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Merge pull request #3 from mgebser/strips

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Support for parallel actions without checking mutual disablement
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Patrick Lühne 2017-10-12 19:27:26 +02:00 committed by GitHub
commit 8b6c4beed8
1 changed files with 7 additions and 5 deletions
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encodings/strips/strips-incremental.lp
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@ -1,11 +1,12 @@
% Constant '_parallel' to enable parallel actions % Constant '_parallel' to enable parallel actions
% - value '0': parallel actions *without* checking for mutual disablement
% - value '1': "forall" parallel actions that can be arranged in any sequence % - value '1': "forall" parallel actions that can be arranged in any sequence
% - value '2': "exists" parallel actions that can be arranged in some sequence % - value '2': "exists" parallel actions that can be arranged in some sequence
% - value '3': "exists" parallel actions omitting achievement of preconditions % - value '3': "exists" parallel actions omitting achievement of preconditions
% - value '4': "exists" parallel actions like '3' implemented by acyclicity % - value '4': "exists" parallel actions like '3' implemented by acyclicity
% - otherwise: sequential actions % - otherwise: sequential actions
#const _parallel = 0. #const _parallel = 5.
% Constant '_shallow' to cheaply approximate mutually disabling parallel actions % Constant '_shallow' to cheaply approximate mutually disabling parallel actions
% - value '0': detect incompatible pre/postconditions to reduce parallel actions % - value '0': detect incompatible pre/postconditions to reduce parallel actions
@ -28,12 +29,12 @@ selfdefeat(A,X) :- active(A), precondition(A,X,V), _parallel = 1,
diverge(A1,A2,X) :- active(A1), active(A2), postcondition(A1,X,V), diverge(A1,A2,X) :- active(A1), active(A2), postcondition(A1,X,V),
has_condition(A2,X,1), not postcondition(A2,X,V), has_condition(A2,X,1), not postcondition(A2,X,V),
0 < _parallel, _parallel < 5, _shallow = 0. 0 <= _parallel, _parallel < 5, _shallow = 0.
diverge(A1,A2) :- diverge(A1,A2,X). diverge(A1,A2) :- diverge(A1,A2,X).
exclude(A1,A2) :- active(A1), active(A2), precondition(A1,X,V), exclude(A1,A2) :- active(A1), active(A2), precondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V), has_condition(A2,X,0), not precondition(A2,X,V),
0 < _parallel, _parallel < 5, _parallel != 2, _shallow = 0. 0 <= _parallel, _parallel < 5, _parallel != 2, _shallow = 0.
disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,X,V), disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V), has_condition(A2,X,0), not precondition(A2,X,V),
@ -52,7 +53,7 @@ fluent(X,V) :- initialState(X,V), fluent(X).
fluent(X,V) :- active(A), postcondition(A,X,V), fluent(X). fluent(X,V) :- active(A), postcondition(A,X,V), fluent(X).
fluent(X) :- fluent(X,V). fluent(X) :- fluent(X,V).
fluent(X) :- diverge(A1,A2,X), not exclude(A1,A2). fluent(X) :- diverge(A1,A2,X), not exclude(A1,A2).
fluent(X) :- active(A), has_condition(A,X,1), 0 < _parallel, _parallel < 5, _shallow != 0. fluent(X) :- active(A), has_condition(A,X,1), 0 <= _parallel, _parallel < 5, _shallow != 0.
% Define unsubsumed mutexes % Define unsubsumed mutexes
@ -92,7 +93,8 @@ effect(X,t) :- occurs(A,t), postcondition(A,X,V), fluent(X), not precondition(A,
% Checks w.r.t. parallel mode % Checks w.r.t. parallel mode
:- _parallel != 1, _parallel != 2, _parallel != 3, _parallel != 4, #count{A : occurs(A,t)} > 1. :- _parallel != 0, _parallel != 1, _parallel != 2, _parallel != 3, _parallel != 4,
#count{A : occurs(A,t)} > 1.
:- _parallel != 2, occurs(A,t), precondition(A,X,V), not holds(X,V,t-1). :- _parallel != 2, occurs(A,t), precondition(A,X,V), not holds(X,V,t-1).