names[i], t->item ) == SAME ) {
break;
}
}
if ( i == -1 ) {
printf("\nundeclared variable %s in literal %s. check input files\n\n",
t->item, n->atom->item);
exit( 1 );
}
if ( f->predicate != -1 &&
lvar_types[i] != gpredicates_args_type[f->predicate][m] &&
!is_subtype( lvar_types[i], gpredicates_args_type[f->predicate][m] ) ) {
printf("\ntype of var %s does not match type of arg %d of predicate %s\n\n",
lvar_names[i], m, gpredicates[f->predicate]);
exit( 1 );
}
f->args[m] = ENCODE_VAR( i );
} else {
if ( (f->args[m] =
position_in_constants_table( t->item )) == -1 ) {
printf("\nunknown constant %s in literal %s. check input files\n\n",
t->item, n->atom->item);
exit( 1 );
}
if ( f->predicate != -1 &&
!gis_member[f->args[m]][gpredicates_args_type[f->predicate][m]] ) {
printf("\ntype mismatch: constant %s as arg %d of %s. check input files\n\n",
gconstants[f->args[m]], m, gpredicates[f->predicate]);
exit( 1 );
}
}
m++;
}
if ( f->predicate == -1 ) {
if ( m != 2 ) {
printf("\nfound eq - predicate with %d arguments. check input files\n\n",
m);
exit( 1 );
}
} else {
if ( m != garity[f->predicate] ) {
printf("\npredicate %s is declared to have %d (not %d) arguments. check input files\n\n",
gpredicates[f->predicate],
garity[f->predicate], m);
exit( 1 );
}
}
}
Bool is_subtype( int t1, int t2 )
{
int i;
for ( i = 0; i < gtype_size[t1]; i++ ) {
if ( !gis_member[gtype_consts[t1][i]][t2] ) {
return FALSE;
}
}
return TRUE;
}
WffNode *make_Wff( PlNode *p, int num_vars )
{
WffNode *tmp;
int i, t;
PlNode *n;
if ( !p ) {
tmp = NULL;
return tmp;
}
tmp = new_WffNode( p->connective );
switch ( p->connective ) {
case ALL:
case EX:
for ( i = 0; i < num_vars; i++ ) {
if ( lvar_names[i] == p->atom->item ||
strcmp( lvar_names[i], p->atom->item ) == SAME ) {
printf("\nwarning: var quantification of %s overwrites previous declaration\n\n",
p->atom->item);
}
}
if ( (t = position_in_types_table( p->atom->next->item )) == -1 ) {
printf("\nwarning: quantified var %s has unknown or empty type %s. simplifying.\n\n",
p->atom->item, p->atom->next->item);
tmp->connective = ( p->connective == EX ) ? FAL : TRU;
break;
}
tmp->var = num_vars;
tmp->var_type = t;
tmp->var_name = new_Token( strlen( p->atom->item ) + 1 );
strcpy( tmp->var_name, p->atom->item );
lvar_names[num_vars] = p->atom->item;
lvar_types[num_vars] = t;
tmp->son = make_Wff( p->sons, num_vars + 1 );
break;
case AND:
case OR:
if ( !p->sons ) {
printf("\nwarning: empty con/disjunction in domain definition. simplifying.\n\n");
tmp->connective = ( p->connective == OR ) ? FAL : TRU;
break;
}
tmp->sons = make_Wff( p->sons, num_vars );
for ( n = p->sons->next; n; n = n->next ) {
tmp->sons->prev = make_Wff( n, num_vars );
tmp->sons->prev->next = tmp->sons;
tmp->sons = tmp->sons->prev;
}
break;
case NOT:
tmp->son = make_Wff( p->sons, num_vars );
break;
case ATOM:
tmp->fact = new_Fact();
make_Fact( tmp->fact, p, num_vars );
break;
case TRU:
case FAL:
break;
default:
printf("\nforbidden connective %d in Pl Wff. must be a bug somewhere...\n\n",
p->connective);
exit( 1 );
}
return tmp;
}
Effect *make_effect( PlNode *p, int num_vars )
{
Effect *tmp = new_Effect();
PlNode *n, *m;
int t, i;
for ( n = p; n && n->connective == ALL; n = n->sons ) {
if ( (t = position_in_types_table( n->atom->next->item )) == -1 ) {
printf("\nwarning: effect parameter %s has unknown or empty type %s. skipping effect.\n\n",
n->atom->item, n->atom->next->item);
