#const horizon=1. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Horizon, must be defined externally %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% time(0..horizon). %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Establish initial state %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 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). % disjunctive preconditions satisfied(DerivedPredicate, type(or), T) :- precondition(DerivedPredicate, type(or), Variable, Value), holds(Variable, Value, T), time(T). 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). %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Perform actions %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 1 {occurs(Action, T) : action(Action)} 1 :- time(T), T > 0. % Check preconditions :- occurs(Action, T), precondition(Action, Variable, Value), not holds(Variable, Value, T - 1). % Apply effects caused(Variable, Value, T) :- occurs(Action, T), postcondition(Action, Effect, Variable, Value), holds(VariablePre, ValuePre, T - 1) : precondition(Effect, VariablePre, ValuePre). %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Inertia rules %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% modified(Variable, T) :- caused(Variable, Value, T). holds(Variable, Value, T) :- caused(Variable, Value, T). holds(variable(V), Value, T) :- holds(variable(V), Value, T - 1), not modified(variable(V), T), time(T). %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Variables and mutex groups %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Check that variables have unique values :- variable(Variable), not 1 {holds(Variable, Value, T) : contains(Variable, Value)} 1, time(T). % Check mutexes :- mutexGroup(MutexGroup), not {holds(Variable, Value, T) : contains(MutexGroup, Variable, Value)} 1, time(T). %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Verify that goal is met %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% :- goal(Variable, Value), not holds(Variable, Value, horizon). %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% #show occurs/2.