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fd-patch.diff
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diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/fast-downward fast-downward/fast-downward
--- fast-downward-original/fast-downward 1969-12-31 21:00:00.000000000 -0300
+++ fast-downward/fast-downward 2021-03-18 23:58:56.032311200 -0300
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+DIR=`dirname $0`
+DOMAIN=$1
+shift
+PROBLEM=$1
+shift
+# ${DIR}/fast-downward.py $DOMAIN $PROBLEM --search "astar(lmcut())" "$@"
+# ${DIR}/fast-downward.py $DOMAIN $PROBLEM --search "astar(seq())" "$@"
+# ${DIR}/fast-downward.py --build=release64 $DOMAIN $PROBLEM --search "astar(operatorcounting([lmcut_constraints()], lpsolver=CPLEX, transform=no_transform(), cache_estimates=true))" "$@"
+# ${DIR}/fast-downward.py --build=release64 $DOMAIN $PROBLEM --search "astar(operatorcounting([lmcut_constraints(), pho_constraints(), state_equation_constraints()]))" "$@"
+${DIR}/fast-downward.py --build=release $DOMAIN $PROBLEM --search "astar(operatorcounting([lmcut_constraints(), pho_constraints(), state_equation_constraints()]))" "$@"
+
+# ${DIR}/fast-downward.py $DOMAIN $PROBLEM --alias seq-opt-lmcut "$@"
\ No newline at end of file
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/DownwardFiles.cmake fast-downward/src/search/DownwardFiles.cmake
--- fast-downward-original/src/search/DownwardFiles.cmake 2020-10-26 22:55:32.995391700 -0300
+++ fast-downward/src/search/DownwardFiles.cmake 2021-03-18 23:58:06.063374900 -0300
@@ -703,6 +703,10 @@
operator_counting/operator_counting_heuristic
operator_counting/pho_constraints
operator_counting/state_equation_constraints
+ operator_counting/delete_relaxation_constraints
+ operator_counting/flow_constraints
+ operator_counting/flow_constraint_internals
+ operator_counting/oc_single_shot_heuristic
DEPENDS LP_SOLVER LANDMARK_CUT_HEURISTIC PDBS TASK_PROPERTIES
)
@@ -713,6 +717,7 @@
pdbs/canonical_pdbs
pdbs/canonical_pdbs_heuristic
pdbs/dominance_pruning
+ pdbs/explicit_projection
pdbs/incremental_canonical_pdbs
pdbs/match_tree
pdbs/max_cliques
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/algorithms/combinations.h fast-downward/src/search/algorithms/combinations.h
--- fast-downward-original/src/search/algorithms/combinations.h 1969-12-31 21:00:00.000000000 -0300
+++ fast-downward/src/search/algorithms/combinations.h 2021-03-18 23:58:06.063374900 -0300
@@ -0,0 +1,45 @@
+#ifndef ALGORITHMS_COMBINATIONS_H
+#define ALGORITHMS_COMBINATIONS_H
+
+#include "../task_proxy.h"
+#include "../utils/logging.h"
+#include "../utils/collections.h"
+
+#include <cassert>
+#include <iostream>
+#include <vector>
+
+template<typename T>
+class Combinations {
+ std::vector<T> current_combination;
+ std::vector<std::vector<T>> combinations;
+
+ void add_combinations(const std::vector<T> &sequence, int offset, int k) {
+ if (k == 0) {
+ combinations.push_back(current_combination);
+ return;
+ }
+ for (size_t i = offset; i <= sequence.size() - k; ++i) {
+ assert(utils::in_bounds(i, sequence));
+ current_combination.push_back(sequence[i]);
+ add_combinations(sequence, i + 1, k - 1);
+ current_combination.pop_back();
+ }
+ }
+
+public:
+ std::vector<std::vector<T>> && get_combinations(
+ const std::vector<T> &sequence, int k) {
+ assert(k >= 0);
+ combinations.clear();
+ current_combination.clear();
+ int n = sequence.size();
+ if (k > n) {
+ return std::move(combinations);
+ }
+ add_combinations(sequence, 0, k);
+ return std::move(combinations);
+ }
+};
+
+#endif
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/heuristics/lm_cut_landmarks.cc fast-downward/src/search/heuristics/lm_cut_landmarks.cc
--- fast-downward-original/src/search/heuristics/lm_cut_landmarks.cc 2020-10-26 22:55:30.681229000 -0300
+++ fast-downward/src/search/heuristics/lm_cut_landmarks.cc 2021-04-01 01:18:08.184074200 -0300
@@ -10,6 +10,63 @@
namespace lm_cut_heuristic {
// construction and destruction
+
+LandmarkCutLandmarks::LandmarkCutLandmarks(const TaskProxy &task_proxy, const vector<int> &observations, bool include_goal) {
+ task_properties::verify_no_axioms(task_proxy);
+ task_properties::verify_no_conditional_effects(task_proxy);
+
+ // Build propositions.
