- if (tmp_scr->tile == AGENT && tmp_scr_d->tile == FREE){
- //(0 1 0 0 1 1 1 0 0 0 1 1)
- BDDVAR relvars[12] = {deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 12);
- uint8_t rel_enc[12] = {0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == AGENT && tmp_scr_d->tile == TARGET){
- //(0 1 1 0 1 1 1 0 0 1 1 1)
- BDDVAR relvars[12] = {deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 12);
- uint8_t rel_enc[12] = {0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == TARGAGENT && tmp_scr_d->tile == FREE){
- //(0 1 0 1 1 0 1 0 1 0 0 1)
- BDDVAR relvars[12] = {deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 12);
- uint8_t rel_enc[12] = {0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == TARGAGENT && tmp_scr_d->tile == TARGET){
- //(0 1 1 1 1 0 1 0 1 1 0 1)
- BDDVAR relvars[12] = {deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 12);
- uint8_t rel_enc[12] = {0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == AGENT && tmp_scr_d-> tile == BOX && tmp_scr_g->tile == BOX){
- //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 1 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == AGENT && tmp_scr_d-> tile == BOX && tmp_scr_g->tile == TARGBOX){
- //(1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 0 1 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == TARGAGENT && tmp_scr_d-> tile == BOX && tmp_scr_g->tile == BOX){
- //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == TARGAGENT && tmp_scr_d-> tile == BOX && tmp_scr_g->tile == TARGBOX){
- //(1 1 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == AGENT && tmp_scr_d->tile == BOX && tmp_scr_g->tile == FREE){
- //free box agent -> box agent free
- //(0 0 0 1 1 0 0 1 1 0 0 1 1 0 0 0 1 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == AGENT && tmp_scr_d->tile == TARGBOX && tmp_scr_g->tile == FREE){
- //(free targbox agent -> box targagent free)
- //(0 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 1 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == AGENT && tmp_scr_d->tile == BOX && tmp_scr_g->tile == TARGET){
- //(target box agent -> targbox agent free)
- //(0 1 1 0 1 0 0 1 1 0 0 1 1 0 0 0 1 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == AGENT && tmp_scr_d->tile == TARGBOX && tmp_scr_g->tile == TARGET){
- //(target targbox agent -> targbox targagent free)
- //(0 1 1 0 1 0 1 1 0 1 0 0 1 0 0 0 1 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == TARGAGENT && tmp_scr_d->tile == BOX && tmp_scr_g->tile == FREE){
- //(free box targagent -> box agent target)
- //(0 0 0 1 1 0 0 1 1 0 0 1 1 0 1 1 0 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == TARGAGENT && tmp_scr_d->tile == TARGBOX && tmp_scr_g->tile == FREE){
- //(free targbox targagent -> box targagent target)
- //(0 0 0 1 1 0 1 1 0 1 0 0 1 0 1 1 0 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == TARGAGENT && tmp_scr_d->tile == BOX && tmp_scr_g->tile == TARGET){
- //(target box targagent -> targbox agent target)
- //(0 1 1 0 1 0 0 1 1 0 0 1 1 0 1 1 0 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
- if (tmp_scr->tile == TARGAGENT && tmp_scr_d->tile == TARGBOX && tmp_scr_g->tile == TARGET){
- //(target targbox targagent -> targbox targagent target)
- //(0 1 1 0 1 0 1 1 0 1 0 0 1 0 1 1 0 1)
- BDDVAR relvars[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
- BDDSET relvarset = sylvan_set_fromarray(relvars, 18);
- uint8_t rel_enc[18] = {0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1};
- t = sylvan_union_cube(t, relvarset, rel_enc);
- }
+
+ //(0 1 0 0 1 1 1 0 0 0 1 1)
