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Merge pull request #4 from mgebser/strips

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Introduced flat representation of transition constraints, activated by
default with respect to the new constant _inertia.
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Patrick Lühne 2017-11-09 14:35:31 +01:00 committed by GitHub
commit a1a80332ca
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1 changed files with 12 additions and 2 deletions
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14
encodings/strips/strips-incremental.lp
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@ -14,6 +14,12 @@
#const _shallow = 0.
% Constant '_inertia' to choose flat or tiered format for transition constraints
% - value '0': use flat rules (integrity constraints) for transition constraints
% - otherwise: use rules that provide auxiliary atoms for transition constraints
#const _inertia = 0.
% 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)
@ -77,7 +83,7 @@ holds(X,V,0) :- initialState(X,V), fluent(X).
:- mutex(G), #count{X,V : holds(X,V,t), contains(G,X,V)} > 1.
change(X,t) :- holds(X,V,t-1), not holds(X,V,t).
change(X,t) :- holds(X,V,t-1), not holds(X,V,t), _inertia != 0.
% Generate actions
@ -87,10 +93,14 @@ change(X,t) :- holds(X,V,t-1), not holds(X,V,t).
:- occurs(A,t), postcondition(A,X,V), fluent(X), not holds(X,V,t).
effect(X,t) :- occurs(A,t), postcondition(A,X,V), fluent(X), not precondition(A,X,V).
effect(X,t) :- occurs(A,t), postcondition(A,X,V), fluent(X), not precondition(A,X,V),
_inertia != 0.
:- change(X,t), not effect(X,t).
:- _inertia = 0, holds(X,V,t), not holds(X,V,t-1),
not occurs(A,t) : active(A), postcondition(A,X,V), not precondition(A,X,V).
% Checks w.r.t. parallel mode
:- _parallel != 0, _parallel != 1, _parallel != 2, _parallel != 3, _parallel != 4,