+ num_propositions = 2; // artificial goal and artificial precondition
+ VariablesProxy variables = task_proxy.get_variables();
+ propositions.resize(variables.size());
+ for (FactProxy fact : variables.get_facts()) {
+ int var_id = fact.get_variable().get_id();
+ propositions[var_id].push_back(RelaxedProposition());
+ ++num_propositions;
+ }
+
+ // Build relaxed operators for operators and axioms.
+ for (OperatorProxy op : task_proxy.get_operators())
+ build_relaxed_operator(op);
+
+ // Simplify relaxed operators.
+ // simplify();
+ /* TODO: Put this back in and test if it makes sense,
+ but only after trying out whether and how much the change to
+ unary operators hurts. */
+
+ // Build artificial goal proposition and operator.
+ vector<RelaxedProposition *> goal_op_pre, goal_op_eff;
+
+ if (include_goal) {
+ for (FactProxy goal : task_proxy.get_goals()) {
+ goal_op_pre.push_back(get_proposition(goal));
+ }
+ }
+ cout << "Observation preconditions: " << endl;
+ for (int op_id : observations) {
+ for (FactProxy f : task_proxy.get_operators()[op_id].get_preconditions()) {
+ RelaxedProposition *pre = get_proposition(f);
+ if (std::find(goal_op_pre.begin(), goal_op_pre.end(), pre) == goal_op_pre.end()) {
+ goal_op_pre.push_back(pre);
+ cout << f.get_name() << endl;
+ }
+ }
+ }
+ goal_op_eff.push_back(&artificial_goal);
+ /* Use the invalid operator ID -1 so accessing
+ the artificial operator will generate an error. */
+ add_relaxed_operator(move(goal_op_pre), move(goal_op_eff), -1, 0);
+
+ // Cross-reference relaxed operators.
+ for (RelaxedOperator &op : relaxed_operators) {
+ for (RelaxedProposition *pre : op.preconditions)
+ pre->precondition_of.push_back(&op);
+ for (RelaxedProposition *eff : op.effects)
+ eff->effect_of.push_back(&op);
+ }
+}
+
LandmarkCutLandmarks::LandmarkCutLandmarks(const TaskProxy &task_proxy) {
task_properties::verify_no_axioms(task_proxy);
task_properties::verify_no_conditional_effects(task_proxy);
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/heuristics/lm_cut_landmarks.h fast-downward/src/search/heuristics/lm_cut_landmarks.h
--- fast-downward-original/src/search/heuristics/lm_cut_landmarks.h 2020-10-26 22:55:30.685249200 -0300
+++ fast-downward/src/search/heuristics/lm_cut_landmarks.h 2021-04-01 01:17:41.827641300 -0300
@@ -86,6 +86,7 @@
using LandmarkCallback = std::function<void (const Landmark &, int)>;
LandmarkCutLandmarks(const TaskProxy &task_proxy);
+ LandmarkCutLandmarks(const TaskProxy &task_proxy, const std::vector<int> &observations, bool include_goal=true);
virtual ~LandmarkCutLandmarks();
/*
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/lp/ip.patch fast-downward/src/search/lp/ip.patch
--- fast-downward-original/src/search/lp/ip.patch 1969-12-31 21:00:00.000000000 -0300
+++ fast-downward/src/search/lp/ip.patch 2021-03-18 23:58:06.095008100 -0300
@@ -0,0 +1,86 @@
+diff -r 69ad07c0e8c6 -r b106ec3b48b5 src/search/lp/lp_solver.cc
+--- a/src/search/lp/lp_solver.cc Thu Feb 25 15:37:36 2016 +0100
++++ b/src/search/lp/lp_solver.cc Thu Feb 25 21:08:36 2016 +0100
+@@ -4,6 +4,7 @@
+
+ #include "../option_parser.h"
+
++#include "../utils/logging.h"
+ #include "../utils/system.h"
+
+ #ifdef USE_LP
+@@ -70,10 +71,11 @@
+ }
+
+ LPVariable::LPVariable(double lower_bound_, double upper_bound_,
+- double objective_coefficient_)
++ double objective_coefficient_, bool is_integer_)
+ : lower_bound(lower_bound_),
+ upper_bound(upper_bound_),
+- objective_coefficient(objective_coefficient_) {
++ objective_coefficient(objective_coefficient_),
++ is_integer(is_integer_) {
+ }
+
+ LPVariable::~LPVariable() {
+@@ -162,6 +164,14 @@
+ objective.data(),
+ row_lb.data(),
+ row_ub.data());
++ int num_vars = variables.size();
++ for (int i = 0; i < num_vars; ++i) {
++ if (variables[i].is_integer) {
++ lp_solver->setInteger(i);
++ }
++ }
++ cout << "Integer tolerance: " << lp_solver->getIntegerTolerance() << endl;
++ cout << "Number of integer variables: " << lp_solver->getNumIntegers() << endl;
+ } catch (CoinError &error) {
+ handle_coin_error(error);
+ }
+@@ -303,6 +313,20 @@
+ }
+ }
+
++void LPSolver::solve_mip() {
++ try {
++ lp_solver->branchAndBound();
++ if (lp_solver->isAbandoned()) {
++ cerr << "Abandoned LP. "
++ << "Reasons include \"numerical difficulties\" and running out of memory." << endl;
++ utils::exit_with(ExitCode::CRITICAL_ERROR);
++ }
++ is_solved = true;
++ } catch (CoinError &error) {
++ handle_coin_error(error);
++ }
++}
++
+ bool LPSolver::has_optimal_solution() const {
+ assert(is_solved);
+ try {
+diff -r 69ad07c0e8c6 -r b106ec3b48b5 src/search/lp/lp_solver.h
+--- a/src/search/lp/lp_solver.h Thu Feb 25 15:37:36 2016 +0100
