This repository has been archived on 2023-07-19. You can view files and clone it, but cannot push or open issues or pull requests.
plasp/encodings/strips/strips-incremental.lp

85 lines
2.1 KiB
Plaintext

#include <incmode>.
#const _parallel = 0.
% BASE PROGRAM
% Define relevant fluents w.r.t. parallel mode
diverge(A1,A2,X) :- active(A1), active(A2), A1 < A2, postcondition(A1,X,V),
has_condition(A2,X,1), not postcondition(A2,X,V),
_parallel = 1 : _parallel != 2.
diverge(A1,A2) :- diverge(A1,A2,X), _parallel = 1.
exclude(A1,A2) :- diverge(A1,A2), precondition(A1,X,V),
has_condition(A2,X,0), not precondition(A2,X,V).
fluent(X,V) :- produce(X,V).
fluent(X,V) :- persist(X,V).
fluent(X,V) :- initialState(X,V), fluent(X).
fluent(X,V) :- active(A), postcondition(A,X,V), fluent(X).
fluent(X) :- fluent(X,V).
fluent(X) :- diverge(A1,A2,X), not exclude(A1,A2).
% Define unsubsumed mutexes
mutex(G,V) :- mutexGroup(G), contains(G,X,V), fluent(X,V).
mutex(G) :- mutexGroup(G), #count{V : mutex(G,V)} > 1.
% Define initial state
holds(X,V,0) :- initialState(X,V), fluent(X).
:- fluent(X), #count{V : holds(X,V,0) } > 1.
:- mutex(G), #count{X,V : holds(X,V,0), contains(G,X,V) } > 1.
% STEP PROGRAM
#program step(t).
% Generate successor state
1 {holds(X,V,t) : fluent(X,V)} 1 :- fluent(X).
:- mutex(G), #count{X,V : holds(X,V,t), contains(G,X,V) } > 1.
change(X,t) :- holds(X,V,t), not holds(X,V,t-1).
% Generate actions
1 {occurs(A,t) : active(A)}.
:- 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).
:- change(X,t), not effect(X,t).
% Check w.r.t. parallel mode
:- _parallel != 1, _parallel != 2, #count{A : occurs(A,t)} > 1.
:- _parallel != 2, occurs(A,t), precondition(A,X,V), not holds(X,V,t-1).
invariant(X,t) :- occurs(A,t), precondition(A,X,V), _parallel = 1,
not has_condition(A,X,1).
:- invariant(X,t), effect(X,t).
singleton(X,t) :- occurs(A,t), precondition(A,X,V), _parallel = 1,
has_condition(A,X,1), not postcondition(A,X,V).
:- singleton(X,t), #count{A : occurs(A,t), postcondition(A,X,V), not precondition(A,X,V) } > 1.
% CHECK PROGRAM
#program check(t).
% Check goal conditions
:- query(t), goal(X,V), not holds(X,V,t).
% DISPLAY PART
#show occurs/2.