# Copyright 2021-2023 AIPlan4EU project
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
import unified_planning as up
from unified_planning.environment import Environment
from unified_planning.model.action import InstantaneousAction, DurativeAction
from unified_planning.model.mixins.motion_constraints_set import (
MotionConstraintsSetMixin,
)
from unified_planning.model.mixins.timed_conds_effs import TimedCondsEffs
from typing import Optional
from collections import OrderedDict
[docs]
class InstantaneousMotionAction(InstantaneousAction, MotionConstraintsSetMixin):
"""This class represents an instantaneous motion action."""
def __init__(
self,
_name: str,
_parameters: Optional["OrderedDict[str, up.model.types.Type]"] = None,
_environment: Optional[Environment] = None,
**kwargs: "up.model.types.Type",
):
InstantaneousAction.__init__(self, _name, _parameters, _environment, **kwargs)
MotionConstraintsSetMixin.__init__(self)
def __eq__(self, oth: object) -> bool:
if isinstance(oth, InstantaneousMotionAction):
return (
super().__eq__(oth)
and self._motion_constraints_set == oth._motion_constraints_set
)
else:
return False
def __hash__(self) -> int:
res = super().__hash__()
for of in self._motion_constraints:
res += hash(of)
return res
def __repr__(self) -> str:
b = InstantaneousAction.__repr__(self)[0:-3]
s = ["motion-", b]
s.append(" motion constraints = [\n")
for e in self._motion_constraints:
s.append(f" {str(e)}\n")
s.append(" ]\n")
s.append(" }")
return "".join(s)
[docs]
def clone(self):
new_params = OrderedDict()
for param_name, param in self._parameters.items():
new_params[param_name] = param.type
new_motion_action = InstantaneousMotionAction(
self._name, new_params, self._environment
)
new_motion_action._preconditions = self._preconditions[:]
new_motion_action._effects = [e.clone() for e in self._effects]
new_motion_action._fluents_assigned = self._fluents_assigned.copy()
new_motion_action._fluents_inc_dec = self._fluents_inc_dec.copy()
new_motion_action._simulated_effect = self._simulated_effect
new_motion_action._motion_constraints = self._motion_constraints.copy()
new_motion_action._motion_constraints_set = self._motion_constraints_set.copy()
return new_motion_action
[docs]
class DurativeMotionAction(DurativeAction, MotionConstraintsSetMixin):
"""This class represents a durative motion action."""
def __init__(
self,
_name: str,
_parameters: Optional["OrderedDict[str, up.model.types.Type]"] = None,
_environment: Optional[Environment] = None,
**kwargs: "up.model.types.Type",
):
DurativeAction.__init__(self, _name, _parameters, _environment, **kwargs)
MotionConstraintsSetMixin.__init__(self)
def __eq__(self, oth: object) -> bool:
if isinstance(oth, DurativeMotionAction):
return (
super().__eq__(oth)
and self._motion_constraints_set == oth._motion_constraints_set
)
else:
return False
def __hash__(self) -> int:
res = super().__hash__()
for of in self._motion_constraints:
res += hash(of)
return res
def __repr__(self) -> str:
b = DurativeAction.__repr__(self)[0:-3]
s = ["motion-", b]
s.append(" motion constraints = [\n")
for e in self._motion_constraints:
s.append(f" {str(e)}\n")
s.append(" ]\n")
s.append(" }\n")
return "".join(s)
[docs]
def clone(self):
new_params = OrderedDict(
(param_name, param.type) for param_name, param in self._parameters.items()
)
new_durative_motion_action = DurativeMotionAction(
self._name, new_params, self._environment
)
new_durative_motion_action._duration = self._duration
TimedCondsEffs._clone_to(self, new_durative_motion_action)
new_durative_motion_action._motion_constraints = self._motion_constraints.copy()
new_durative_motion_action._motion_constraints_set = (
self._motion_constraints_set.copy()
)
return new_durative_motion_action