++++ b/src/search/lp/lp_solver.h Thu Feb 25 21:08:36 2016 +0100
+@@ -68,10 +68,12 @@
+ double lower_bound;
+ double upper_bound;
+ double objective_coefficient;
++ bool is_integer;
+
+ LPVariable(double lower_bound_,
+ double upper_bound_,
+- double objective_coefficient_);
++ double objective_coefficient_,
++ bool is_integer_ = false);
+ ~LPVariable();
+ };
+
+@@ -128,6 +130,7 @@
+ LP_METHOD(void set_variable_upper_bound(int index, double bound))
+
+ LP_METHOD(void solve())
++ LP_METHOD(void solve_mip())
+
+ /*
+ Return true if the solving the LP showed that it is bounded feasible and
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/lp/lp_internals.cc fast-downward/src/search/lp/lp_internals.cc
--- fast-downward-original/src/search/lp/lp_internals.cc 2020-10-26 22:55:33.018182500 -0300
+++ fast-downward/src/search/lp/lp_internals.cc 2021-03-18 23:58:06.110269300 -0300
@@ -11,25 +11,31 @@
#pragma GCC diagnostic ignored "-Woverflow"
#pragma GCC diagnostic ignored "-Wsign-compare"
#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-Wregister"
#if __GNUC__ >= 6
#pragma GCC diagnostic ignored "-Wmisleading-indentation"
+#pragma GCC diagnostic ignored "-Wregister"
#endif
#endif
#ifdef __clang__
#pragma GCC diagnostic ignored "-Wconstant-conversion"
+#pragma GCC diagnostic ignored "-Wregister"
#endif
#include <OsiSolverInterface.hpp>
#ifdef COIN_HAS_CLP
+#pragma GCC diagnostic ignored "-Wregister"
#include <OsiClpSolverInterface.hpp>
#endif
#ifdef COIN_HAS_CPX
+#pragma GCC diagnostic ignored "-Wregister"
#include <OsiCpxSolverInterface.hpp>
#include <cplex.h>
#endif
#ifdef COIN_HAS_GRB
+#pragma GCC diagnostic ignored "-Wregister"
#include <OsiGrbSolverInterface.hpp>
#endif
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/lp/lp_solver.cc fast-downward/src/search/lp/lp_solver.cc
--- fast-downward-original/src/search/lp/lp_solver.cc 2020-10-26 22:55:33.021390200 -0300
+++ fast-downward/src/search/lp/lp_solver.cc 2021-03-30 00:11:09.622012100 -0300
@@ -21,6 +21,8 @@
#endif
#include <cassert>
+#include <cmath>
+#include <memory>
#include <numeric>
using namespace std;
@@ -70,20 +72,21 @@
}
LPVariable::LPVariable(double lower_bound, double upper_bound,
- double objective_coefficient)
+ double objective_coefficient, bool is_integer)
: lower_bound(lower_bound),
upper_bound(upper_bound),
- objective_coefficient(objective_coefficient) {
-}
+ objective_coefficient(objective_coefficient),
+ is_integer(is_integer) {}
LPSolver::~LPSolver() {
}
#ifdef USE_LP
-LPSolver::LPSolver(LPSolverType solver_type)
+LPSolver::LPSolver(LPSolverType solver_type, bool mip)
: is_initialized(false),
is_solved(false),
+ mip(mip),
num_permanent_constraints(0),
has_temporary_constraints_(false) {
lp_solver = create_lp_solver(solver_type);
@@ -118,6 +121,12 @@
row_ub.push_back(constraint.get_upper_bound());
}
+ if (sense == LPObjectiveSense::MINIMIZE) {
+ lp_solver->setObjSense(1);
+ } else {
+ lp_solver->setObjSense(-1);
+ }
+
for (const LPConstraint &constraint : constraints) {
const vector<int> &vars = constraint.get_variables();
const vector<double> &coeffs = constraint.get_coefficients();
@@ -153,6 +162,20 @@
objective.data(),
row_lb.data(),
row_ub.data());
+ cout << "Matrix size: " << lp_solver->getNumCols() << " x " << lp_solver->getNumRows() << endl;
+ int num_vars = variables.size();
+ if (mip) {
+ mip = false;
+ for (int i = 0; i < num_vars; ++i) {
+ if (variables[i].is_integer) {
+ lp_solver->setInteger(i);
+ mip = true;
+ }
+ }
+ }
+ // cout << "Integer tolerance: " << lp_solver->getIntegerTolerance() <<
+ // endl; cout << "Number of integer variables: " <<
+ // lp_solver->getNumIntegers() << endl;
/*
We set the objective sense after loading because the SoPlex
interfaces of all OSI versions <= 0.108.4 ignore it when it is
@@ -263,6 +286,16 @@
is_solved = false;
}
+void LPSolver::set_constraint_bounds(int index, double lower, double upper) {
+ assert(index < get_num_constraints());
+ try {
+ lp_solver->setRowBounds(index, lower, upper);
+ } catch (CoinError &error) {
+ handle_coin_error(error);
+ }
+ is_solved = false;
+}
+
void LPSolver::set_variable_lower_bound(int index, double bound) {
assert(index < get_num_variables());
try {
@@ -285,17 +318,22 @@
void LPSolver::solve() {
try {
- if (is_initialized) {
- lp_solver->resolve();
+ if (mip) {
+ lp_solver->branchAndBound();
} else {
- lp_solver->initialSolve();
- is_initialized = true;
+ if (is_initialized) {
+ lp_solver->resolve();
+ } else {
+ lp_solver->initialSolve();
+ is_initialized = true;
+ }
}
if (lp_solver->isAbandoned()) {
// The documentation of OSI is not very clear here but memory seems
// to be the most common cause for this in our case.
