X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=modelchecker%2Fcoord.c;h=3cd3a9a7e5a3c6bf1d3e69eac7ba2b79a0b283c7;hb=d5d879b4e6dff962b6d31be06b8e555e72819963;hp=586095fb08384998567433b89a9b17612b5dba7e;hpb=3350e67ad7c96bf9b821c0d691a58eb141a13e17;p=mc1516pa.git

diff --git a/modelchecker/coord.c b/modelchecker/coord.c
index 586095f..3cd3a9a 100644
--- a/modelchecker/coord.c
+++ b/modelchecker/coord.c
@@ -18,6 +18,105 @@
 #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;
+		f->value.var[1] = varcount + 1;
+		f->value.var[2] = varcount + 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;
+			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:
@@ -34,167 +133,1189 @@
  * directly in transition relations.
  */
 
-BDD encode_screen(sokoban_screen *screen)
+state *encode_screen(sokoban_screen *screen)
 {
-	BDD state = sylvan_false;
+	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;
-	LACE_ME;
 	for(r=screen; r != NULL; r = (sokoban_screen *)(r->hh.next)){
 		switch(r->tile){
-		case FREE:
-			if (state == sylvan_false){
-				state = sylvan_not(sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-			}
-			else {
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-			}
+		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:
-			if (state == sylvan_false){
-				state = sylvan_not(sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-			}
-			else {
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-			}
+		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:
-			if (state == sylvan_false){
-				state = sylvan_not(sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-			}
-			else {
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-			}
+		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:
-			if (state == sylvan_false){
-				state = sylvan_not(sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-			}
-			else {
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-			}
+		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:
-			if (state == sylvan_false){
-				state = sylvan_ithvar(tile_index);
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-			}
-			else {
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-			}
+		case AGENT: //101
+			st_enc[tile_index] = 1;
+			tile_index++;
+			st_enc[tile_index] = 0;
+			tile_index++;
+			st_enc[tile_index] = 1;
+			tile_index++;
 			break;
-		case TARGAGENT:
-			if (state == sylvan_false){
-				state = sylvan_ithvar(tile_index);
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-			}
-			else {
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-			}
+		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:
-			if (state == sylvan_false){
-				state = sylvan_ithvar(tile_index);
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-			}
-			else {
-				state = sylvan_and(state, sylvan_ithvar(tile_index));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-				state = sylvan_and(state, sylvan_not(sylvan_ithvar(tile_index)));
-				tile_index++;
-			}
+		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;
 		}
 	}
-	printf("%d tiles were encoded\n", tile_index);
-	return state;
+	s = sylvan_cube(varset, st_enc);
+	fullState->bdd = s;
+	printf("Initial state encoded\n");
+	return fullState;
 }
 
-BDD encode_rel(sokoban_screen *screen)
+trans_t *create_single_rel(sokoban_screen *screen, direction dir)
 {
-	int num_tiles;
-	num_tiles = HASH_COUNT(screen);
-	printf("Number of tiles: %d\n", num_tiles);
-	return sylvan_true;
-}
+	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;
+	}
 
-void test()
-{
+	for (unsigned int i = 0; i < HASH_COUNT(screen); i++){
+		bddxy = getbdd(i*3, 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 * 3, i * 3 + 1, i * 3 + 2, i * 3 + 3, i * 3 + 4, i * 3 + 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)
+			relvars[0] = i * 3;
+			relvars[1] = i * 3 + 1;
+			relvars[2] = i * 3 + 2;
+			relvars[3] = i * 3 + 3;
+			relvars[4] = i * 3 + 4;
+			relvars[5] = i * 3 + 5;
+			relvarset = sylvan_set_fromarray(relvars, 6);
+			rel_enc[0] = 1;
+			rel_enc[1] = 1;
+			rel_enc[2] = 1;
+			rel_enc[3] = 1;
+			rel_enc[4] = 0;
+			rel_enc[5] = 0;
+
+			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);
+			int deltai = bddvar->value.var[0];
+
+            //Free Agent -> Agent 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};
+			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;
+
+            //Target Agent -> Targagent Free
+			//(0 1 1 1 1 0 1 0 0 0 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] = 1;
+			rel_enc[4] = 1;
+			rel_enc[5] = 0;
+			rel_enc[6] = 1;
+			rel_enc[7] = 0;
+			rel_enc[8] = 0;
+			rel_enc[9] = 0;
+			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;
 
