added explicitly how many of the axiom parameters are used to synthes…

…ize the atom in the heado
drexlerd · May 28, 2024 · 596a4ea · 596a4ea
1 parent ef014c3
commit 596a4ea
Show file tree

Hide file tree

Showing 4 changed files with 36 additions and 9 deletions.
diff --git a/include/loki/details/pddl/axiom.hpp b/include/loki/details/pddl/axiom.hpp
@@ -33,7 +33,12 @@ class AxiomImpl : public Base<AxiomImpl>
     ParameterList m_parameters;
     Condition m_condition;
 
-    AxiomImpl(size_t identifier, std::string derived_predicate_name, ParameterList parameters, Condition condition);
+    // Since translations might add additional parameters,
+    // we allow keeping track of parameters that are needed
+    // to ground the atom in the head of the axiom
+    size_t m_num_parameters_to_ground_head;
+
+    AxiomImpl(size_t identifier, std::string derived_predicate_name, ParameterList parameters, Condition condition, size_t num_parameters_to_ground_head);
 
     // Give access to the constructor.
     friend class PDDLFactory<AxiomImpl, Hash<AxiomImpl*>, EqualTo<AxiomImpl*>>;
@@ -50,6 +55,8 @@ class AxiomImpl : public Base<AxiomImpl>
     const std::string& get_derived_predicate_name() const;
     const ParameterList& get_parameters() const;
     const Condition& get_condition() const;
+
+    size_t get_num_parameters_to_ground_head() const;
 };
 
 }

diff --git a/include/loki/details/pddl/factories.hpp b/include/loki/details/pddl/factories.hpp
@@ -264,9 +264,9 @@ class PDDLFactories
         return actions.get_or_create<ActionImpl>(std::move(name), std::move(original_arity), std::move(parameters), std::move(condition), std::move(effect));
     }
 
-    Axiom get_or_create_axiom(std::string derived_predicate_name, ParameterList parameters, Condition condition)
+    Axiom get_or_create_axiom(std::string derived_predicate_name, ParameterList parameters, Condition condition, size_t num_parameters_to_ground_head)
     {
-        return axioms.get_or_create<AxiomImpl>(std::move(derived_predicate_name), std::move(parameters), std::move(condition));
+        return axioms.get_or_create<AxiomImpl>(std::move(derived_predicate_name), std::move(parameters), std::move(condition), num_parameters_to_ground_head);
     }
 
     OptimizationMetric get_or_create_optimization_metric(OptimizationMetricEnum metric, FunctionExpression function_expression)

diff --git a/src/pddl/axiom.cpp b/src/pddl/axiom.cpp
@@ -28,11 +28,16 @@
 
 namespace loki
 {
-AxiomImpl::AxiomImpl(size_t identifier, std::string derived_predicate_name, ParameterList parameters, Condition condition) :
+AxiomImpl::AxiomImpl(size_t identifier,
+                     std::string derived_predicate_name,
+                     ParameterList parameters,
+                     Condition condition,
+                     size_t num_parameters_to_ground_head) :
     Base(identifier),
     m_derived_predicate_name(std::move(derived_predicate_name)),
     m_parameters(std::move(parameters)),
-    m_condition(std::move(condition))
+    m_condition(std::move(condition)),
+    m_num_parameters_to_ground_head(num_parameters_to_ground_head)
 {
 }
 
@@ -68,4 +73,6 @@ const Condition& AxiomImpl::get_condition() const { return m_condition; }
 
 const ParameterList& AxiomImpl::get_parameters() const { return m_parameters; }
 
+size_t AxiomImpl::get_num_parameters_to_ground_head() const { return m_num_parameters_to_ground_head; }
+
 }
diff --git a/src/pddl/parser/structure.cpp b/src/pddl/parser/structure.cpp
@@ -114,13 +114,26 @@ Axiom parse(const ast::Axiom& node, Context& context)
     }
 
     auto result_parameters = ParameterList {};
+    // Create parameters for head.
     for (const auto variable : variables)
     {
-        const auto base_types = parameter_variable_to_types.count(variable) ? parameter_variable_to_types.at(variable) :
-                                                                              TypeList { context.factories.get_or_create_type("object", TypeList {}) };
-        result_parameters.push_back(context.factories.get_or_create_parameter(variable, base_types));
+        if (parameter_variable_to_types.count(variable))
+        {
+            const auto base_types = parameter_variable_to_types.at(variable);
+            result_parameters.push_back(context.factories.get_or_create_parameter(variable, base_types));
+        }
+    }
+    const auto num_parameters_to_ground_head = result_parameters.size();
+    // Create parameters for remaining free variables
+    for (const auto variable : variables)
+    {
+        if (!parameter_variable_to_types.count(variable))
+        {
+            const auto base_types = TypeList { context.factories.get_or_create_type("object", TypeList {}) };
+            result_parameters.push_back(context.factories.get_or_create_parameter(variable, base_types));
+        }
     }
-    const auto axiom = context.factories.get_or_create_axiom(predicate_name, result_parameters, condition);
+    const auto axiom = context.factories.get_or_create_axiom(predicate_name, result_parameters, condition, num_parameters_to_ground_head);
     context.positions.push_back(axiom, node);
     return axiom;
 }