cerr << "Abandoned LP during resolve. "
- << "Reasons include \"numerical difficulties\" and running out of memory." << endl;
+ << "Reasons include \"numerical difficulties\" and running out of memory."
+ << endl;
utils::exit_with(ExitCode::SEARCH_CRITICAL_ERROR);
}
is_solved = true;
@@ -334,6 +372,24 @@
}
}
+bool LPSolver::is_solution_integral() const {
+ assert(has_optimal_solution());
+ double epsilon = 0.01;
+ try {
+ const double *sol = lp_solver->getColSolution();
+ int num_vars = get_num_variables();
+ for (int i = 0; i < num_vars; ++i) {
+ double value = sol[i];
+ if (abs(value - round(value)) > epsilon) {
+ return false;
+ }
+ }
+ return true;
+ } catch (CoinError &error) {
+ handle_coin_error(error);
+ }
+}
+
int LPSolver::get_num_variables() const {
try {
return lp_solver->getNumCols();
@@ -360,4 +416,4 @@
}
#endif
-}
+} // namespace lp
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/lp/lp_solver.h fast-downward/src/search/lp/lp_solver.h
--- fast-downward-original/src/search/lp/lp_solver.h 2020-10-26 22:55:33.025379300 -0300
+++ fast-downward/src/search/lp/lp_solver.h 2021-03-18 23:58:06.126212800 -0300
@@ -46,6 +46,7 @@
std::vector<double> coefficients;
double lower_bound;
double upper_bound;
+
public:
LPConstraint(double lower_bound, double upper_bound);
@@ -67,10 +68,12 @@
double lower_bound;
double upper_bound;
double objective_coefficient;
+ bool is_integer;
LPVariable(double lower_bound,
double upper_bound,
- double objective_coefficient);
+ double objective_coefficient,
+ bool is_integer = false);
};
#ifdef __GNUG__
@@ -80,6 +83,7 @@
class LPSolver {
bool is_initialized;
bool is_solved;
+ bool mip;
int num_permanent_constraints;
bool has_temporary_constraints_;
#ifdef USE_LP
@@ -100,8 +104,9 @@
std::vector<double> row_ub;
std::vector<CoinPackedVectorBase *> rows;
void clear_temporary_data();
+
public:
- LP_METHOD(explicit LPSolver(LPSolverType solver_type))
+ LP_METHOD(explicit LPSolver(LPSolverType solver_type, bool mip = false))
/*
Note that the destructor does not use LP_METHOD because it should not
have the attribute NO_RETURN. It also cannot be set to the default
@@ -122,6 +127,7 @@
LP_METHOD(void set_objective_coefficient(int index, double coefficient))
LP_METHOD(void set_constraint_lower_bound(int index, double bound))
LP_METHOD(void set_constraint_upper_bound(int index, double bound))
+ LP_METHOD(void set_constraint_bounds(int index, double lower, double upper))
LP_METHOD(void set_variable_lower_bound(int index, double bound))
LP_METHOD(void set_variable_upper_bound(int index, double bound))
@@ -144,6 +150,11 @@
LP_METHOD(double get_objective_value() const)
/*
+ Return true iff all variables in the solution have an integer value.
+ */
+ LP_METHOD(bool is_solution_integral() const)
+
+ /*
Return the solution found after solving an LP as a vector with one entry
per variable.
The LP has to be solved with a call to solve() and has to have an optimal
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/operator_counting/constraint_generator.cc fast-downward/src/search/operator_counting/constraint_generator.cc
--- fast-downward-original/src/search/operator_counting/constraint_generator.cc 2020-10-26 22:55:33.057730200 -0300
+++ fast-downward/src/search/operator_counting/constraint_generator.cc 2021-04-23 13:41:31.314064500 -0300
@@ -6,9 +6,16 @@
namespace operator_counting {
void ConstraintGenerator::initialize_constraints(
- const shared_ptr<AbstractTask> &, vector<lp::LPConstraint> &, double) {
+ const shared_ptr<AbstractTask> &, vector<lp::LPVariable> &, vector<lp::LPConstraint> &, double) {
}
+void ConstraintGenerator::set_observations(const vector<int>& observations, int obs_info) {
+ this->obs_info = obs_info;
+ this->observations = observations;
+}
+
+void ConstraintGenerator::log_info(const TaskProxy&, const vector<double>&, vector<double>&) {}
+
static PluginTypePlugin<ConstraintGenerator> _type_plugin(
"ConstraintGenerator",
// TODO: Replace empty string by synopsis for the wiki page.