+ BDDVAR relvars[12] = {deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
+ BDDSET relvarset = sylvan_set_fromarray(relvars, 12);
+ uint8_t rel_enc[12] = {0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1};
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset, rel_enc);
+ trs_current->varset.varset = relvarset;
+ trs_current->varset.size = 12;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(0 1 1 0 1 1 1 0 0 1 1 1)
+ relvars[0] = deltai*3;
+ relvars[1] = deltai*3+1;
+ relvars[2] = deltai*3+2;
+ relvars[3] = deltai*3+3;
+ relvars[4] = deltai*3+4;
+ relvars[5] = deltai*3+5;
+ relvars[6] = i*3;
+ relvars[7] = i*3+1;
+ relvars[8] = i*3+2;
+ relvars[9] = i*3+3;
+ relvars[10] = i*3+4;
+ relvars[11] = i*3+5;
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ rel_enc[0] = 0;
+ rel_enc[1] = 1;
+ rel_enc[2] = 1;
+ rel_enc[3] = 0;
+ rel_enc[4] = 1;
+ rel_enc[5] = 1;
+ rel_enc[6] = 1;
+ rel_enc[7] = 0;
+ rel_enc[8] = 0;
+ rel_enc[9] = 1;
+ rel_enc[10] = 1;
+ rel_enc[11] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset, rel_enc);
+ trs_current->varset.varset = relvarset;
+ trs_current->varset.size = 12;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(0 1 0 1 1 0 1 0 1 0 0 1)
+ relvars[0] = deltai*3;
+ relvars[1] = deltai*3+1;
+ relvars[2] = deltai*3+2;
+ relvars[3] = deltai*3+3;
+ relvars[4] = deltai*3+4;
+ relvars[5] = deltai*3+5;
+ relvars[6] = i*3;
+ relvars[7] = i*3+1;
+ relvars[8] = i*3+2;
+ relvars[9] = i*3+3;
+ relvars[10] = i*3+4;
+ relvars[11] = i*3+5;
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ rel_enc[0] = 0;
+ rel_enc[1] = 1;
+ rel_enc[2] = 0;
+ rel_enc[3] = 1;
+ rel_enc[4] = 1;
+ rel_enc[5] = 0;
+ rel_enc[6] = 1;
+ rel_enc[7] = 0;
+ rel_enc[8] = 1;
+ rel_enc[9] = 0;
+ rel_enc[10] = 0;
+ rel_enc[11] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset, rel_enc);
+ trs_current->varset.varset = relvarset;
+ trs_current->varset.size = 12;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(0 1 1 1 1 0 1 0 1 1 0 1)
+ relvars[0] = deltai*3;
+ relvars[1] = deltai*3+1;
+ relvars[2] = deltai*3+2;
+ relvars[3] = deltai*3+3;
+ relvars[4] = deltai*3+4;
+ relvars[5] = deltai*3+5;
+ relvars[6] = i*3;
+ relvars[7] = i*3+1;
+ relvars[8] = i*3+2;
+ relvars[9] = i*3+3;
+ relvars[10] = i*3+4;
+ relvars[11] = i*3+5;
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ rel_enc[0] = 0;
+ rel_enc[1] = 1;
+ rel_enc[2] = 1;
+ rel_enc[3] = 1;
+ rel_enc[4] = 1;
+ rel_enc[5] = 0;
+ rel_enc[6] = 1;
+ rel_enc[7] = 0;
+ rel_enc[8] = 1;
+ rel_enc[9] = 1;
+ rel_enc[10] = 0;
+ rel_enc[11] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset, rel_enc);
+ trs_current->varset.varset = relvarset;
+ trs_current->varset.size = 12;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 1 1)
+ BDDVAR relvars1[18] = {gammai*3, gammai*3+1, gammai*3+2, gammai*3+3, gammai*3+4, gammai*3+5, deltai*3, deltai*3+1, deltai*3+2, deltai*3+3, deltai*3+4, deltai*3+5, i*3, i*3+1, i*3+2, i*3+3, i*3+4, i*3+5};
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ BDD relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ uint8_t rel_enc1[18];
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 0;
+ rel_enc1[2] = 1;
+ rel_enc1[3] = 1;
+ rel_enc1[4] = 0;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 0;
+ rel_enc1[7] = 0;
+ rel_enc1[8] = 1;
+ rel_enc1[9] = 1;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 0;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 1;
+ rel_enc1[14] = 0;
+ rel_enc1[15] = 0;
