fix(planning): correctly represent synthetic conditions introduced fo…

…r numerics

planning/planners/src/encode.rs

@@ -757,7 +757,6 @@ pub fn encode(pb: &FiniteProblem, metric: Option<Metric>) -> std::result::Result
         let span = tracing::span!(tracing::Level::TRACE, "numeric increase coherence");
         let _span = span.enter();
         let mut num_numeric_increase_coherence_constraints = 0;
-        let mut next_cond_id = 10000; // TODO: use a proper ID
 
         for &(inc_id, prez, inc) in &incs {
             assert!(is_numeric(&inc.state_var));
@@ -775,7 +774,7 @@ pub fn encode(pb: &FiniteProblem, metric: Option<Metric>) -> std::result::Result
             // Check that the state variable value is equals to the new variable `var`.
             // It will force the state variable to be in the bounds of the new variable after the increase.
             increase_coherence_conditions.push((
-                CondID::new(inc_id.instance_id, next_cond_id),
+                CondID::new_post_increase(inc_id.instance_id, inc_id.eff_id),
                 prez,
                 Condition {
                     start: inc.transition_end,
@@ -784,7 +783,6 @@ pub fn encode(pb: &FiniteProblem, metric: Option<Metric>) -> std::result::Result
                     value: var.into(),
                 },
             ));
-            next_cond_id += 1;
             num_numeric_increase_coherence_constraints += 1;
         }
 

planning/planners/src/encode/symmetry.rs

@@ -292,7 +292,10 @@ fn add_plan_space_symmetry_breaking(pb: &FiniteProblem, model: &mut Model, encod
 #[allow(unused)]
 fn print_cond(cid: CondID, pb: &FiniteProblem, model: &Model) {
     let ch = &pb.chronicles[cid.instance_id];
-    let cond = &ch.chronicle.conditions[cid.cond_id];
-    let s = model.shape.symbols.format(&[cond.state_var.fluent.sym]);
+    let state_var = match cid.cond_id {
+        analysis::CondOrigin::ExplicitCondition(cond_id) => &ch.chronicle.conditions[cond_id].state_var,
+        analysis::CondOrigin::PostIncrease(eff_id) => &ch.chronicle.effects[eff_id].state_var,
+    };
+    let s = model.shape.symbols.format(&[state_var.fluent.sym]);
     print!("  {:?}:{}", ch.origin, s)
 }

planning/planners/src/encoding.rs

@@ -1,5 +1,6 @@
 use aries::model::lang::FAtom;
 use aries::{core::Lit, model::lang::Kind};
+pub use aries_planning::chronicles::analysis::CondOrigin;
 use aries_planning::chronicles::*;
 use env_param::EnvParam;
 use std::collections::{BTreeSet, HashSet};
@@ -16,11 +17,21 @@ pub struct CondID {
     /// Index of the instance in which the condition appears
     pub instance_id: ChronicleId,
     /// Index of the condition in the instance
-    pub cond_id: usize,
+    pub cond_id: CondOrigin,
 }
+
 impl CondID {
-    pub fn new(instance_id: usize, cond_id: usize) -> Self {
-        Self { instance_id, cond_id }
+    pub fn new_explicit(instance_id: usize, cond_id: usize) -> Self {
+        Self {
+            instance_id,
+            cond_id: CondOrigin::ExplicitCondition(cond_id),
+        }
+    }
+    pub fn new_post_increase(instance_id: usize, eff_id: usize) -> Self {
+        Self {
+            instance_id,
+            cond_id: CondOrigin::PostIncrease(eff_id),
+        }
     }
 }
 
@@ -111,7 +122,7 @@ pub fn conditions(pb: &FiniteProblem) -> impl Iterator<Item = (CondID, Lit, &Con
             .conditions
             .iter()
             .enumerate()
-            .map(move |(cond_id, cond)| (CondID::new(instance_id, cond_id), ch.chronicle.presence, cond))
+            .map(move |(cond_id, cond)| (CondID::new_explicit(instance_id, cond_id), ch.chronicle.presence, cond))
     })
 }
 

planning/planners/src/search/causal.rs

@@ -7,6 +7,7 @@ use aries::model::lang::{SAtom, Type};
 use aries::model::symbols::TypedSym;
 use aries::solver::search::{Decision, SearchControl};
 use aries::solver::stats::Stats;
+use aries_planning::chronicles::analysis::CondOrigin;
 use aries_planning::chronicles::{ChronicleInstance, Condition, Effect, FiniteProblem, StateVar, VarLabel};
 use env_param::EnvParam;
 use std::collections::HashSet;
@@ -36,7 +37,11 @@ impl ManualCausalSearch {
         &self.problem.chronicles[chronicle_id]
     }
     fn cond(&self, cond_id: CondID) -> &Condition {
-        &self.ch(cond_id.instance_id).chronicle.conditions[cond_id.cond_id]
+        if let CondOrigin::ExplicitCondition(cond_index) = cond_id.cond_id {
+            &self.ch(cond_id.instance_id).chronicle.conditions[cond_index]
+        } else {
+            panic!("Condition is implicit")
+        }
     }
     fn eff(&self, eff_id: EffID) -> &Effect {
         &self.ch(eff_id.instance_id).chronicle.effects[eff_id.eff_id]

planning/planning/src/chronicles/analysis/detrimental_supports.rs

@@ -175,7 +175,16 @@ pub struct TemplateCondID {
     /// id of the chronicle template in which the condition occurs
     pub template_id: usize,
     /// Index of the condition in the template's conditions
-    pub cond_id: usize,
+    pub cond_id: CondOrigin,
+}
+
+#[derive(Ord, PartialOrd, Eq, PartialEq, Hash, Copy, Clone, Debug)]
+pub enum CondOrigin {
+    /// This originates from the i-th condition of the chronicle
+    ExplicitCondition(usize),
+    /// This is a synthetic condition representing the value of the state variables after an increase effect.
+    /// It is the i-th effect of the chronicle.
+    PostIncrease(usize),
 }
 #[derive(Hash, Copy, Clone, Eq, PartialEq, Debug)]
 pub struct TemplateEffID {
@@ -193,7 +202,7 @@ pub struct CausalSupport {
 }
 
 impl CausalSupport {
-    pub fn new(eff_template: usize, eff_id: usize, cond_template: usize, cond_id: usize) -> Self {
+    pub fn new(eff_template: usize, eff_id: usize, cond_template: usize, cond_id: CondOrigin) -> Self {
         Self {
             supporter: TemplateEffID {
                 template_id: eff_template,
@@ -213,7 +222,7 @@ impl CausalSupport {
             },
             condition: TemplateCondID {
                 template_id: cond.template_id,
-                cond_id: cond.cond_id,
+                cond_id: CondOrigin::ExplicitCondition(cond.cond_id),
             },
         }
     }
@@ -377,7 +386,7 @@ fn gather_detrimental_supports(
                         },
                         condition: TemplateCondID {
                             template_id: c.template_id,
-                            cond_id: c.cond_id,
+                            cond_id: CondOrigin::ExplicitCondition(c.cond_id),
                         },
                     });
                 }

planning/planning/src/chronicles/analysis/mod.rs

@@ -10,7 +10,7 @@ mod static_fluents;
 
 pub use crate::chronicles::analysis::features::*;
 use crate::chronicles::preprocessing::action_rolling::RollCompilation;
-pub use detrimental_supports::{CausalSupport, TemplateCondID, TemplateEffID};
+pub use detrimental_supports::{CausalSupport, CondOrigin, TemplateCondID, TemplateEffID};
 pub use static_fluents::is_static;
 
 pub type TemplateID = usize;