+ LACE_ME;
+ trans_t *trs, *trs_current;
+ bimap *bm = create_bimap_helper(screen);
+ int x = 0;
+ int y = 0;
+ bddvar_xy_map *bddxy = NULL;
+ int xdelta = 0;
+ int ydelta = 0;
+ int xgamma = 0;
+ int ygamma = 0;
+ trs = NULL;
+ switch(dir){
+ case LEFT:
+ xdelta = -1;
+ ydelta = 0;
+ xgamma = -2;
+ ygamma = 0;
+ break;
+ case UP:
+ xdelta = 0;
+ ydelta = -1;
+ xgamma = 0;
+ ygamma = -2;
+ break;
+ case RIGHT:
+ xdelta = 1;
+ ydelta = 0;
+ xgamma = 2;
+ ygamma = 0;
+ break;
+ case DOWN:
+ xdelta = 0;
+ ydelta = 1;
+ xgamma = 0;
+ ygamma = 2;
+ break;
+ }
+
+ for (unsigned int i = 0; i < HASH_COUNT(screen); i++){
+ bddxy = getbdd(i*6, bm->t);
+ x = bddxy->value.x;
+ y = bddxy->value.y;
+ if (check_space(x, y, dir, 1, bm) == 0){
+ //Agent -> Agent
+ //1 1 0 0 1 1 (1 0 1 -> 1 0 1)
+ BDDVAR relvars[6] = {i * 6, i * 6 + 1, i * 6 + 2, i * 6 + 3, i * 6 + 4, i * 6 + 5};
+ BDDSET relvarset = sylvan_set_fromarray(relvars, 6);
+ uint8_t rel_enc[6] = {1, 1, 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 = 6;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ //Targagent -> Targagent
+ //1 1 1 1 0 0 (1 1 0 -> 1 1 0)
+ relvarset = sylvan_set_fromarray(relvars, 6);
+ uint8_t rel_enc1[6] = {1, 1, 1, 1, 0, 0};
+ memcpy(rel_enc, rel_enc1, 6*sizeof(uint8_t));
+
+ 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 = 6;
+ trs_current->next_rel = trs;
+ trs = trs_current;
+
+ }
+ else if (check_space(x, y, dir, 1, bm) == 1 && check_space(x, y, dir, 2, bm) == 0){
+ xy_bddvar_map *bddvar = getxy(x + xdelta, y + ydelta, bm->f);
+ unsigned int deltai = bddvar->value.var[0];
+ //Agent Free -> Free Agent
+ //(1 0 0 0 1 1 0 1 0 0 1 1)
+ //or
+ //(0 1 0 0 1 1 1 0 0 0 1 1)
+ BDDVAR relvars[12] = {i*6, i*6+1, i*6+2, i*6+3, i*6+4, i*6+5, deltai, deltai+1, deltai+2, deltai+3, deltai+4, deltai+5};
+ BDDSET relvarset = sylvan_set_fromarray(relvars, 12);
+ uint8_t rel_enc[12];
+ if (i < deltai){
+ uint8_t rel_enc0[12] = {1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc0, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc0[12] = {0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc0, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Target -> Free Targagent
+ //(1 0 0 0 1 1 0 1 1 1 1 0)
+ //or
+ //(0 1 1 1 1 0 1 0 0 0 1 1)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc2[12] = {1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0};
+ memcpy(rel_enc, rel_enc2, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc2[12] = {0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc2, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Free -> Target Agent
+ //(1 0 1 1 0 1 0 1 0 0 1 1)
+ //or
+ //(0 1 0 0 1 1 1 0 1 1 0 1)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc3[12] = {1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc3, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc3[12] = {0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc, rel_enc3, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Target -> Target Targagent
+ //(1 0 1 1 0 1 0 1 1 1 1 0)
+ //or
+ //(0 1 1 1 1 0 1 0 1 1 0 1)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc4[12] = {1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 0};
+ memcpy(rel_enc, rel_enc4, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc4[12] = {0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc, rel_enc4, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Box -> Agent Box
+ //(1 1 0 0 1 1 0 0 1 1 0 0)
+ //or
