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some restriction of instantiation

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mgebser 2016-11-15 19:34:07 +01:00
parent f12ac1c839
commit 6f1a64a705
1 changed files with 12 additions and 4 deletions
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16
encodings/strips/redundancy.lp
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@ -1,6 +1,12 @@
% Additional rules for enforcing the inclusion of parallel actions in plans,
% whenever such 'redundant' actions are compatible with states and other actions
compatible(A,A1) :- active(A), active(A1), A != A1, _parallel = 2,
not diverge(A,A1), not diverge(A1,A).
disable(A,A1,A2) :- disable(A1,A2), compatible(A,A1), compatible(A,A2).
disabled(A,A2) :- disable(A,A1,A2).
disabled(A,A2) :- disable(A,A2), _parallel = 2.
#program step(t).
defeated(A,t) :- active(A), postcondition(A,X,V), fluent(X), not holds(X,V,t),
@ -12,12 +18,14 @@ defeated(A,t) :- _parallel = 1, active(A), postcondition(A,X,V), not preconditio
single(X,t).
proceed(A,X,V,t) :- active(A), holds(X,V,t-1), scope(X,V).
proceed(A,X,V,t) :- active(A), occurs(A1,t), perform(A,A1,t), A != A1,
proceed(A,X,V,t) :- compatible(A,A1), occurs(A1,t), perform(A,A1,t),
postcondition(A1,X,V), scope(X,V), not precondition(A1,X,V).
perform(A,A1,t) :- active(A), active(A1), A != A1, _parallel = 2, not occurs(A1,t).
perform(A,A1,t) :- active(A), active(A1), _parallel = 2,
proceed(A,X,V,t) : precondition(A1,X,V); perform(A,A2,t) : disable(A1,A2).
perform(A,A1,t) :- disabled(A,A1), not occurs(A1,t).
perform(A,A1,t) :- compatible(A,A1),
proceed(A,X,V,t) : precondition(A1,X,V); perform(A,A2,t) : disable(A,A1,A2).
perform(A,A,t) :- active(A), _parallel = 2,
proceed(A,X,V,t) : precondition(A,X,V); perform(A,A2,t) : disable(A,A2).
defeated(A,t) :- _parallel = 2, active(A), not perform(A,A,t).