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/operator_counting/constraint_generator.h fast-downward/src/search/operator_counting/constraint_generator.h
--- fast-downward-original/src/search/operator_counting/constraint_generator.h 2020-10-26 22:55:33.062373200 -0300
+++ fast-downward/src/search/operator_counting/constraint_generator.h 2021-04-23 13:44:26.705376500 -0300
@@ -6,10 +6,17 @@
class AbstractTask;
class State;
+class TaskProxy;
namespace lp {
class LPConstraint;
class LPSolver;
+class LPVariable;
+}
+
+namespace options {
+class OptionParser;
+class Options;
}
namespace operator_counting {
@@ -27,10 +34,12 @@
Example: constraints from landmarks generated for a given state, e.g.
using the LM-Cut method.
*/
+
class ConstraintGenerator {
public:
+ std::vector<int> observations;
+ int obs_info = 0;
virtual ~ConstraintGenerator() = default;
-
/*
Called upon initialization for the given task. Use this to add permanent
constraints and perform other initialization. The parameter "infinity"
@@ -39,6 +48,7 @@
*/
virtual void initialize_constraints(
const std::shared_ptr<AbstractTask> &task,
+ std::vector<lp::LPVariable> &variables,
std::vector<lp::LPConstraint> &constraints,
double infinity);
@@ -51,6 +61,9 @@
*/
virtual bool update_constraints(const State &state,
lp::LPSolver &lp_solver) = 0;
+
+ void set_observations(const std::vector<int>& observations, int obs_info = 0);
+ virtual void log_info(const TaskProxy &task_proxy, const std::vector<double>& solution, std::vector<double>& info);
};
}
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/operator_counting/delete_relaxation_constraints.cc fast-downward/src/search/operator_counting/delete_relaxation_constraints.cc
--- fast-downward-original/src/search/operator_counting/delete_relaxation_constraints.cc 1969-12-31 21:00:00.000000000 -0300
+++ fast-downward/src/search/operator_counting/delete_relaxation_constraints.cc 2021-04-30 19:58:11.424823400 -0300
@@ -0,0 +1,374 @@
+#include "delete_relaxation_constraints.h"
+
+#include "../option_parser.h"
+#include "../plugin.h"
+
+#include "../task_proxy.h"
+
+#include "../lp/lp_solver.h"
+
+#include <cassert>
+#include <map>
+
+using namespace std;
+
+namespace operator_counting {
+
+DeleteRelaxationConstraints::DeleteRelaxationConstraints(const Options &opts)
+ : use_time_vars(opts.get<int>("use_time_vars")),
+ use_integer_vars_op(opts.get<int>("use_integer_vars_op")),
+ use_integer_vars_op2(opts.get<int>("use_integer_vars_op2")),
+ use_integer_vars_facts(opts.get<int>("use_integer_vars_facts")),
+ use_integer_vars_achiever(opts.get<int>("use_integer_vars_achiever")),
+ use_integer_vars_time(opts.get<int>("use_integer_vars_time")),
+ noisy(opts.get<int>("noisy")) {
+}
+
+int DeleteRelaxationConstraints::get_var_op_used(OperatorProxy op) {
+ return lp_var_id_op_used[op.get_id()];
+}
+
+int DeleteRelaxationConstraints::get_var_op_used2(OperatorProxy op) {
+ return lp_var_id_op_used2[op.get_id()];
+}
+
+int DeleteRelaxationConstraints::get_var_fact_reached(FactProxy f) {
+ return lp_var_id_fact_reached[f.get_variable().get_id()][f.get_value()];
+}
+
+int DeleteRelaxationConstraints::get_var_first_achiever(OperatorProxy op, FactProxy f) {
+ return lp_var_id_first_achiever[op.get_id()][f.get_variable().get_id()][f.get_value()];
+}
+
+int DeleteRelaxationConstraints::get_var_op_time(OperatorProxy op) {
+ return lp_var_id_op_time[op.get_id()];
+}
+
+int DeleteRelaxationConstraints::get_var_op_time2(OperatorProxy op) {
+ return lp_var_id_op_time2[op.get_id()];
+}
+
+int DeleteRelaxationConstraints::get_var_fact_time(FactProxy f) {
+ return lp_var_id_fact_time[f.get_variable().get_id()][f.get_value()];
+}
+
+int DeleteRelaxationConstraints::get_constraint_id(FactProxy f) {
+ return constraint_ids[f.get_variable().get_id()][f.get_value()];
+}
+
+void add_lp_variables(int count,
+ vector<bool>& obs_used,
+ vector<lp::LPVariable> &variables,
+ vector<int> &indices,
+ double lower, double upper, double objective,
+ int is_integer) {
+ for (int i = 0; i < count; ++i) {
+ indices.push_back(variables.size());