+ rel_enc1[16] = 1;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 0 1 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ rel_enc1[0] = 1;
+ rel_enc1[1] = 1;
+ rel_enc1[2] = 0;
+ rel_enc1[3] = 0;
+ rel_enc1[4] = 0;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 0;
+ rel_enc1[7] = 0;
+ rel_enc1[8] = 1;
+ rel_enc1[9] = 1;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 0;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 1;
+ rel_enc1[14] = 0;
+ rel_enc1[15] = 0;
+ rel_enc1[16] = 1;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 0;
+ rel_enc1[2] = 1;
+ rel_enc1[3] = 1;
+ rel_enc1[4] = 0;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 0;
+ rel_enc1[7] = 0;
+ rel_enc1[8] = 1;
+ rel_enc1[9] = 1;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 0;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 1;
+ rel_enc1[14] = 1;
+ rel_enc1[15] = 1;
+ rel_enc1[16] = 0;
+ rel_enc1[17] = 0;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(1 1 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(1 1 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
+ rel_enc1[0] = 1;
+ rel_enc1[1] = 1;
+ rel_enc1[2] = 0;
+ rel_enc1[3] = 0;
+ rel_enc1[4] = 0;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 0;
+ rel_enc1[7] = 0;
+ rel_enc1[8] = 1;
+ rel_enc1[9] = 1;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 0;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 1;
+ rel_enc1[14] = 1;
+ rel_enc1[15] = 1;
+ rel_enc1[16] = 0;
+ rel_enc1[17] = 0;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //free box agent -> box agent free
+ //(0 0 0 1 1 0 0 1 1 0 0 1 1 0 0 0 1 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 0 0 1 1 0 0 1 1 0 0 1 1 0 0 0 1 1)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 0;
+ rel_enc1[2] = 0;
+ rel_enc1[3] = 1;
+ rel_enc1[4] = 1;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 0;
+ rel_enc1[7] = 1;
+ rel_enc1[8] = 1;
+ rel_enc1[9] = 0;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 1;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 0;
+ rel_enc1[14] = 0;
+ rel_enc1[15] = 0;
+ rel_enc1[16] = 1;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(free targbox agent -> box targagent free)
+ //(0 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 1 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 1 1)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 0;
+ rel_enc1[2] = 0;
+ rel_enc1[3] = 1;
+ rel_enc1[4] = 1;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 1;
+ rel_enc1[7] = 1;
+ rel_enc1[8] = 0;
+ rel_enc1[9] = 1;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 0;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 0;
+ rel_enc1[14] = 0;
+ rel_enc1[15] = 0;
+ rel_enc1[16] = 1;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(target box agent -> targbox agent free)
+ //(0 1 1 0 1 0 0 1 1 0 0 1 1 0 0 0 1 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 1 1 0 1 0 0 1 1 0 0 1 1 0 0 0 1 1)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 1;
+ rel_enc1[2] = 1;
+ rel_enc1[3] = 0;
+ rel_enc1[4] = 1;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 0;
+ rel_enc1[7] = 1;
+ rel_enc1[8] = 1;
+ rel_enc1[9] = 0;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 1;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 0;
+ rel_enc1[14] = 0;
+ rel_enc1[15] = 0;
+ rel_enc1[16] = 1;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(target targbox agent -> targbox targagent free)
+ //(0 1 1 0 1 0 1 1 0 1 0 0 1 0 0 0 1 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 1 1 0 1 0 1 1 0 1 0 0 1 0 0 0 1 1)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 1;
