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plasp/encodings/sequential-incremental.lp

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#include <incmode>.
% Check feature requirements
:- requires(feature(actionCosts)).
:- requires(feature(axiomRules)).
:- requires(feature(conditionalEffects)).
#program base.
% Establish initial state
holds(Variable, Value, 0) :- initialState(Variable, Value).
#program step(t).
% Perform actions
1 {occurs(Action, t) : action(Action)} 1.
% Check preconditions
:- occurs(Action, t), precondition(Action, Variable, Value), not holds(Variable, Value, t - 1).
% Apply effects
caused(Variable, Value, t) :- occurs(Action, t), postcondition(Action, _, Variable, Value).
modified(Variable, t) :- caused(Variable, Value, 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(Variable, Value), not holds(Variable, Value, t).
#show query/1.
#show occurs/2.