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Updated sequential horizon-bound meta encoding to match new output format.

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Patrick Lühne 2017-06-28 16:41:31 +02:00
parent aec16f4407
commit 8b232e0155
Signed by: patrick
GPG Key ID: 05F3611E97A70ABF
1 changed files with 45 additions and 10 deletions
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55
encodings/sequential-horizon.lp
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@ -1,28 +1,58 @@
#const horizon=1. #const horizon=1.
% Check feature requirements %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
:- requires(feature(actionCosts)).
:- requires(feature(axiomRules)).
:- requires(feature(conditionalEffects)).
% Horizon, must be defined externally % Horizon, must be defined externally
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
time(0..horizon). time(0..horizon).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Establish initial state % Establish initial state
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
holds(Variable, Value, 0) :- initialState(Variable, Value). holds(Variable, Value, 0) :- initialState(Variable, Value).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Compute derived predicates
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% conjunctive preconditions
satisfied(DerivedPredicate, type(and), T) :- derivedPredicate(DerivedPredicate, type(and)), holds(Variable, Value, T) : precondition(DerivedPredicate, type(and), Variable, Value); time(T + 1).
% disjunctive preconditions
satisfied(DerivedPredicate, type(or), T) :- precondition(DerivedPredicate, type(or), Variable, Value), holds(Variable, Value, T), time(T + 1).
holds(DerivedVariable, Value, T) :- satisfied(DerivedPredicate, Type, T), postcondition(DerivedPredicate, Type, effect(unconditional), DerivedVariable, Value).
holds(derivedVariable(DerivedVariable), value(DerivedVariable, false), T) :- derivedVariable(DerivedVariable), not holds(derivedVariable(DerivedVariable), value(DerivedVariable, true), T), time(T + 1).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Perform actions % Perform actions
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1 {occurs(Action, T) : action(Action)} 1 :- time(T), T > 0. 1 {occurs(Action, T) : action(Action)} 1 :- time(T), T > 0.
% Check preconditions % Check preconditions
:- occurs(Action, T), precondition(Action, Variable, Value), not holds(Variable, Value, T - 1), time(T), time(T - 1). :- occurs(Action, T), precondition(Action, Variable, Value), not holds(Variable, Value, T - 1).
% Apply effects % Apply effects
caused(Variable, Value, T) :- occurs(Action, T), postcondition(Action, _, Variable, Value). caused(Variable, Value, T) :-
modified(Variable, T) :- caused(Variable, Value, T). occurs(Action, T),
postcondition(Action, Effect, Variable, Value),
holds(VariablePre, ValuePre, T - 1) : precondition(Effect, VariablePre, ValuePre).
holds(Variable, Value, T) :- caused(Variable, Value, T), time(T). %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
holds(Variable, Value, T) :- holds(Variable, Value, T - 1), not modified(Variable, T), time(T), time(T - 1). % Inertia rules
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
modified(variable(V), T) :- caused(variable(V), Value, T).
holds(Variable, Value, T) :- caused(Variable, Value, T).
holds(Variable, Value, T) :- holds(Variable, Value, T - 1), not modified(Variable, T), time(T).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Variables and mutex groups
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Check that variables have unique values % Check that variables have unique values
:- variable(Variable), not 1 {holds(Variable, Value, T) : contains(Variable, Value)} 1, time(T). :- variable(Variable), not 1 {holds(Variable, Value, T) : contains(Variable, Value)} 1, time(T).
@ -30,7 +60,12 @@ holds(Variable, Value, T) :- holds(Variable, Value, T - 1), not modified(Variabl
% Check mutexes % Check mutexes
:- mutexGroup(MutexGroup), not {holds(Variable, Value, T) : contains(MutexGroup, Variable, Value)} 1, time(T). :- mutexGroup(MutexGroup), not {holds(Variable, Value, T) : contains(MutexGroup, Variable, Value)} 1, time(T).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Verify that goal is met % Verify that goal is met
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
:- goal(Variable, Value), not holds(Variable, Value, horizon). :- goal(Variable, Value), not holds(Variable, Value, horizon).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#show occurs/2. #show occurs/2.