Patrick Lühne
0f039f0837
In the example encoding, derived variables were accidentally included in the inertia rule, as this only checked the position of the parameter. This commit fixes this by only allowing common variables (and not derived ones) within the inertia rule.
72 lines
3.4 KiB
Plaintext
72 lines
3.4 KiB
Plaintext
#const horizon=1.




%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Horizon, must be defined externally


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time(0..horizon).




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% Establish initial state


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holds(Variable, Value, 0) : initialState(Variable, Value).




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% Compute derived predicates


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% 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


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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


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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).




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% Variables and mutex groups


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% 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).




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% Verify that goal is met


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: goal(Variable, Value), not holds(Variable, Value, horizon).




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#show occurs/2.
