X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=modelchecker%2Fcoord.c;h=0f5a507747889a7a792c134b077afcf8656368d8;hb=0212b386d85354399a194538538c0da541e987ea;hp=dec0a284c7ecc095c512c0d097cff9e00ba941ad;hpb=398bd3da91c0916cd22ecab17da1b24eb549a9a0;p=mc1516pa.git

diff --git a/modelchecker/coord.c b/modelchecker/coord.c
index dec0a28..0f5a507 100644
--- a/modelchecker/coord.c
+++ b/modelchecker/coord.c
@@ -1,23 +1,112 @@
 #include <argp.h>
-#include <inttypes.h>
-#include <locale.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <string.h>
-#include <sys/time.h>
-
-#ifdef HAVE_PROFILER
-#include <gperftools/profiler.h>
-#endif
-
 #include <sylvan.h>
-#include <llmsset.h>
 #include <lace.h>
 
 #include "coord.h"
 #include "sokoban.h"
 
 
+typedef struct {
+	int x;
+	int y;
+} xy;
+
+typedef struct {
+	int var[3];
+} bddvar;
+
+typedef struct {
+	xy key;
+	bddvar value;
+	UT_hash_handle hh;
+} xy_bddvar_map;
+
+typedef struct {
+	int key;
+	xy value;
+	UT_hash_handle hh;
+} bddvar_xy_map;
+
+typedef struct {
+	xy_bddvar_map *f;
+	bddvar_xy_map *t;
+} bimap;
+
+xy_bddvar_map *getxy(int x, int y, xy_bddvar_map *map)
+{
+	xy_bddvar_map k, *r = NULL;
+	memset(&k, 0, sizeof(xy_bddvar_map));
+	k.key.x = x;
+	k.key.y = y;
+	HASH_FIND(hh, map, &k.key, sizeof(xy), r);
+	return r;
+}
+
+bddvar_xy_map *getbdd(int key, bddvar_xy_map *map)
+{
+	bddvar_xy_map k, *r = NULL;
+	memset(&k, 0, sizeof(bddvar_xy_map));
+	k.key = key;
+	HASH_FIND(hh, map, &k.key, sizeof(int), r);
+	return r;
+}
+
+
+bimap *create_bimap_helper(sokoban_screen *screen)
+{
+	int varcount = 0;
+	sokoban_screen *r;
+	xy_bddvar_map *xybdd = NULL;
+	bddvar_xy_map *bddxy = NULL;
+	for(r=screen; r != NULL; r = (sokoban_screen *)(r->hh.next)){
+		xy_bddvar_map *f = NULL;
+		f = (xy_bddvar_map *)malloc(sizeof(xy_bddvar_map));
+		memset(f, 0, sizeof(xy_bddvar_map));
+		f->key.x = r->coord.x;
+		f->key.y = r->coord.y;
+		f->value.var[0] = varcount * 2;
+		f->value.var[1] = (varcount + 1) * 2;
+		f->value.var[2] = (varcount + 2) * 2;
+		HASH_ADD(hh, xybdd, key, sizeof(xy), f);
+
+		for (int i = 0; i <3; i++){
+			bddvar_xy_map *t = NULL;
+			t = (bddvar_xy_map *)malloc(sizeof(bddvar_xy_map));
+			memset(t, 0, sizeof(bddvar_xy_map));
+			t->key = (varcount + i) * 2;
+			t->value.x = r->coord.x;
+			t->value.y = r->coord.y;
+			HASH_ADD(hh, bddxy, key, sizeof(int), t);
+		}
+		varcount = varcount + 3;
+	}
+	bimap *bm = NULL;
+	bm = (bimap *)malloc(sizeof(bimap));
+	bm->f = xybdd;
+	bm->t = bddxy;
+	return bm;
+}
+
+int check_xy_exists(int x, int y, bimap *bm)
+{
+	int res = 0;
+	if (getxy(x, y, bm->f) != NULL) res = 1;
+	return res;
+}
+
+int check_space(int x, int y, direction d, int delta, bimap *bm)
+{
+	switch(d){
+	case LEFT: x = x - delta; break;
+	case UP: y = y - delta; break;
+	case RIGHT: x = x + delta; break;
+	case DOWN: y = y + delta; break;
+	}
+	return check_xy_exists(x, y, bm);
+}
+
 /*
  * Each coordinate has three related boolean variables. The combination of those boolean variables
  * defines tiles:
@@ -34,102 +123,1033 @@
  * directly in transition relations.
  */
 