+ rel_enc1[2] = 1;
+ rel_enc1[3] = 0;
+ rel_enc1[4] = 1;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 1;
+ rel_enc1[7] = 1;
+ rel_enc1[8] = 0;
+ rel_enc1[9] = 1;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 0;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 0;
+ rel_enc1[14] = 0;
+ rel_enc1[15] = 0;
+ rel_enc1[16] = 1;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(free box targagent -> box agent target)
+ //(0 0 0 1 1 0 0 1 1 0 0 1 1 0 1 1 0 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 0 0 1 1 0 0 1 1 0 0 1 1 0 1 1 0 1)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 0;
+ rel_enc1[2] = 0;
+ rel_enc1[3] = 1;
+ rel_enc1[4] = 1;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 0;
+ rel_enc1[7] = 1;
+ rel_enc1[8] = 1;
+ rel_enc1[9] = 0;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 1;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 0;
+ rel_enc1[14] = 1;
+ rel_enc1[15] = 1;
+ rel_enc1[16] = 0;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(free targbox targagent -> box targagent target)
+ //(0 0 0 1 1 0 1 1 0 1 0 0 1 0 1 1 0 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 0 0 1 1 0 1 1 0 1 0 0 1 0 1 1 0 1)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 0;
+ rel_enc1[2] = 0;
+ rel_enc1[3] = 1;
+ rel_enc1[4] = 1;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 1;
+ rel_enc1[7] = 1;
+ rel_enc1[8] = 0;
+ rel_enc1[9] = 1;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 0;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 0;
+ rel_enc1[14] = 1;
+ rel_enc1[15] = 1;
+ rel_enc1[16] = 0;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(target box targagent -> targbox agent target)
+ //(0 1 1 0 1 0 0 1 1 0 0 1 1 0 1 1 0 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 1 1 0 1 0 0 1 1 0 0 1 1 0 1 1 0 1)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 1;
+ rel_enc1[2] = 1;
+ rel_enc1[3] = 0;
+ rel_enc1[4] = 1;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 0;
+ rel_enc1[7] = 1;
+ rel_enc1[8] = 1;
+ rel_enc1[9] = 0;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 1;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 0;
+ rel_enc1[14] = 1;
+ rel_enc1[15] = 1;
+ rel_enc1[16] = 0;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //(target targbox targagent -> targbox targagent target)
+ //(0 1 1 0 1 0 1 1 0 1 0 0 1 0 1 1 0 1)
+ relvars1[0] = gammai*3;
+ relvars1[1] = gammai*3+1;
+ relvars1[2] = gammai*3+2;
+ relvars1[3] = gammai*3+3;
+ relvars1[4] = gammai*3+4;
+ relvars1[5] = gammai*3+5;
+ relvars1[6] = deltai*3;
+ relvars1[7] = deltai*3+1;
+ relvars1[8] = deltai*3+2;
+ relvars1[9] = deltai*3+3;
+ relvars1[10] = deltai*3+4;
+ relvars1[11] = deltai*3+5;
+ relvars1[12] = i*3;
+ relvars1[13] = i*3+1;
+ relvars1[14] = i*3+2;
+ relvars1[15] = i*3+3;
+ relvars1[16] = i*3+4;
+ relvars1[17] = i*3+5;
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ //(0 1 1 0 1 0 1 1 0 1 0 0 1 0 1 1 0 1)
+ rel_enc1[0] = 0;
+ rel_enc1[1] = 1;
+ rel_enc1[2] = 1;
+ rel_enc1[3] = 0;
+ rel_enc1[4] = 1;
+ rel_enc1[5] = 0;
+ rel_enc1[6] = 1;
+ rel_enc1[7] = 1;
+ rel_enc1[8] = 0;
+ rel_enc1[9] = 1;
+ rel_enc1[10] = 0;
+ rel_enc1[11] = 0;
+ rel_enc1[12] = 1;
+ rel_enc1[13] = 0;
+ rel_enc1[14] = 1;
+ rel_enc1[15] = 1;
+ rel_enc1[16] = 0;
+ rel_enc1[17] = 1;
+ trs_current = (trans_t *)malloc(sizeof(trans_t));
+ trs_current->bdd = sylvan_cube(relvarset1, rel_enc1);
+ trs_current->varset.varset = relvarset1;
+ trs_current->varset.size = 18;
+ trs_current->next_rel = trs;
+ trs = trs_current;