+ //(0 0 1 1 0 0 1 1 0 0 1 1)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc5[12] = {1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc, rel_enc5, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc5[12] = {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc5, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Targbox -> Agent Targbox
+ //(1 1 0 0 1 1 1 1 0 0 0 0)
+ //
+ //(1 1 0 0 0 0 1 1 0 0 1 1)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc6[12] = {1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0};
+ memcpy(rel_enc, rel_enc6, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc6[12] = {1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc6, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Box -> Targagent Box
+ //(1 1 1 1 0 0 0 0 1 1 0 0)
+ //or
+ //(0 0 1 1 0 0 1 1 1 1 0 0)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc7[12] = {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc, rel_enc7, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc7[12] = {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0};
+ memcpy(rel_enc, rel_enc7, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Targbox -> Targagent Targbox
+ //(1 1 1 1 0 0 1 1 0 0 0 0)
+ //or
+ //(1 1 0 0 0 0 1 1 1 1 0 0)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc8[12] = {1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0};
+ memcpy(rel_enc, rel_enc8, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc8[12] = {1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0};
+ memcpy(rel_enc, rel_enc8, 12*sizeof(uint8_t));
+ }
+ 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;
+
+
+ }
+ else if (check_space(x, y, dir, 1, bm) == 1 && check_space(x, y, dir, 2, bm) == 1){
+ xy_bddvar_map *bddvar = getxy(x + xdelta, y + ydelta, bm->f);
+ unsigned int deltai = bddvar->value.var[0];
+ bddvar = getxy(x + xgamma, y + ygamma, bm->f);
+ unsigned int gammai = bddvar->value.var[0];
+ //Agent Free -> Free Agent
+ //(1 0 0 0 1 1 0 1 0 0 1 1)
+ //or
+ //(0 1 0 0 1 1 1 0 0 0 1 1)
+ BDDVAR relvars[12] = {i*6, i*6+1, i*6+2, i*6+3, i*6+4, i*6+5, deltai, deltai+1, deltai+2, deltai+3, deltai+4, deltai+5};
+ BDDSET relvarset = sylvan_set_fromarray(relvars, 12);
+ uint8_t rel_enc[12];
+ if (i < deltai){
+ uint8_t rel_enc_[12] = {1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc_, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc_[12] = {0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc_, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Target -> Free Targagent
+ //(1 0 0 0 1 1 0 1 1 1 1 0)
+ //or
+ //(0 1 1 1 1 0 1 0 0 0 1 1)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc9[12] = {1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0};
+ memcpy(rel_enc, rel_enc9, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc9[12] = {0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc9, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Free -> Target Agent (LEFT || UP)
+ //(1 0 1 1 0 1 0 1 0 0 1 1)
+ //or
+ //(0 1 0 0 1 1 1 0 1 1 0 1)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc10[12] = {1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1};
+ memcpy(rel_enc, rel_enc10, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc10[12] = {0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc, rel_enc10, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Target -> Target Targagent (LEFT || UP)
+ //(1 0 1 1 0 1 0 1 1 1 1 0)
+ //or
+ //(0 1 1 1 1 0 1 0 1 1 0 1)
+ relvarset = sylvan_set_fromarray(relvars, 12);
+ if (i < deltai){
+ uint8_t rel_enc11[12] = {1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 0};
