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some refactoring

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mgebser
2017-01-17 17:15:21 +01:00
parent 18f4a87dd7
commit 59e95c7097
4 changed files with 61 additions and 50 deletions
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24
encodings/strips/strips-incremental.lp
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@@ -7,31 +7,35 @@
#const _parallel = 0.
#include <incmode>.
% Constant 'planner_on' to enable encoding support for ASP-based planner
% - value '0': no compatibility to ASP-based planner (no idle steps permitted)
% - otherwise: compatibility to ASP-based planner (idle steps permitted)
#const planner_on = 0.
% BASE PROGRAM
% Define auxiliary predicates for actions w.r.t. parallel mode
selfdefeat(A,X) :- active(A), precondition(A,X,V), has_condition(A,X,1), _parallel = 1,
not postcondition(A,X,V).
selfdefeat(A,X) :- active(A), precondition(A,X,V), _parallel = 1,
has_condition(A,X,1), not postcondition(A,X,V).
diverge(A1,A2,X) :- active(A1), active(A2), A1 < 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),
0 < _parallel, _parallel < 5.
diverge(A1,A2) :- diverge(A1,A2,X).
exclude(A1,A2) :- precondition(A1,X,V), 0 < _parallel, _parallel < 5, _parallel != 2,
has_condition(A2,X,0), not precondition(A2,X,V).
exclude(A1,A2) :- active(A1), active(A2), precondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V),
0 < _parallel, _parallel < 5, _parallel != 2.
disable(A1,A2) :- active(A1), active(A2), A1 != A2, postcondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V),
not diverge(A1,A2), not diverge(A2,A1),
not exclude(A1,A2), not exclude(A2,A1),
not diverge(A1,A2), not exclude(A1,A2),
1 < _parallel, _parallel < 5.
disable :- #sum{ 1,A1 : disable(A1,A2), _parallel = 4;
-1,A2 : disable(A1,A2), _parallel = 4 } > 0.
-1,A2 : disable(A1,A2), _parallel = 4} > 0.
scope(X,V) :- active(A), precondition(A,X,V), _parallel = 2.
@@ -72,7 +76,7 @@ change(X,t) :- holds(X,V,t-1), not holds(X,V,t).
{occurs(A,t) : active(A)}.
:- not occurs(A,t) : active(A).
:- planner_on = 0, not occurs(A,t) : active(A).
:- occurs(A,t), postcondition(A,X,V), fluent(X), not holds(X,V,t).