-BDD encode_screen(sokoban_screen *screen)
+state *encode_screen(sokoban_screen *screen)
 {
-	BDD state = sylvan_false;
-	//int tile_index = 0;
+	LACE_ME;
+
+	BDDVAR vars[HASH_COUNT(screen) * 3];
+	for (uint8_t i = 0; i < HASH_COUNT(screen) * 3; i++){
+		vars[i] = i * 2;
+	}
+
+	uint8_t st_enc[HASH_COUNT(screen) * 3];
+
+	BDDSET varset = sylvan_set_fromarray(vars, HASH_COUNT(screen) * 3);
+	BDD s;
+	state *fullState = NULL;
+	fullState = (state *)malloc(sizeof(state));
+	fullState->vars.varset = varset;
+	fullState->vars.size = HASH_COUNT(screen) * 3;
+	int tile_index = 0;
 	sokoban_screen *r;
 	for(r=screen; r != NULL; r = (sokoban_screen *)(r->hh.next)){
 		switch(r->tile){
-		case FREE:
-			if (state == sylvan_false){
-
-			}
-			else {
+		case FREE: //001
+			st_enc[tile_index] = 0;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
+			st_enc[tile_index] = 1;
+			tile_index++;
+			break;
+		case WALL: //000
+			st_enc[tile_index] = 0;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
+			break;
+		case BOX: //010
+			st_enc[tile_index] = 0;
+			tile_index++;
+			st_enc[tile_index] = 1;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
+			break;
+		case TARGET: //011
+			st_enc[tile_index] = 0;
+			tile_index++;
+			st_enc[tile_index] = 1;
+			tile_index++;
+			st_enc[tile_index] = 1;
+			tile_index++;
+			break;
+		case AGENT: //101
+			st_enc[tile_index] = 1;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
 
-			}
-			printf("x = %d y = %d FREE\n", r->coord.x, r->coord.y);
+			st_enc[tile_index] = 1;
+			tile_index++;
 			break;
-		case WALL:
-			if (state == sylvan_false){
+		case TARGAGENT: //110
+			st_enc[tile_index] = 1;
+			tile_index++;
+			st_enc[tile_index] = 1;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
+			break;
+		case TARGBOX: //100
+			st_enc[tile_index] = 1;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
+			break;
+		}
+	}
+	s = sylvan_cube(varset, st_enc);
+	fullState->bdd = s;
+	printf("Initial state encoded\n");
+	return fullState;
+}
 
-			}
-			else {
+//test
+int countTrans(trans_t *trs);
 
-			}
-			printf("x = %d y = %d WALL\n", r->coord.x, r->coord.y);
-			break;
-		case BOX:
-			if (state == sylvan_false){
+trans_t *create_single_rel(sokoban_screen *screen, direction dir)
+{
+	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;
+	}
 
-			}
-			else {
+	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;
 
-			}
-			printf("x = %d y = %d BOX\n", r->coord.x, r->coord.y);
-			break;
-		case TARGET:
-			if (state == sylvan_false){
+            //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));
 
-			}
-			else {
+			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;
 
-			}
-			printf("x = %d y = %d TARGET\n", r->coord.x, r->coord.y);
-			break;
-		case AGENT:
-			if (state == sylvan_false){
+		}
+		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;
 
-			}
-			else {
+            //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;
 
-			}
-			printf("x = %d y = %d AGENT\n", r->coord.x, r->coord.y);
-			break;
-		case TARGAGENT:
-			if (state == sylvan_false){
+            //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;
 
-			}
-			else {
+            //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;
 
-			}
-			printf("x = %d y = %d TARGAGENT\n", r->coord.x, r->coord.y);
-			break;
-		case TARGBOX:
-			if (state == sylvan_false){
+            //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 {
 
-			}
-			printf("x = %d y = %d TARGBOX\n", r->coord.x, r->coord.y);
-			break;
+		}
+		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;
 		}
 	}
-	return state;
+	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;
 }
 
-BDD encode_rel(sokoban_screen *screen)
+//test
+int countTrans(trans_t *trs)
 {
-	int num_tiles;
-	num_tiles = HASH_COUNT(screen);
-	printf("Number of tiles: %d\n", num_tiles);
-	return sylvan_true;
+    int counter = 0;
+    while (trs != NULL){
+        counter++;
+        trs = trs->next_rel;
+    }
+    return counter;
 }
 
-void test()
+rels *encode_rel(sokoban_screen *screen)
 {
-
-	printf("Test!\n");
-	BDD a = sylvan_true;
-	BDD b = sylvan_not(a);
-	if (b == sylvan_false){
-		printf("BDD works!\n");
-	} else {
-		printf("BDD does not work!\n");
-	}
 	LACE_ME;
-	BDD c = sylvan_ithvar(1);
-	if (sylvan_high(c) == sylvan_true && sylvan_low(c) == sylvan_false) printf("VAR works 1\n");
-	if (sylvan_var(c) == 1) printf("Var works 2\n");
+
+	trans_t *tl = sylvan_false;
+
+	//left relation
+	tl = create_single_rel(screen, LEFT);
+
+	//up relation
+	trans_t *tu = create_single_rel(screen, UP);
+
+	//right relation
+	trans_t *tr = create_single_rel(screen, RIGHT);
+
+	//down relation
+	trans_t *td = create_single_rel(screen, DOWN);
+
+	rels *rls = NULL;
+	rls = (rels *)malloc(sizeof(rels));
+	rls->rell = tl;
+	rls->relu = tu;
+	rls->relr = tr;
+	rls->reld = td;
+
+	return rls;
+}
+
+int test_trans(state *s, trans_t *t)
+{
+    LACE_ME;
+    int counter = 0;
+    BDD next = sylvan_false;
+    while (t != NULL){
+        next = sylvan_relnext(s->bdd, t->bdd, t->varset.varset);
+        if (next == s->bdd) printf("Same\n");
+        if (next != s->bdd && next != sylvan_false) printf("Different\n");
+        if (next == sylvan_false) printf("False\n");
+        t = t->next_rel;
+    }
+    printf("Trans:%d\n", counter);
+    return 1;
 }