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Updated PDDL meta encoding to recent changes of output format.

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Patrick Lühne 2016-08-13 04:04:56 +02:00
parent 340db244f6
commit f2d3aee662
1 changed files with 15 additions and 10 deletions
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25
encodings/pddl-meta-sequential-incremental.lp
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@ -3,29 +3,34 @@
#program base.
% Establish initial state
holds(Predicate, 0) :- initialState(Predicate).
holds(Variable, Value, 0) :- initialState(Variable, Value).
holds(variable(Variable), value(Variable, false), 0) :- variable(variable(Variable)), {initialState(variable(Variable), _)} 0.
#program step(t).
% Perform actions
1 {occurs(action(Action), t) : action(Action)} 1.
1 {occurs(Action, t) : action(Action)} 1.
% Check preconditions
:- occurs(Action, t), precondition(Action, Predicate, true), not holds(Predicate, t - 1).
:- occurs(Action, t), precondition(Action, Predicate, false), holds(Predicate, t - 1).
:- occurs(Action, t), precondition(Action, Variable, Value), not holds(Variable, Value, t - 1).
% Apply effects
caused(Predicate, true, t) :- occurs(Action, t), postcondition(Action, Predicate, true).
caused(Predicate, false, t) :- occurs(Action, t), postcondition(Action, Predicate, false).
caused(Variable, Value, t) :- occurs(Action, t), postcondition(Action, _, Variable, Value).
modified(Variable, t) :- caused(Variable, Value, t).
holds(Predicate, t) :- caused(Predicate, true, t).
holds(Predicate, t) :- holds(Predicate, t - 1), not caused(Predicate, false, t).
holds(Variable, Value, t) :- caused(Variable, Value, t).
holds(Variable, Value, t) :- holds(Variable, Value, t - 1), not modified(Variable, t).
% Check that variables have unique values
:- variable(Variable), not 1 {holds(Variable, Value, t) : contains(Variable, Value)} 1.
% Check mutexes
%:- mutexGroup(MutexGroup), not {holds(Variable, Value, t) : contains(MutexGroup, Variable, Value)} 1.
#program check(t).
% Verify that goal is met
:- query(t), goal(Predicate, true), not holds(Predicate, t).
:- query(t), goal(Predicate, false), holds(Predicate, t).
:- query(t), goal(Variable, Value), not holds(Variable, Value, t).
#show query/1.
#show occurs/2.