introduce type for objects representing number

one aspect mentioned in #7
remaro-network · Aug 15, 2024 · 3f3ea29 · 3f3ea29
1 parent b37b597
commit 3f3ea29
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Showing 4 changed files with 19 additions and 3 deletions.
diff --git a/examples/suave/suave_problem_created.pddl b/examples/suave/suave_problem_created.pddl
@@ -2,10 +2,11 @@
   (:domain suave)
 
   (:objects 
-    f_generate_search_path f_follow_pipeline f_maintain_motion fd_spiral_low fd_spiral_medium fd_spiral_high fd_all_thrusters fd_recover_thrusters fd_follow_pipeline  0.25_decimal 0.5_decimal 0.75_decimal 1.0_decimal 1.25_decimal 2.25_decimal 3.25_decimal <_string battery_level c_thruster_1 c_thruster_2 c_thruster_3 c_thruster_4 c_thruster_5 c_thruster_6 energy obs_water_visibility performance qa_inspect_efficiency_high qa_motion_efficiency_degraded qa_motion_efficiency_normal qa_search_efficiency_high qa_search_efficiency_low qa_search_efficiency_medium qa_water_visibility_high qa_water_visibility_low qa_water_visibility_medium safety - object 
+    f_generate_search_path f_follow_pipeline f_maintain_motion fd_spiral_low fd_spiral_medium fd_spiral_high fd_all_thrusters fd_recover_thrusters fd_follow_pipeline  <_string battery_level c_thruster_1 c_thruster_2 c_thruster_3 c_thruster_4 c_thruster_5 c_thruster_6 energy obs_water_visibility performance qa_inspect_efficiency_high qa_motion_efficiency_degraded qa_motion_efficiency_normal qa_search_efficiency_high qa_search_efficiency_low qa_search_efficiency_medium qa_water_visibility_high qa_water_visibility_low qa_water_visibility_medium safety - object 
     a_search_pipeline a_inspect_pipeline - action 
     pipeline - pipeline 
     bluerov - robot 
+    0.25_decimal 0.5_decimal 0.75_decimal 1.0_decimal 1.25_decimal 2.25_decimal 3.25_decimal - number 
 )
 
   (:init

diff --git a/src/main/kotlin/no/uio/tobiajoh/owl/OwlNumber.kt b/src/main/kotlin/no/uio/tobiajoh/owl/OwlNumber.kt
@@ -1,7 +1,12 @@
 package no.uio.tobiajoh.owl
 
 // owl constant, representing a number
-class OwlNumber(val number: Double, name: String) : OwlAssertionConstant(name) {
+class OwlNumber(private val number: Double, name: String) : OwlAssertionConstant(name) {
+
+    companion object {
+        // the type that is used for numbers in pddl files
+        const val PDDLTYPE = "number"
+    }
 
     // operator to compare two numbers
     // note: only indicates, which number is larger, not by how much

diff --git a/src/main/kotlin/no/uio/tobiajoh/pddl/PDDLInjector.kt b/src/main/kotlin/no/uio/tobiajoh/pddl/PDDLInjector.kt
@@ -74,7 +74,8 @@ class PDDLInjector(val addNumComparisons: Boolean = false) {
 
         sP.addInitialAssertions(assertions)
 
-        sP.addObjects(objects)
+        sP.addObjects(objects.minus(numbers))
+        sP.addNumbers(numbers)
 
         sP.outputToFile(newProblem)
 

diff --git a/src/main/kotlin/no/uio/tobiajoh/pddl/SplitProgram.kt b/src/main/kotlin/no/uio/tobiajoh/pddl/SplitProgram.kt
@@ -2,6 +2,7 @@ package no.uio.tobiajoh.pddl
 
 import no.uio.tobiajoh.owl.OwlAssertion
 import no.uio.tobiajoh.owl.OwlAssertionConstant
+import no.uio.tobiajoh.owl.OwlNumber
 import java.io.File
 
 
@@ -93,6 +94,14 @@ class SplitProgram(val problem : File) {
         }
     }
 
+    fun addNumbers(newNumbers: Set<OwlNumber>) {
+        val sortedNumbers = newNumbers.map { it.toString() }.sorted()
+        sortedNumbers.forEach { n ->
+            if (!objects.containsKey(n))
+                objects[n] = OwlNumber.PDDLTYPE
+        }
+    }
+
     fun outputToFile(outFile: File) {
         outFile.printWriter().use { out ->
             out.println("(define (problem ${problemName})")