return NULL;
}
for ( i = 0; i < num_vars + tmp->num_vars; i++ ) {
if ( lvar_names[i] == n->atom->item ||
strcmp( lvar_names[i], n->atom->item ) == SAME ) {
printf("\nwarning: effect parameter %s overwrites previous declaration\n\n",
n->atom->item);
}
}
lvar_types[num_vars + tmp->num_vars] = t;
lvar_names[num_vars + tmp->num_vars] = n->atom->item;
tmp->var_names[tmp->num_vars] = new_Token( strlen( n->atom->item ) + 1 );
strcpy( tmp->var_names[tmp->num_vars], n->atom->item );
tmp->var_types[tmp->num_vars++] = t;
}
if ( !n || n->connective != WHEN ) {
printf("\nnon WHEN %d at end of effect parameters. debug me\n\n",
n->connective);
exit( 1 );
}
tmp->conditions = make_Wff( n->sons, num_vars + tmp->num_vars );
if ( n->sons->next->connective != AND ) {
printf("\nnon AND %d in front of literal effect list. debug me\n\n",
n->sons->next->connective);
exit( 1 );
}
if ( !n->sons->next->sons ) {
return tmp;
}
m = n->sons->next->sons;
tmp->effects = new_Literal();
if ( m->connective == NOT ) {
tmp->effects->negated = TRUE;
make_Fact( &(tmp->effects->fact), m->sons, num_vars + tmp->num_vars );
if ( (tmp->effects->fact).predicate == 0 ) {
printf("\n\nequality in effect! check input files!\n\n");
exit( 1 );
}
} else {
tmp->effects->negated = FALSE;
make_Fact( &(tmp->effects->fact), m, num_vars + tmp->num_vars );
if ( (tmp->effects->fact).predicate == 0 ) {
printf("\n\nequality in effect! check input files!\n\n");
exit( 1 );
}
}
for ( m = m->next; m; m = m->next ) {
tmp->effects->prev = new_Literal();
if ( m->connective == NOT ) {
tmp->effects->prev->negated = TRUE;
make_Fact( &(tmp->effects->prev->fact), m->sons, num_vars + tmp->num_vars );
if ( (tmp->effects->prev->fact).predicate == 0 ) {
printf("\n\nequality in effect! check input files!\n\n");
exit( 1 );
}
} else {
tmp->effects->prev->negated = FALSE;
make_Fact( &(tmp->effects->prev->fact), m, num_vars + tmp->num_vars );
if ( (tmp->effects->prev->fact).predicate == 0 ) {
printf("\n\nequality in effect! check input files!\n\n");
exit( 1 );
}
}
tmp->effects->prev->next = tmp->effects;
tmp->effects = tmp->effects->prev;
}
return tmp;
}
/*************************
* INERTIA PREPROCESSING *
*************************/
void do_inertia_preprocessing_step_1( void )
{
int i, j;
Facts *f;
collect_inertia_information();
if ( gcmd_line.display_info == 105 ) {
printf("\n\npredicates inertia info:");
for ( i = 0; i < gnum_predicates; i++ ) {
printf("\n%3d --> %s: ", i, gpredicates[i]);
printf(" is %s, %s",
gis_added[i] ? "ADDED" : "NOT ADDED",
gis_deleted[i] ? "DELETED" : "NOT DELETED");
}
printf("\n\n");
}
split_initial_state();
if ( gcmd_line.display_info == 106 ) {
printf("\n\nsplitted initial state is:");
printf("\nindividual predicates:");
for ( i = 0; i < gnum_predicates; i++ ) {
printf("\n\n%s:", gpredicates[i]);
if ( !gis_added[i] &&
!gis_deleted[i] ) {
printf(" --- STATIC");
}
for ( j = 0; j < gnum_initial_predicate[i]; j++ ) {
printf("\n");
print_Fact( &(ginitial_predicate[i][j]) );
}
}
printf("\n\nnon static part:");
for ( f = ginitial; f; f = f->next ) {
printf("\n");
print_Fact( f->fact );
}
printf("\n\nextended types table:");
for ( i = 0; i < gnum_types; i++ ) {
printf("\n%d --> ", i);
if ( gpredicate_to_type[i] == -1 ) {
printf("%s ", gtype_names[i]);
} else {
printf("UNARY INERTIA TYPE (%s) ", gpredicates[gpredicate_to_type[i]]);
}
for ( j = 0; j < gtype_size[i]; j++ ) {
printf("%d ", gtype_consts[i][j]);
