report/src/domaintask1.pl

   1 % ------------------------- Domain Definition -------------------------
   2 % --- Cross-file definitions ------------------------------------------
   3 :- multifile connected/3, crate/3, agent/2.
   4
   5 % --- Primitive control actions ---------------------------------------
   6 primitive_action(move(_, _)).
   7 primitive_action(push(_, _)).
   8
   9 % --- Precondition for primitive actions ------------------------------
  10 poss(move(From, To), S) :-
  11         agent(From, S),
  12         connected(From, To, _),
  13         not(crate(_, To, S)),
  14         not(visited(To, S)).
  15
  16 poss(push(From, Direction), S) :-
  17         agent(From, S),
  18         connected(From, CrateLocation, Direction),
  19         crate(_, CrateLocation, S),
  20         connected(CrateLocation, CrateTarget, Direction),
  21         not(crate(_, CrateTarget, S)).
  22
  23 % --- Successor state axioms ------------------------------------------
  24 visited(Plek, result(A, _)) :-
  25         A = move(Plek, _).
  26
  27 agent(AgentPlek, result(A, S)) :-
  28         A = move(_, AgentPlek);
  29         A = push(OudeAgentPlek, Richting),
  30                 connected(OudeAgentPlek, AgentPlek, Richting);
  31         not(A = move(AgentPlek, _)), not(A = push(AgentPlek, _)),
  32                 agent(AgentPlek, S).
  33
  34 crate(Krat, Kratplek, result(A, S)) :-
  35         A = push(AgentPlek, Richting),
  36                 connected(AgentPlek, OudeKratPlek, Richting),
  37                 connected(OudeKratPlek, Kratplek, Richting),
  38                 crate(Krat, OudeKratPlek, S);
  39         not(A = push(AgentPlek2, Richting2)),
  40                 connected(AgentPlek2, Kratplek, Richting2),
  41                 crate(Krat, Kratplek, S).