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first throw at PDDL specifc encoding for sequential planning using Boolean fluents only

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This commit is contained in:
Torsten Schaub 2016-08-22 22:35:35 +02:00
parent b44c04d3c0
commit 92f3018b89
1 changed files with 31 additions and 0 deletions
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encodings/pddl-sequential-incremental-boolean.lp Normal file
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#include <incmode>.
#program base.
precondition(Action,variable(Fluent),Value) :- precondition(Action, variable(Fluent),value(Fluent,Value)).
postcondition(Action,variable(Fluent),Value) :- postcondition(Action,effect(unconditional),variable(Fluent),value(Fluent,Value)).
holds(variable(Fluent),0) :- initialState(variable(Fluent),value(Fluent,true)).
#program step(t).
{ occurs(Action,t) : action(Action) } = 1.
:- occurs(Action,t), precondition(Action,Fluent,true), not holds(Fluent,t-1).
:- occurs(Action,t), precondition(Action,Fluent,false), holds(Fluent,t-1).
caused(Fluent,t) :- occurs(Action,t), postcondition(Action,Fluent,true).
holds(Fluent,t) :- caused(Fluent,t).
holds(Fluent,t) :- holds(Fluent,t-1), not occurs(Action,t) : postcondition(Action,Fluent,false).
#program check(t).
goalAt(t) :- holds(variable(Variable),t) : goal(variable(Variable), value(Variable,true));
not holds(variable(Variable),t) : goal(variable(Variable), value(Variable,false)).
:- not goalAt(t), query(t).
#show occurs/2.
% #show holds/2.