landmark_factory_relaxation.h

#ifndef LANDMARKS_LANDMARK_FACTORY_RELAXATION_H
#define LANDMARKS_LANDMARK_FACTORY_RELAXATION_H
 
#include "downward/landmarks/landmark_factory.h"
 
namespace landmarks {
class Exploration;
 
class LandmarkFactoryRelaxation : public LandmarkFactory {
protected:
    explicit LandmarkFactoryRelaxation(utils::Verbosity verbosity);
 
    /*
      Test whether the relaxed planning task is solvable without
      achieving the excluded landmark.
    */
    bool relaxed_task_solvable(
        const TaskProxy& task_proxy,
        Exploration& exploration,
        const Landmark& exclude) const;
    /*
      Compute for each fact whether it is relaxed reachable without
      achieving the excluded landmark.
    */
    std::vector<std::vector<bool>> compute_relaxed_reachability(
        Exploration& exploration,
        const Landmark& exclude) const;
 
private:
    void generate_landmarks(const std::shared_ptr<AbstractTask>& task) override;
 
    virtual void generate_relaxed_landmarks(
        const std::shared_ptr<AbstractTask>& task,
        Exploration& exploration) = 0;
    void postprocess(const TaskProxy& task_proxy, Exploration& exploration);
 
    void calc_achievers(const TaskProxy& task_proxy, Exploration& exploration);
 
protected:
    /*
      The method discard_noncausal_landmarks assumes the graph has no
      conjunctive landmarks, and will not process conjunctive landmarks
      correctly.
    */
    void discard_noncausal_landmarks(
        const TaskProxy& task_proxy,
        Exploration& exploration);
    /*
      A landmark is causal if it is a goal or it is a precondition of an
      action that must be applied in order to reach the goal.
    */
    bool is_causal_landmark(
        const TaskProxy& task_proxy,
        Exploration& exploration,
        const Landmark& landmark) const;
};
} // namespace landmarks
 
#endif