MultiPolicy.cpp

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#include <actasp/MultiPolicy.h>

#include <actasp/Action.h>
#include <actasp/action_utils.h>

#include <algorithm>

using namespace std;

namespace actasp {
  
MultiPolicy::MultiPolicy(const ActionSet& actions) : policy(), allActions(actions) {}
        
ActionSet MultiPolicy::actions(const std::set<AspFluent>& state) const throw() {
  
        std::map<set<AspFluent>, ActionSet >::const_iterator acts = policy.find(state);

        if(acts != policy.end()) {
                return acts->second;
        }
        
        return ActionSet();
}

void MultiPolicy::merge(const AnswerSet& plan) throw(logic_error) {


  //ignore the last time step becuase it's the final state and has no actions
  unsigned int planLength = plan.maxTimeStep()-1;

        for (int timeStep = 0; timeStep <= planLength; ++timeStep) {
                
                set<AspFluent> fluents = plan.getFluentsAtTime(timeStep);
    
    //find the action
    set<AspFluent>::iterator actionIt = find_if(fluents.begin(),fluents.end(),IsAnAction(allActions));
    
    if(actionIt == fluents.end())
      throw logic_error("MultiPolicy: no action for some state");
    
    AspFluent action = *actionIt;
                
                //remove the action from there
                fluents.erase(actionIt);
                
                ActionSet &stateActions = policy[fluents]; //creates an empty vector if not present

                stateActions.insert(action);
    
        }

}

struct MergeActions {
  MergeActions( std::map<std::set<AspFluent>, ActionSet, StateComparator<AspFluent> > &policy) : policy(policy) {}
 
 void operator()(const std::pair<set<AspFluent>, ActionSet >& stateActions) {
  
   map<set<AspFluent>, ActionSet >::iterator found = policy.find(stateActions.first);
   if(found == policy.end())
     policy.insert(stateActions);
   
   else {
     found->second.insert(stateActions.second.begin(),stateActions.second.end());
   }
     
   
 }
 
  std::map<std::set<AspFluent>, ActionSet, StateComparator<AspFluent> > &policy;
};

void MultiPolicy::merge(const MultiPolicy& otherPolicy) {
  
  set_union(otherPolicy.allActions.begin(),otherPolicy.allActions.end(),
                 allActions.begin(),allActions.end(),
                 inserter(allActions,allActions.begin()));
  
  for_each(otherPolicy.policy.begin(),otherPolicy.policy.end(),MergeActions(policy));
}

bool MultiPolicy::empty() const throw() {
        return policy.empty();
}



}