private PlanningContext prepareNewContext(PlanningContext context, Rel subtask) {
PlanningContext newContext = context.getCopy();
// [x->y] assume x is known
Set<Var> allSubtaskInputs = new LinkedHashSet<Var>();
unfoldVarsToSet(subtask.getInputs(), allSubtaskInputs);
newContext.getKnownVars().addAll(allSubtaskInputs);
newContext.getFoundVars().addAll(allSubtaskInputs);
Set<Var> goals = new LinkedHashSet<Var>();
unfoldVarsToSet(subtask.getOutputs(), goals);
newContext.addGoals(goals);
return newContext;
}