+ memcpy(rel_enc, rel_enc11, 12*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc11[12] = {0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc, rel_enc11, 12*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Box Box -> Agent Box Box
+ //(1 1 0 0 1 1 0 0 1 1 0 0 0 0 1 1 0 0 (i delta gamma)
+ //or
+ //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 1 1) (delta gamma i)
+ //or
+ //(0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0) (gamma i delta)
+ //or
+ //(1 1 0 0 1 1 0 0 1 1 0 0 0 0 1 1 0 0) (i gamma delta)
+ //or
+ //(0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0) (delta i gamma)
+ //or
+ //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 1 1) (gamma delta i)
+ BDDVAR relvars1[18] = {i*6, i*6+1, i*6+2, i*6+3, i*6+4, i*6+5, deltai, deltai+1, deltai+2, deltai+3, deltai+4, deltai+5, gammai, gammai+1, gammai+2, gammai+3, gammai+4, gammai+5};
+ BDD relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ uint8_t rel_enc1[18];
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+
+ 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;
+
+ //Agent Box Targbox -> Agent Box Targbox (LEFT || UP)
+ //(1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 0 0) (i delta gamma)
+ //or
+ //(0 0 1 1 0 0 1 1 0 0 0 0 1 1 0 0 1 1) (delta gamma i)
+ //or
+ //(1 1 0 0 0 0 1 1 0 0 1 1 0 0 1 1 0 0) (gamma i delta)
+ //or
+ //(1 1 0 0 1 1 1 1 0 0 0 0 0 0 1 1 0 0) (i gamma delta)
+ //or
+ //(0 0 1 1 0 0 1 1 0 0 1 1 1 1 0 0 0 0) (delta i gamma)
+ //or
+ //(1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 0 1 1) (gamma delta i)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Box Box -> Targagent Box Box
+ //(1 1 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 0)
+ //or
+ //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
+ //or
+ //(0 0 1 1 0 0 1 1 1 1 0 0 0 0 1 1 0 0)
+ //or
+ //(1 1 1 1 0 0 0 0 1 1 0 0 0 0 1 1 0 0)
+ //or
+ //(0 0 1 1 0 0 1 1 1 1 0 0 0 0 1 1 0 0)
+ //or
+ //(0 0 1 1 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Box Targbox -> Targagent Box Targbox (LEFT || UP)
+ //(1 1 1 1 0 0 0 0 1 1 0 0 1 1 0 0 0 0)
+ //or
+ //(0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 1 0 0)
+ //or
+ //(1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 0 0)
+ //or
+ //(1 1 1 1 0 0 1 1 0 0 0 0 0 0 1 1 0 0)
+ //or
+ //(0 0 1 1 0 0 1 1 1 1 0 0 1 1 0 0 0 0)
+ //or
+ //(1 1 0 0 0 0 0 0 1 1 0 0 1 1 1 1 0 0)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Box Free -> Free Agent Box
+ //(1 0 0 0 1 1 0 1 1 0 0 1 0 0 0 1 1 0)
+ //or
+ //(0 1 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 1)
+ //or
+ //(0 0 0 1 1 0 1 0 0 0 1 1 0 1 1 0 0 1)
+ //or
+ //(1 0 0 0 1 1 0 0 0 1 1 0 0 1 1 0 0 1)
+ //or
+ //(0 1 1 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0)
+ //or
+ //(0 0 0 1 1 0 0 1 1 0 0 1 1 0 0 0 1 1)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Targbox Free -> Free Targagent Box
+ //(1 0 0 0 1 1 1 1 0 1 0 0 0 0 0 1 1 0)
+ //or
+ //(1 1 0 1 0 0 0 0 0 1 1 0 1 0 0 0 1 1)
+ //or
+ //(0 0 0 1 1 0 1 0 0 0 1 1 1 1 0 1 0 0)
+ //or
+ //(1 0 0 0 1 1 0 0 0 1 1 0 1 1 0 1 0 0)
+ //or
+ //(1 1 0 1 0 0 1 0 0 0 1 1 0 0 0 1 1 0)
+ //or
+ //(0 0 0 1 1 0 1 1 0 1 0 0 1 0 0 0 1 1)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Box Target -> Free Agent Targbox
+ //(1 0 0 0 1 1 0 1 1 0 0 1 0 1 1 0 1 0)
+ //or
+ //(0 1 1 0 0 1 0 1 1 0 1 0 1 0 0 0 1 1)
+ //or
+ //(0 1 1 0 1 0 1 0 0 0 1 1 0 1 1 0 0 1)
+ //or
+ //(1 0 0 0 1 1 0 1 1 0 1 0 0 1 1 0 0 1)
+ //or
+ //(0 1 1 0 0 1 1 0 0 0 1 1 0 1 1 0 1 0)
+ //or
