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Extend RDDL expressions to handle >2 operands in reward function #322

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Extend RDDL expressions to handle >2 operands in reward function #322

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41 changes: 23 additions & 18 deletions rosplan_knowledge_base/src/RDDLExprUtils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,29 +39,34 @@ RDDLExprUtils::getExpression(const LogicalExpression *expr, const std::map<std::
}

rosplan_knowledge_msgs::ExprComposite RDDLExprUtils::getExpression(const Connective *expr, const std::map<std::string, std::string>& assign) {
assert(expr->exprs.size() == 2); // Assuming two operands in each
rosplan_knowledge_msgs::ExprComposite ret;

rosplan_knowledge_msgs::ExprBase base;
base.expr_type = rosplan_knowledge_msgs::ExprBase::OPERATOR;
for (int i = 0; i < expr->exprs.size()-1; ++i) {
rosplan_knowledge_msgs::ExprBase base;
base.expr_type = rosplan_knowledge_msgs::ExprBase::OPERATOR;

// Check type
if (dynamic_cast<const Multiplication *>(expr) != nullptr ||
dynamic_cast<const Conjunction *>(expr) != nullptr)
base.op = rosplan_knowledge_msgs::ExprBase::MUL;
else if (dynamic_cast<const Addition *>(expr) != nullptr ||
dynamic_cast<const Disjunction *>(expr) != nullptr)
base.op = rosplan_knowledge_msgs::ExprBase::ADD;
else if (dynamic_cast<const Subtraction *>(expr) != nullptr) base.op = rosplan_knowledge_msgs::ExprBase::SUB;
else if (dynamic_cast<const Division *>(expr) != nullptr) base.op = rosplan_knowledge_msgs::ExprBase::DIV;
else {
NOT_IMPLEMENTED_EXPR;
return ret;
}
ret.tokens.push_back(base);

// Check type
if (dynamic_cast<const Multiplication*>(expr) != nullptr || dynamic_cast<const Conjunction*>(expr) != nullptr) base.op = rosplan_knowledge_msgs::ExprBase::MUL;
else if (dynamic_cast<const Addition*>(expr) != nullptr || dynamic_cast<const Disjunction*>(expr) != nullptr) base.op = rosplan_knowledge_msgs::ExprBase::ADD;
else if (dynamic_cast<const Subtraction*>(expr) != nullptr) base.op = rosplan_knowledge_msgs::ExprBase::SUB;
else if (dynamic_cast<const Division*>(expr) != nullptr) base.op = rosplan_knowledge_msgs::ExprBase::DIV;
else {
NOT_IMPLEMENTED_EXPR;
return ret;
rosplan_knowledge_msgs::ExprComposite operand = getExpression(expr->exprs[i], assign);
join(ret.tokens, operand.tokens);
}
ret.tokens.push_back(base);

rosplan_knowledge_msgs::ExprComposite operand1 = getExpression(expr->exprs[0], assign);
rosplan_knowledge_msgs::ExprComposite operand2 = getExpression(expr->exprs[1], assign);
//ret.tokens.insert(ret.tokens.end(), std::make_move_iterator(operand1.tokens.begin()), std::make_move_iterator(operand1.tokens.end()));
join(ret.tokens, operand1.tokens);
//ret.tokens.insert(ret.tokens.end(), std::make_move_iterator(operand2.tokens.begin()), std::make_move_iterator(operand2.tokens.end()));
join(ret.tokens, operand2.tokens);
// Add last
rosplan_knowledge_msgs::ExprComposite operand = getExpression(expr->exprs[expr->exprs.size()-1], assign);
join(ret.tokens, operand.tokens);
return ret;
}

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