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Fixed handling of goal in example encoding.

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The example encoding assumed that derived predicates weren’t necessary
in the final time step. This is, however, incorrect, as the goal may
have a precondition that requires derived predicates. In this case, the
derived variables must be evaluated for the final time step.
This commit is contained in:
Patrick Lühne 2017-11-17 17:32:05 +01:00
parent f7e089042d
commit b2280c155a
Signed by: patrick
GPG Key ID: 05F3611E97A70ABF
1 changed files with 3 additions and 3 deletions
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6
encodings/sequential-horizon.lp
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@ -17,14 +17,14 @@ holds(Variable, Value, 0) :- initialState(Variable, Value).
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% conjunctive preconditions % conjunctive preconditions
satisfied(DerivedPredicate, type(and), T) :- derivedPredicate(DerivedPredicate, type(and)), holds(Variable, Value, T) : precondition(DerivedPredicate, type(and), Variable, Value); time(T + 1). satisfied(DerivedPredicate, type(and), T) :- derivedPredicate(DerivedPredicate, type(and)), holds(Variable, Value, T) : precondition(DerivedPredicate, type(and), Variable, Value); time(T).
% disjunctive preconditions % disjunctive preconditions
satisfied(DerivedPredicate, type(or), T) :- precondition(DerivedPredicate, type(or), Variable, Value), holds(Variable, Value, T), time(T + 1). satisfied(DerivedPredicate, type(or), T) :- precondition(DerivedPredicate, type(or), Variable, Value), holds(Variable, Value, T), time(T).
holds(DerivedVariable, Value, T) :- satisfied(DerivedPredicate, Type, T), postcondition(DerivedPredicate, Type, effect(unconditional), DerivedVariable, Value). holds(DerivedVariable, Value, T) :- satisfied(DerivedPredicate, Type, T), postcondition(DerivedPredicate, Type, effect(unconditional), DerivedVariable, Value).
holds(derivedVariable(DerivedVariable), value(DerivedVariable, false), T) :- derivedVariable(DerivedVariable), not holds(derivedVariable(DerivedVariable), value(DerivedVariable, true), T), time(T + 1). holds(derivedVariable(DerivedVariable), value(DerivedVariable, false), T) :- derivedVariable(DerivedVariable), not holds(derivedVariable(DerivedVariable), value(DerivedVariable, true), T), time(T).
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% Perform actions % Perform actions