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Documented actions.

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Patrick Lühne 2016-08-14 15:14:27 +02:00
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doc/output-format.md
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@ -87,3 +87,30 @@ With PDDL, Boolean variables are created from the PDDL predicates.
Variables ared named after the PDDL predicates, `variable(<PDDL predicate>).`
Each variable contains exactly two values (one true, one false) of the form `value(<PDDL predicate>, <bool>)`.
Note that with PDDL, variables and values are named identically.
### Actions
```prolog
% declares an <action>
action(action(<name>)).
% defines that as a precondition to <action>, <variable> must have value <value>
precondition(<action>, <variable>, <value>).
% defines that after executing <action>, <variable> is assigned <value>
postcondition(<action>, effect(<number>), <variable>, <value>).
% defines the condition of a conditional effect
precondition(effect(<number>), <variable>, <value>).
```
Actions may require certain variables to have specific values in order to be executed.
After applying an action, variables get new values according to the action's postconditions.
Actions may have *conditional effects*, that is, certain postconditions are only applied if additional conditions are satisfied.
For this reason, each conditional effect is uniquely identified with a predicate `effect(<number>)` as the second argument of the `postcondition` facts.
The conditions of conditional effects are given by additional `precondition` facts that take the respective `effect(<number>)` predicates as the first argument.
Unconditional effects are identified with `effect(unconditional)`.
Conditional effects are currently only supported with SAS input problems.