/********************************************************************** * *********************************************************************/voidprint_plops(PlOperator * plop){  PlOperator * i_plop;  int count = 0;  if (NULL == plop)     {      fprintf(stdout,"none\n");    }  for ( i_plop = plop; i_plop!=NULL; i_plop = i_plop->next )    {      fprintf(stdout,"\nOPERATOR ");      print_hidden_tokenlist(i_plop->name, " ");      fprintf(stdout,"\nparameters:\n");      print_factlist ( i_plop->params, "\n", " : ");      fprintf(stdout,"\n\npreconditions:\n");      print_plnode(i_plop->preconds, 0);      fprintf(stdout,"effects:\n");      print_plnode(i_plop->effects, 0);      fprintf(stdout,"\n-----\n");      count++;    }  fprintf(stdout, "\nAnzahl der Operatoren: %d\n", count);}/********************************************************************** * *********************************************************************/voidprint_plop(PlOperator * plop){  if (NULL == plop) {      fprintf(stdout,"\nEmpty Op\n");  }      fprintf(stdout,"\nOPERATOR ");      print_hidden_tokenlist(plop->name, " ");      fprintf(stdout,"\nparameters:\n");      print_factlist ( plop->params, "\n", " : ");      fprintf(stdout,"\n\npreconditions:\n");      print_plnode(plop->preconds, 0);      fprintf(stdout,"effects:\n");      print_plnode(plop->effects, 0);      fprintf(stdout,"\n-----\n");}void print_CodeOperator( CodeOperator *op ){  int i;  Integers *in;  if ( !op) {    printf("\nEmpty Op\n");    return;  }  printf("\nCoded Operator %s, parameters:", op->name);  for ( i=0; i<op->num_vars; i++ ) {    printf("\nx%d: %s", i, gtypes_table[op->var_types[i]].name);    if ( gtypes_table[op->var_types[i]].name == gnew_types_name ) {      printf("( ");      for ( in = gtypes_table[op->var_types[i]].integers;	    in; in = in->next ) {	printf("%s ", gconstants_table[in->index]);      }      printf(")");    }  }  printf("\n");  printf("\nInstantiation:");  for ( i=0; i<op->num_vars; i++ ) {    printf("\nx%d: %s", i, 	   op->inst_table[i] >=0 ? gconstants_table[op->inst_table[i]] : "?");  }  printf("\n");  printf("\npreconds:\n");  print_CodeNode( op->preconds, 0 );  printf("conditionals:\n");  print_CodeNode( op->conditionals, 0);  printf("\n");}/* * */void print_vector( BitVector *vec, int vec_len ){  int i, uid_block;  unsigned int uid_mask;  printf("\n");  for (i=0; i < vec_len * gcword_size; i++) {    if ( i % 8 == 0 && i != 0 ) {      printf(":");    }    uid_block = i / gcword_size;    uid_mask = 1 << ( i % gcword_size );    if ( vec[uid_block] & uid_mask ) {      printf("1");    } else {      printf("0");    }  }}/* * */void print_fact_info(FactInfo * f_info, int vec_len){  Integers * i;  print_vector(f_info->vector, vec_len);    if (NULL != f_info->indices)    {      fprintf(stdout, "%d", f_info->indices->index);      for (i = f_info->indices->next; i; i = i->next)	{	  fprintf(stdout, ", %d", i->index);	}    }  fprintf(stdout, "\n");}void print_plan( int time ) {  OpNode *op;  int i, j;  Bool first;  fprintf( OUT, "\nfound plan as follows:\n\n" );  for ( i=0; i<time; i++ ) {    fprintf( OUT, "time step %4d: ", i);    first = TRUE;    for ( j=0; j<gnum_ops_at[i]; j++ ) {      op = gops_at[i][j];      if ( op->is_noop ) continue;      if ( first ) {	print_op_name( op );	fprintf( OUT, "\n" );	first = FALSE;      } else {	fprintf( OUT, "                " );	print_op_name( op );	fprintf( OUT, "\n" );	      }    }  }}void print_incremental_plan( Candidate *c ){  int time = gfirst_full_time + 1, i;  Candidate *p;  OpNode *op;  Bool first;  for ( p = c; p->father; p = p->father ) {       fprintf(OUT, "time step %4d: ", time++);    first = TRUE;    for ( i=0; p->ops[i] != NULL; i++ ) {      op = p->ops[i];      if ( op->is_noop ) continue;      if ( first ) {	print_op_name( op );	fprintf( OUT, "\n" );	first = FALSE;      } else {	fprintf( OUT, "                " );	print_op_name( op );	fprintf( OUT, "\n" );	      }    }  }  printf("\n");}void get_plan( int time ) {  OpNode *op;  int i, j;  gnum_plan_ops = 0;  for ( i=0; i<time; i++ )     {      for ( j=0; j<gnum_ops_at[i]; j++ ) 	{	  op = gops_at[i][j];	  if ( op->is_noop ) continue;	  gplan_ops[gnum_plan_ops] = op;	  gnum_plan_ops++;	}    }  }void get_incremental_plan( Candidate *c ){  Candidate *p;  OpNode *op;  int i;  for ( p = c; p->father; p = p->father )     {         for ( i=0; p->ops[i] != NULL; i++ ) 	{	  op = p->ops[i];	  if ( op->is_noop ) continue;	  gplan_ops[gnum_plan_ops] = op;	  gnum_plan_ops++;	}    }  }void print_BitOperator( BitOperator *o ){  Effect *i;  if ( !o ) {    printf("\nempty BitOperator");    return;  }  printf("\n");  printf("\npos preconds:");  print_FactInfo( o->p_preconds );  printf("\nneg preconds:");  print_FactInfo( o->n_preconds );  printf("\nunconditional:");  print_Effect( o->unconditional );  printf("\nconditionals:");  for ( i = o->conditionals; i; i = i->next ) {    print_Effect( i );  }}void print_Effect( Effect *e ){  if ( !e ) {    printf("\nempty Effect");    return;  }  printf("\npos conds");  print_FactInfo( e->p_conds );  printf("\nneg conds:");  print_FactInfo( e->n_conds );  printf("\npos effects");  print_FactInfo( e->p_effects );  printf("\nneg effects:");  print_FactInfo( e->n_effects );}void print_FactInfo( FactInfo *f ){  Integers *i;  RelevantFact *ff;  if ( !f ) {    printf("\nempty FactInfo");    return;  }  printf("\nvector:");  print_BitVector( f->vector, gft_vector_length );  printf("\nthis is short for:");  for ( i = f->indices; i; i = i->next ) {    ff = grelevant_facts[i->index];    printf("\n%d: ", i->index);    print_fact( ff->predicate, ff->arguments );  }}void print_BitVector( BitVector *vec, int vec_len ){  int i, uid_block;  unsigned int uid_mask;  printf("\n");  for (i=0; i < vec_len * gcword_size; i++) {    if ( i % 8 == 0 && i != 0 ) {      printf(":");    }    uid_block = i / gcword_size;    uid_mask = 1 << ( i % gcword_size );    if ( vec[uid_block] & uid_mask ) {      printf("1");    } else {      printf("0");    }  }}void print_fact( short int predicate, ArgArray arguments ){  int j;  printf("%s(", gpredicates_table[predicate]);  for ( j=0; j<garity[predicate]; j++ ) {    printf("%s", gconstants_table[arguments[j]]);    if ( j < garity[predicate] - 1 ) {      printf(" ");    }  }  printf(")");}void print_op_name( OpNode *op ){  int i;  fprintf(OUT, "%s", op->name);  for ( i=0; i<op->num_vars; i++ ) {    fprintf(OUT, " %s", gconstants_table[op->inst_table[i]]);  }}void print_ft_name( FtNode *ft ){  if ( !ft->positive ) {    printf("NOT ");  }  print_fact( grelevant_facts[ft->index]->predicate,	      grelevant_facts[ft->index]->arguments );}