-	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");
+            //Must be: Free Targagent -> Agent Target
+			//(0 1 0 0 1 1 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] = 0;
+			rel_enc[3] = 0;
+			rel_enc[4] = 1;
+			rel_enc[5] = 1;
+			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;
+
+            //Target Targagent -> Targagent Target
+			//(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;
+
+            //Box Agent -> Box Agent
+			//(0 0 1 1 0 0 1 1 0 0 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] = 0;
+			rel_enc[2] = 1;
+			rel_enc[3] = 1;
+			rel_enc[4] = 0;
+			rel_enc[5] = 0;
+			rel_enc[6] = 1;
+			rel_enc[7] = 1;
+			rel_enc[8] = 0;
+			rel_enc[9] = 0;
+			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;
+
+            //Targbox Agent -> Targbox Agent
+			//(1 1 0 0 0 0 1 1 0 0 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] = 1;
+			rel_enc[1] = 1;
+			rel_enc[2] = 0;
+			rel_enc[3] = 0;
+			rel_enc[4] = 0;
+			rel_enc[5] = 0;
+			rel_enc[6] = 1;
+			rel_enc[7] = 1;
+			rel_enc[8] = 0;
+			rel_enc[9] = 0;
+			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;
+
+            //Box Targagent -> Box Targagent
+			//(0 0 1 1 0 0 1 1 1 1 0 0)
+			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] = 0;
+			rel_enc[2] = 1;
+			rel_enc[3] = 1;
+			rel_enc[4] = 0;
+			rel_enc[5] = 0;
+			rel_enc[6] = 1;
+			rel_enc[7] = 1;
+			rel_enc[8] = 1;
+			rel_enc[9] = 1;
+			rel_enc[10] = 0;
+			rel_enc[11] = 0;
+			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;
+
+            //Targbox Targagent -> Targbox Targagent
+			//(1 1 0 0 0 0 1 1 1 1 0 0)
+			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] = 1;
+			rel_enc[1] = 1;
+			rel_enc[2] = 0;
+			rel_enc[3] = 0;
+			rel_enc[4] = 0;
+			rel_enc[5] = 0;
+			rel_enc[6] = 1;
+			rel_enc[7] = 1;
+			rel_enc[8] = 1;
+			rel_enc[9] = 1;
+			rel_enc[10] = 0;
+			rel_enc[11] = 0;
+			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);
+			int deltai = bddvar->value.var[0];
+			bddvar = getxy(x + xgamma, y + ygamma, bm->f);
+			int gammai = bddvar->value.var[0];
+
+            //Free Agent -> 1 0 1 0 0 1 Agent 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};
+			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;
+
+            //Target Agent -> Targagent Free
+			//(0 1 1 1 1 0 1 0 0 0 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] = 1;
+			rel_enc[4] = 1;
+			rel_enc[5] = 0;
+			rel_enc[6] = 1;
+			rel_enc[7] = 0;
+			rel_enc[8] = 0;
+			rel_enc[9] = 0;
+			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;
+
+            //Free Targagent -> Agent Target
+			//(0 1 0 0 1 1 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] = 0;
+			rel_enc[3] = 0;
+			rel_enc[4] = 1;
+			rel_enc[5] = 1;
+			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;
+
+            //Target Targagent -> Targagent Target
+			//(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;
+
+            //Box Box Agent -> Box Box Agent
+			//(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];
+			//(0 0 1 1 0 0 0 0 1 1 0 0 1 1 0 0 1 1)
+			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;
+
+            //Targbox Box Agent -> Targbox Box Agent
+			//(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);
+			//(1 1 0 0 0 0 0 0 1 1 0 0 1 1 0 0 1 1)
+			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;
+
+            //Box Box Targagent -> Box Box Targagent
+			//(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;
+
+            //Targbox Box Targagent -> Targbox Box Targagent
+			//(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;
+		}
 	}
+	trs_current = trs;
+	return trs;
+}
+
+rels *encode_rel(sokoban_screen *screen)
+{
 	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_relprod()
+{
+    LACE_ME;
+
+    BDDVAR vars[] = {0,2,4};
+	BDDVAR all_vars[] = {0,1,2,3,4,5};
+    BDDVAR all_vars2[] = {0,1};
+	//BDDVAR short_vars[] = {0,1};
+		/*BDDVAR short_vars2[] = {2,3};
+	BDDVAR short_vars3[] = {0,1,2,3};*/
+
+    BDDSET vars_set = sylvan_set_fromarray(vars, 3);
+	BDDSET all_vars_set = sylvan_set_fromarray(all_vars, 6);
+    BDDSET all_vars_set2 = sylvan_set_fromarray(all_vars2, 2);
+	//BDDSET short_vars_set = sylvan_set_fromarray(short_vars, 2);
+		/*BDDSET short_vars_set2 = sylvan_set_fromarray(short_vars2, 2);
+	BDDSET short_vars_set3 = sylvan_set_fromarray(short_vars3, 4);*/
+
+    BDD s, t, next, prev;
+    BDD zeroes, ones;
+
+    // transition relation: 000 --> 111 and !000 --> 000
+    t = sylvan_false;
+	t = sylvan_union_cube(t, all_vars_set2, ((uint8_t[]){0,1}));
+    //t = sylvan_union_cube(t, all_vars_set, ((uint8_t[]){1,0,2,0,2,0}));
+    t = sylvan_union_cube(t, all_vars_set2, ((uint8_t[]){1,0}));
+	//    t = sylvan_union_cube(t, all_vars_set, ((uint8_t[]){0,1}));
+
+    s = sylvan_cube(vars_set, (uint8_t[]){0,0,0});
+    zeroes = sylvan_cube(vars_set, (uint8_t[]){1,0,0});
+    ones = sylvan_cube(vars_set, (uint8_t[]){0,0,0});
+
+    next = sylvan_relnext(s, t, all_vars_set);
+    prev = sylvan_relprev(t, next, all_vars_set);
+    if (next == zeroes) printf("Pass 1\n");
+    if (prev == ones) printf("Pass 2\n");
+	//trans *ts;
+	//ts = NULL;
+
+    return 0;
 }