+ variables.emplace_back(lower, upper, objective, is_integer == 1 || is_integer == 2 && obs_used[i]);
+ }
+}
+
+void DeleteRelaxationConstraints::create_auxiliary_variables(
+ TaskProxy task_proxy, vector<lp::LPVariable> &variables) {
+ OperatorsProxy ops = task_proxy.get_operators();
+ int num_ops = ops.size();
+ VariablesProxy vars = task_proxy.get_variables();
+ int num_vars = vars.size();
+
+ vector<bool> obs_used(num_ops, false);
+ for (int id : observations)
+ obs_used[id] = true;
+
+ // op_used
+ add_lp_variables(num_ops, obs_used, variables, lp_var_id_op_used, 0, 1, 0, use_integer_vars_op);
+ if (obs_info)
+ add_lp_variables(num_ops, obs_used, variables, lp_var_id_op_used2, 0, 1, 0, use_integer_vars_op2);
+
+ // fact_reached
+ lp_var_id_fact_reached.resize(num_vars);
+ for (VariableProxy var : vars) {
+ add_lp_variables(var.get_domain_size(), obs_used, variables,
+ lp_var_id_fact_reached[var.get_id()],
+ 0, 1, 0, use_integer_vars_facts == 1);
+ }
+
+ // first_achiever
+ lp_var_id_first_achiever.resize(num_ops);
+ for (OperatorProxy op : ops) {
+ bool is_integer = use_integer_vars_achiever == 1 || use_integer_vars_achiever == 2 && obs_used[op.get_id()];
+ lp_var_id_first_achiever[op.get_id()].resize(num_vars);
+ for (VariableProxy var : vars) {
+ add_lp_variables(var.get_domain_size(), obs_used, variables,
+ lp_var_id_first_achiever[op.get_id()][var.get_id()],
+ 0, 1, 0, is_integer);
+ }
+ }
+
+ if (use_time_vars) {
+ // op_time
+ add_lp_variables(num_ops, obs_used, variables, lp_var_id_op_time, 0, num_ops, 0, use_integer_vars_time);
+
+ // fact_time
+ lp_var_id_fact_time.resize(num_vars);
+ for (VariableProxy var : vars) {
+ add_lp_variables(var.get_domain_size(), obs_used, variables,
+ lp_var_id_fact_time[var.get_id()],
+ 0, num_ops, 0, use_integer_vars_time == 1);
+ }
+ }
+}
+
+void DeleteRelaxationConstraints::create_constraints(
+ TaskProxy task_proxy, vector<lp::LPVariable> &variables,
+ vector<lp::LPConstraint> &constraints, double infinity) {
+ OperatorsProxy ops = task_proxy.get_operators();
+ VariablesProxy vars = task_proxy.get_variables();
+
+ // All goal facts must be reached (handled in variable bound instead of constraint).
+ // R_f = 1 for all goal facts f.
+ for (FactProxy goal : task_proxy.get_goals()) {
+ variables[get_var_fact_reached(goal)].lower_bound = 1;
+ //cout << "Goal fact reached: " << goal.get_name() << endl;
+ }
+
+ // A fact is reached if it has a first achiever or is true in the current state.
+ // sum_{o \in achievers(f)} F_{o,f} - R_f >= [s |= f] for each fact f.
+ constraint_ids.resize(vars.size());
+ for (VariableProxy var : vars) {
+ constraint_ids[var.get_id()].resize(var.get_domain_size());
+ for (int value = 0; value < var.get_domain_size(); ++value) {
+ constraint_ids[var.get_id()][value] = constraints.size();
+ constraints.emplace_back(0, infinity);
+ /* The constraint is:
+ We add "- R_f" here, collect the achiever below and adapt
+ the lower bound in each iteration, i.e., in update_constraints. */
+ constraints.back().insert(get_var_fact_reached(var.get_fact(value)), -1);
+ }
+ }
+ for (OperatorProxy op : ops) {
+ for (EffectProxy eff : op.get_effects()) {
+ FactProxy f = eff.get_fact();
+ lp::LPConstraint &constraint = constraints[get_constraint_id(f)];
+ constraint.insert(get_var_first_achiever(op, f), 1);
+ //cout << "Fact achievers: " << f.get_name() << " " << op.get_name() << endl;
+ }
+ }
+
+ // If an operator is a first achiever, it must be used.
+ // U_o >= F_{o,f} for each operator o and each of its effects f.
+ for (OperatorProxy op : ops) {
+ for (EffectProxy eff : op.get_effects()) {
+ FactProxy f = eff.get_fact();
+ lp::LPConstraint constraint(0, infinity);
+ constraint.insert(get_var_op_used(op), 1);
+ constraint.insert(get_var_first_achiever(op, f), -1);
+ constraints.push_back(constraint);
+ //cout << "First achieved used: " << f.get_name() << " " << op.get_name() << endl;
+ }
+ }
+
+ // If an operator is used, its preconditions must be reached.
+ // R_f >= U_o for each operator o and each of its preconditions f.
