33 lines
1.5 KiB
Plaintext
33 lines
1.5 KiB
Plaintext
% Additional rules for enforcing the inclusion of parallel actions in plans,
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% whenever such 'redundant' actions are compatible with states and other actions
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compatible(A,A1) :- active(A), active(A1), A != A1, _parallel = 2,
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not diverge(A,A1), not diverge(A1,A).
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disable(A,A1,A2) :- disable(A1,A2), compatible(A,A1), compatible(A,A2).
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disabled(A,A2) :- disable(A,A1,A2).
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disabled(A,A2) :- disable(A,A2), _parallel = 2.
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#program step(t).
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defeated(A,t) :- active(A), postcondition(A,X,V), fluent(X), not holds(X,V,t),
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_parallel = 1 : _parallel != 2.
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defeated(A,t) :- _parallel = 1, active(A), precondition(A,X,V), not holds(X,V,t-1).
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defeated(A,t) :- _parallel = 1, active(A), precondition(A,X,V), not holds(X,V,t).
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defeated(A,t) :- _parallel = 1, active(A), postcondition(A,X,V), not precondition(A,X,V),
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single(X,t).
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proceed(A,X,V,t) :- active(A), holds(X,V,t-1), scope(X,V).
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proceed(A,X,V,t) :- compatible(A,A1), occurs(A1,t), perform(A,A1,t),
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postcondition(A1,X,V), scope(X,V), not precondition(A1,X,V).
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perform(A,A1,t) :- disabled(A,A1), not occurs(A1,t).
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perform(A,A1,t) :- compatible(A,A1),
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proceed(A,X,V,t) : precondition(A1,X,V); perform(A,A2,t) : disable(A,A1,A2).
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perform(A,A,t) :- active(A), _parallel = 2,
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proceed(A,X,V,t) : precondition(A,X,V); perform(A,A2,t) : disable(A,A2).
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defeated(A,t) :- _parallel = 2, active(A), not perform(A,A,t).
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:- active(A), not occurs(A,t), not defeated(A,t), _parallel = 1 : _parallel != 2.
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