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Adding support for non parameterized predicates and negative preconditions #4

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Adding support for non parameterized predicates and negative preconditions #4

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97aacd8
:sparkles: Support for non-parameter variables in pddl
Momofil31 May 30, 2022
4403ad9
:sparkles: Support for negative preconditions in ppdl
Momofil31 May 30, 2022
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18 changes: 9 additions & 9 deletions src/pddl/PddlDomain.js
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Original file line number Diff line number Diff line change
Expand Up @@ -10,12 +10,12 @@ class PddlDomain {
this.actions = actions
}

addPredicate (predicate) { // predicate = ['light-on', 'l']
addPredicate (predicate, parameters = []) { // predicate = ['light-on', 'l']
if ( this.predicates.find( (e) => e[0]==predicate[0]) )
return false
this.predicates.push(predicate)
predicate.toPddlString = function () {
return '('+predicate[0]+' ' + predicate.slice(1).map( v => '?'+v ).join(' ') + ')'
return '('+predicate[0]+' ' + predicate.slice(1).map( v => (parameters.includes(v) ? "?" + v : v)).join(' ') + ')'
}
return predicate
}
Expand All @@ -29,14 +29,14 @@ class PddlDomain {
let not = p[0].split(' ')[0]=='not'
let predicate = (not ? p[0].split(' ')[1] : p[0])
let args = p.slice(1)
this.addPredicate([predicate, ...args])
this.addPredicate([predicate, ...args], parameters)
}

for ( let p of effect ) {
let not = p[0].split(' ')[0]=='not'
let predicate = (not ? p[0].split(' ')[1] : p[0])
let args = p.slice(1)
this.addPredicate([predicate, ...args])
this.addPredicate([predicate, ...args], parameters)
}

this.actions.push(actionClass)
Expand All @@ -45,22 +45,22 @@ class PddlDomain {
(:action ${actionClass.name}
:parameters (${parameters.map( p => '?'+p ).join(' ')})
:precondition (and
${PddlDomain.mapTokens(precondition)}
${PddlDomain.mapTokens(precondition, parameters)}
)
:effect (and
${PddlDomain.mapTokens(effect)}
${PddlDomain.mapTokens(effect, parameters)}
)
)`
}

}
}

static mapTokens(tokens) {
static mapTokens(tokens, parameters = []) {
return tokens.map( p => {
let not = p[0].split(' ')[0]=='not'
let predicate = (not ? p[0].split(' ')[1] : p[0])
let args = p.slice(1).map( v => '?'+v ).join(' ')
let args = p.slice(1).map( v => (parameters.includes(v) ? "?" + v : v)).join(' ')
if (not)
return `${padding}(not (${predicate} ${args}))`
return `${padding}(${predicate} ${args})`
Expand Down Expand Up @@ -88,7 +88,7 @@ class PddlDomain {
return `\
;; domain file: domain-${this.name}.pddl
(define (domain ${this.name})
(:requirements :strips)
(:requirements :strips :negative-preconditions)
(:predicates
${this.predicates.map( p => p.toPddlString()).join('\n' + padding.repeat(2))}
)
Expand Down
6 changes: 4 additions & 2 deletions src/pddl/actions/pddlActionIntention.js
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Expand Up @@ -63,8 +63,10 @@ class pddlActionIntention extends Intention {
let possibly_negated_predicate = literal[0]
let vars = literal.slice(1)
let grounded = possibly_negated_predicate
for (let v of vars)
grounded = grounded + ' ' + parametersMap[v]
for (let v of vars) {
grounded += " ";
grounded += parametersMap[v] ? parametersMap[v] : v;
}
return grounded
})
}
Expand Down