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Implemented predicate parsing and refactored context storage.

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Patrick Lühne
2016-06-01 14:11:13 +02:00
parent 44482ae438
commit 3c97ced486
14 changed files with 265 additions and 110 deletions
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28
tests/data/storage-domain.pddl
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@@ -1,32 +1,32 @@
(define (domain Storage-Propositional)
(:requirements :typing)
(:types hoist surface place area - object
container depot - place
storearea transitarea - area
area crate - surface)
container depot - place
storearea transitarea - area
area crate - surface)
(:predicates (clear ?s - storearea)
(in ?x - (either storearea crate) ?p - place)
(available ?h - hoist)
(lifting ?h - hoist ?c - crate)
(at ?h - hoist ?a - area)
(on ?c - crate ?s - storearea)
(connected ?a1 ?a2 - area)
(in ?x - (either storearea crate) ?p - place)
(available ?h - hoist)
(lifting ?h - hoist ?c - crate)
(at ?h - hoist ?a - area)
(on ?c - crate ?s - storearea)
(connected ?a1 ?a2 - area)
(compatible ?c1 ?c2 - crate))
(:action lift
:parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place)
:precondition (and (connected ?a1 ?a2) (at ?h ?a2) (available ?h)
(on ?c ?a1) (in ?a1 ?p))
(on ?c ?a1) (in ?a1 ?p))
:effect (and (not (on ?c ?a1)) (clear ?a1)
(not (available ?h)) (lifting ?h ?c) (not (in ?c ?p))))
(not (available ?h)) (lifting ?h ?c) (not (in ?c ?p))))
(:action drop
:parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place)
:precondition (and (connected ?a1 ?a2) (at ?h ?a2) (lifting ?h ?c)
(clear ?a1) (in ?a1 ?p))
(clear ?a1) (in ?a1 ?p))
:effect (and (not (lifting ?h ?c)) (available ?h)
(not (clear ?a1)) (on ?c ?a1) (in ?c ?p)))
(not (clear ?a1)) (on ?c ?a1) (in ?c ?p)))
(:action move
:parameters (?h - hoist ?from ?to - storearea)