}
}
}
}
void collect_inertia_information( void )
{
int i;
Effect *e;
Literal *l;
for ( i = 0; i < gnum_predicates; i++ ) {
gis_added[i] = FALSE;
gis_deleted[i] = FALSE;
}
for ( i = 0; i < gnum_operators; i++ ) {
for ( e = goperators[i]->effects; e; e = e->next ) {
for ( l = e->effects; l; l = l->next ) {
if ( l->negated ) {
gis_deleted[l->fact.predicate] = TRUE;
} else {
gis_added[l->fact.predicate] = TRUE;
}
}
}
}
}
void split_initial_state( void )
{
int i, j, p, t;
Facts *tmp;
for ( i = 0; i < MAX_PREDICATES; i++ ) {
gtype_to_predicate[i] = -1;
}
for ( i = 0; i < MAX_TYPES; i++ ) {
gpredicate_to_type[i] = -1;
}
for ( i = 0; i < gnum_predicates; i++ ) {
if ( !gis_added[i] &&
!gis_deleted[i] &&
garity[i] == 1 ) {
if ( gnum_types == MAX_TYPES ) {
printf("\ntoo many (inferred) types! increase MAX_TYPES (currently %d)\n\n",
MAX_TYPES);
exit( 1 );
}
gtype_to_predicate[i] = gnum_types;
gpredicate_to_type[gnum_types] = i;
gtype_names[gnum_types] = NULL;
gtype_size[gnum_types] = 0;
for ( j = 0; j < MAX_CONSTANTS; j++ ) {
gis_member[j][gnum_types] = FALSE;
}
gnum_types++;
}
}
/* double size of predicates table as each predicate might need
* to be translated to NOT-p
*/
ginitial_predicate = ( Fact ** ) calloc( gnum_predicates * 2, sizeof( Fact * ) );
gnum_initial_predicate = ( int * ) calloc( gnum_predicates * 2, sizeof( int ) );
for ( i = 0; i < gnum_predicates * 2; i++ ) {
gnum_initial_predicate[i] = 0;
}
for ( i = 0; i < gnum_full_initial; i++ ) {
p = gfull_initial[i].predicate;
gnum_initial_predicate[p]++;
}
for ( i = 0; i < gnum_predicates; i++ ) {
ginitial_predicate[i] = ( Fact * ) calloc( gnum_initial_predicate[i], sizeof( Fact ) );
gnum_initial_predicate[i] = 0;
}
ginitial = NULL;
gnum_initial = 0;
for ( i = 0; i < gnum_full_initial; i++ ) {
p = gfull_initial[i].predicate;
ginitial_predicate[p][gnum_initial_predicate[p]].predicate = p;
for ( j = 0; j < garity[p]; j++ ) {
ginitial_predicate[p][gnum_initial_predicate[p]].args[j] = gfull_initial[i].args[j];
}
gnum_initial_predicate[p]++;
if ( gis_added[p] ||
gis_deleted[p] ) {
tmp = new_Facts();
tmp->fact->predicate = p;
for ( j = 0; j < garity[p]; j++ ) {
tmp->fact->args[j] = gfull_initial[i].args[j];
}
tmp->next = ginitial;
ginitial = tmp;
gnum_initial++;
} else {
if ( garity[p] == 1 ) {
t = gtype_to_predicate[p];
if ( gtype_size[t] == MAX_TYPE ) {
printf("\ntoo many consts in type %s! increase MAX_TYPE (currently %d)\n\n",
gtype_names[t], MAX_TYPE);
exit( 1 );
}
if ( !gis_member[gfull_initial[i].args[0]][gpredicates_args_type[p][0]] ) {
printf("\ntype mismatch in initial state! %s as arg 0 of %s\n\n",
gconstants[gfull_initial[i].args[0]], gpredicates[p]);
exit( 1 );
}
gtype_consts[t][gtype_size[t]++] = gfull_initial[i].args[0];
gis_member[gfull_initial[i].args[0]][t] = TRUE;
}
}
}
}
/******************************
* NORMALIZE ALL PL1 FORMULAE *
******************************/
void normalize_all_wffs( void )
{
int i;
Effect *e;
simplify_wff( &ggoal );
remove_unused_vars_in_wff( &ggoal );
expand_quantifiers_in_wff( &ggoal, -1, -1 );
NOTs_down_in_wff( &ggoal );
cleanup_wff( &ggoal );
if ( ggoal->connective == TRU ) {
printf("\nff: goal can be simplified to TRUE. The empty plan solves it\n\n");
exit( 1 );
}
if ( ggoal->connective == FAL ) {
printf("\nff: goal can be simplified to FALSE. No plan will solve it\n\n");
exit( 1 );
}
/* put goal into DNF right away: fully instantiated already