+ for (OperatorProxy op : ops) {
+ for (FactProxy f : op.get_preconditions()) {
+ lp::LPConstraint constraint(0, infinity);
+ constraint.insert(get_var_fact_reached(f), 1);
+ constraint.insert(get_var_op_used(op), -1);
+ constraints.push_back(constraint);
+ //cout << "Precondition: " << op.get_name() << " " << f.get_name() << endl;
+ }
+ }
+
+ // Observed operators
+ map<int, int> occur;
+ for (int obs_id : observations)
+ occur[obs_id]++;
+ if (noisy == 1) {
+ cout << "Soft restrictions for observation variables." << endl;
+ int var_id = task_proxy.get_operators().size();
+ for (auto it = occur.begin(); it != occur.end(); it++) {
+ lp::LPConstraint constraint_inv(0, infinity);
+ constraint_inv.insert(var_id, -1);
+ constraint_inv.insert(lp_var_id_op_used[it->first], it->second);
+ constraints.push_back(constraint_inv);
+ var_id++;
+ }
+ } else if (noisy == 0) {
+ cout << "Hard restrictions for operator variables." << endl;
+ for (int obs : observations) {
+ int var = get_var_op_used(ops[obs]);
+ variables[var].lower_bound = 1;
+ }
+ }
+
+ if (use_time_vars) {
+ // Preconditions must be reached before the operator is used.
+ // T_f <= T_o for each operator o and each of its preconditions f.
+ for (OperatorProxy op : ops) {
+ for (FactProxy f : op.get_preconditions()) {
+ lp::LPConstraint constraint(0, infinity);
+ constraint.insert(get_var_op_time(op), 1);
+ constraint.insert(get_var_fact_time(f), -1);
+ constraints.push_back(constraint);
+ }
+ }
+
+ if (obs_info == 0)
+ cout << "No observations." << endl;
+ else if (obs_info == 1)
+ cout << "No observation order." << endl;
+ else if (obs_info == 2)
+ cout << "Soft observation order." << endl;
+ else if (obs_info == 3)
+ cout << "Hard observation order." << endl;
+
+ if (obs_info > 1) {
+ int N = ops.size();
+ vector<int> first_obs;
+ for (int obs : observations)
+ if (find(first_obs.begin(), first_obs.end(), obs) == first_obs.end())
+ first_obs.push_back(obs);
+ for (uint i = 1; i < first_obs.size(); i++) {
+ OperatorProxy op1 = ops[first_obs[i-1]];
+ OperatorProxy op2 = ops[first_obs[i]];
+ lp::LPConstraint constraint(1, infinity);
+ constraint.insert(get_var_op_time(op2), 1);
+ constraint.insert(get_var_op_time(op1), -1);
+ if (obs_info == 2) // Soft observation order
+ constraint.insert(get_var_op_used2(op2), N);
+ constraints.push_back(constraint);
+ }
+ }
+
+ // If an operator is a first achiever, its effects are reached in the time step following its use.
+ // T_o + 1 <= T_f + M(1 - F_{o,f}) for each operator o and each of its effects f.
+ // <---> 1 - M <= T_f - T_o - M*F_{o,f} <= infty
+ int M = ops.size() + 1;
+ for (OperatorProxy op : ops) {
+ for (EffectProxy eff : op.get_effects()) {
+ FactProxy f = eff.get_fact();
+ lp::LPConstraint constraint(1-M, infinity);
+ constraint.insert(get_var_fact_time(f), 1);
+ constraint.insert(get_var_op_time(op), -1);
+ constraint.insert(get_var_first_achiever(op, f), -M);
+ constraints.push_back(constraint);
+ }
+ }
+ }
+
+ // If an operator is used, it must occur at least once.
+ // U_o <= C_o for each operator o.
+ for (OperatorProxy op : ops) {
+ lp::LPConstraint constraint(0, infinity);
+ constraint.insert(op.get_id(), 1);
+ constraint.insert(get_var_op_used(op), -1);
+ if (obs_info == 2) // Soft observation order
+ constraint.insert(get_var_op_used2(op), -1);
+ constraints.push_back(constraint);
+ if (noisy == 3 || noisy == 2 && occur[op.get_id()] > 0) {
+ lp::LPConstraint constraint_inv(0, infinity);
+ constraint_inv.insert(op.get_id(), -1);
+ constraint_inv.insert(get_var_op_used(op), 10000);
+ constraints.push_back(constraint_inv);
+ }
+ }
+}
+
+
+void DeleteRelaxationConstraints::initialize_constraints(
+ const shared_ptr<AbstractTask> &task,
+ vector<lp::LPVariable> &variables, vector<lp::LPConstraint> &constraints,
+ double infinity) {
+ lp_var_id_op_used.clear();
+ lp_var_id_op_used2.clear();
+ lp_var_id_fact_reached.clear();
+ lp_var_id_first_achiever.clear();
+ lp_var_id_op_time.clear();
+ lp_var_id_op_time2.clear();
+ lp_var_id_fact_time.clear();
+ if (use_integer_vars_op)
+ cout << "Using integer operator variables" << endl;
+ if (use_integer_vars_achiever)
+ cout << "Using integer first achiever variables" << endl;
+ if (use_integer_vars_facts)
+ cout << "Using integer fact variables" << endl;
+ if (use_integer_vars_time)
+ cout << "Using integer time variables" << endl;
+ constraint_ids.clear();
+ TaskProxy task_proxy(*task);
+ create_auxiliary_variables(task_proxy, variables);
+ create_constraints(task_proxy, variables, constraints, infinity);
+}
+
+
+bool DeleteRelaxationConstraints::update_constraints(const State &state, lp::LPSolver &lp_solver) {
+ // Unset old bounds.