+ //(0 1 1 0 1 0 0 1 1 0 0 1 1 0 0 0 1 1)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Agent Targbox Target -> Free Targagent Targbox
+ //(1 0 0 0 1 1 1 1 0 1 0 0 0 1 1 0 1 0)
+ //or
+ //(1 1 0 1 0 0 0 1 1 0 1 0 1 0 0 0 1 1)
+ //or
+ //(0 1 1 0 1 0 1 0 0 0 1 1 1 1 0 1 0 0)
+ //or
+ //(1 0 0 0 1 1 0 1 1 0 1 0 1 1 0 1 0 0)
+ //or
+ //(1 1 0 1 0 0 1 0 0 0 1 1 0 1 1 0 1 0)
+ //or
+ //(0 1 1 0 1 0 1 1 0 1 0 0 1 0 0 0 1 1)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Box Free -> Target Agent Box
+ //(1 0 1 1 0 1 0 1 1 0 0 1 0 0 0 1 1 0)
+ //or
+ //(0 1 1 0 0 1 0 0 0 1 1 0 1 0 1 1 0 1)
+ //or
+ //(0 0 0 1 1 0 1 0 1 1 0 1 0 1 1 0 0 1)
+ //or
+ //(1 0 1 1 0 1 0 0 0 1 1 0 0 1 1 0 0 1)
+ //or
+ //(0 1 1 0 0 1 1 0 1 1 0 1 0 0 0 1 1 0)
+ //or
+ //(0 0 0 1 1 0 0 1 1 0 0 1 1 0 1 1 0 1)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Targbox Free -> Target Targagent Box
+ //(1 0 1 1 0 1 1 1 0 1 0 0 0 0 0 1 1 0)
+ //or
+ //(1 1 0 1 0 0 0 0 0 1 1 0 1 0 1 1 0 1)
+ //or
+ //(0 0 0 1 1 0 1 0 1 1 0 1 1 1 0 1 0 0)
+ //or
+ //(1 0 1 1 0 1 0 0 0 1 1 0 1 1 0 1 0 0)
+ //or
+ //(1 1 0 1 0 0 1 0 1 1 0 1 0 0 0 1 1 0)
+ //or
+ //(0 0 0 1 1 0 1 1 0 1 0 0 1 0 1 1 0 1)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1 ,1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Box Target -> Target Agent Targbox
+ //(1 0 1 1 0 1 0 1 1 0 0 1 0 1 1 0 1 0)
+ //or
+ //(0 1 1 0 0 1 0 1 1 0 1 0 1 0 1 1 0 1)
+ //or
+ //(0 1 1 0 1 0 1 0 1 1 0 1 0 1 1 0 0 1)
+ //or
+ //(1 0 1 1 0 1 0 1 1 0 1 0 0 1 1 0 0 1)
+ //or
+ //(0 1 1 0 0 1 1 0 1 1 0 1 0 1 1 0 1 0)
+ //or
+ //(0 1 1 0 1 0 0 1 1 0 0 1 1 0 1 1 0 1)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+
+ //Targagent Targbox Target -> Target Targagent Targbox
+ //(1 0 1 1 0 1 1 1 0 1 0 0 0 1 1 0 1 0)
+ //or
+ //(1 1 0 1 0 0 0 1 1 0 1 0 1 0 1 1 0 1)
+ //or
+ //(0 1 1 0 1 0 1 0 1 1 0 1 1 1 0 1 0 0)
+ //or
+ //(1 0 1 1 0 1 0 1 1 0 1 0 1 1 0 1 0 0)
+ //or
+ //(1 1 0 1 0 0 1 0 1 1 0 1 0 1 1 0 1 0)
+ //or
+ //(1 1 0 1 0 0 1 0 1 1 0 1 0 1 1 0 1 0)
+ relvarset1 = sylvan_set_fromarray(relvars1, 18);
+ if (i < deltai && deltai < gammai){
+ uint8_t rel_enc__[18] = {1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < gammai && gammai < i){
+ uint8_t rel_enc__[18] = {1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (gammai < i && i < deltai){
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (i < gammai && gammai < deltai){
+ uint8_t rel_enc__[18] = {1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else if (deltai < i && i < gammai){
+ uint8_t rel_enc__[18] = {1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ else {
+ uint8_t rel_enc__[18] = {0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1};
+ memcpy(rel_enc1, rel_enc__, 18*sizeof(uint8_t));
+ }
+ 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;
+ }
+ }
+ trs_current = trs;
+
+ //test
+ /*
+ switch(dir){
+ case LEFT:
+ if (trs_current != NULL) printf("LEFT ok!\n");
+ else printf ("LEFT is empty\n");
+ printf("Num of trans relations:%d\n", countTrans(trs));
+ break;
+ case UP:
+ if (trs_current != NULL) printf("UP ok!\n");
+ else printf ("UP is empty\n");
+ printf("Num of trans relations:%d\n", countTrans(trs));
+ break;
+ case RIGHT:
+ if (trs_current != NULL) printf("RIGHT ok!\n");
+ else printf ("RIGHT is empty\n");
+ printf("Num of trans relations:%d\n", countTrans(trs));
+ break;
+ case DOWN:
+ if (trs_current != NULL) printf("DOWN ok!\n");
+ else printf ("DOWN is empty\n");
+ printf("Num of trans relations:%d\n", countTrans(trs));
+ break;
+ }
+ */
+ return trs;