+ for (FactProxy f : last_state) {
+ lp_solver.set_constraint_lower_bound(get_constraint_id(f), 0);
+ }
+ last_state.clear();
+ // Set new bounds.
+ for (FactProxy f : state) {
+ lp_solver.set_constraint_lower_bound(get_constraint_id(f), -1);
+ last_state.push_back(f);
+ }
+ return false;
+}
+
+void DeleteRelaxationConstraints::log_info(const TaskProxy &task_proxy, const vector<double> &solution, vector<double> &info) {
+ if (obs_info != 2)
+ return;
+ int u2 = 0;
+ for (OperatorProxy op : task_proxy.get_operators()) {
+ int var_id = get_var_op_used2(op);
+ if (solution[var_id] > 0)
+ u2++;
+ }
+ info.push_back(u2);
+}
+
+static shared_ptr<ConstraintGenerator> _parse(OptionParser &parser) {
+ parser.add_option<int>(
+ "use_time_vars",
+ "use variables for time steps (setting this to false is the time relaxation by Imai and Fukunaga)",
+ "1"
+ );
+ parser.add_option<int>(
+ "use_integer_vars_op",
+ "auxilliary variables will be restricted to integer values",
+ "0"
+ );
+ parser.add_option<int>(
+ "use_integer_vars_op2",
+ "auxilliary variables will be restricted to integer values",
+ "0"
+ );
+ parser.add_option<int>(
+ "use_integer_vars_facts",
+ "auxilliary variables will be restricted to integer values",
+ "0"
+ );
+ parser.add_option<int>(
+ "use_integer_vars_achiever",
+ "auxilliary variables will be restricted to integer values",
+ "0"
+ );
+ parser.add_option<int>(
+ "use_integer_vars_time",
+ "auxilliary variables will be restricted to integer values",
+ "0"
+ );
+ parser.add_option<int>(
+ "noisy",
+ "consider noisy observations",
+ "0"
+ );
+ Options opts = parser.parse();
+
+ if (parser.dry_run())
+ return nullptr;
+ return make_shared<DeleteRelaxationConstraints>(opts);
+}
+
+static Plugin<ConstraintGenerator> _plugin("delete_relaxation_constraints", _parse);
+}
diff -X lp-recognizer/fd-patch.ignore -ruN fast-downward-original/src/search/operator_counting/delete_relaxation_constraints.h fast-downward/src/search/operator_counting/delete_relaxation_constraints.h
--- fast-downward-original/src/search/operator_counting/delete_relaxation_constraints.h 1969-12-31 21:00:00.000000000 -0300
+++ fast-downward/src/search/operator_counting/delete_relaxation_constraints.h 2021-04-23 15:53:02.340710000 -0300
@@ -0,0 +1,75 @@
+#ifndef OPERATOR_COUNTING_DELETE_RELAXATION_CONSTRAINTS_H
+#define OPERATOR_COUNTING_DELETE_RELAXATION_CONSTRAINTS_H
+
+#include "constraint_generator.h"
+
+#include "../task_proxy.h"
+
+#include <memory>
+
+namespace options {
+class Options;
+}
+
+namespace operator_counting {
+class DeleteRelaxationConstraints : public ConstraintGenerator {
+ int use_time_vars;
+ int use_integer_vars_op, use_integer_vars_op2, use_integer_vars_facts, use_integer_vars_achiever, use_integer_vars_time;
+ int noisy;
+
+ // [U_o] Is op part of the relaxed plan? Binary, indexed with op.id.
+ std::vector<int> lp_var_id_op_used;
+ std::vector<int> lp_var_id_op_used2;
+
+ // [R_f] Is fact <V,v> reached by the relaxed plan? Binary, indexed with var.id, value
+ std::vector<std::vector<int>> lp_var_id_fact_reached;
+
+ // [F_{o,f}] Is o the first achiever of fact <V,v> in the relaxed plan? Binary, indexed with op.id, var.id, value
+ std::vector<std::vector<std::vector<int>>> lp_var_id_first_achiever;
+
+ // [T_o] At what time is o used first? {0, ..., |O|}, indexed with op.id
+ std::vector<int> lp_var_id_op_time;
+ std::vector<int> lp_var_id_op_time2;
+
+ // [T_f] At what time is <V,v> first achieved? {0, ..., |O|}, indexed with var.id, value
+ std::vector<std::vector<int>> lp_var_id_fact_time;
+
+ // Indices of constraints that change in every state (indexed with var.id, value)
+ std::vector<std::vector<int>> constraint_ids;
+
+ // The state that is currently used for setting the bounds.