report/src/domaintask4.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 poss(push(From, Direction), S) :-
  15         agent(From, S),
  16         connected(From, CrateLocation, Direction),
  17         crate(_, CrateLocation, S),
  18         connected(CrateLocation, CrateTarget, Direction),
  19         not(crate(_, CrateTarget, S)).
  20
  21 % --- Successor state axioms ------------------------------------------
  22 agent(AgentPlek, result(A, S)) :-
  23         A = move(_, AgentPlek);
  24         A = push(OudeAgentPlek, Richting),
  25                 connected(OudeAgentPlek, AgentPlek, Richting);
  26         not(A = move(AgentPlek, _)), not(A = push(AgentPlek, _)),
  27                 agent(AgentPlek, S).
  28
  29 crate(Krat, Kratplek, result(A, S)) :-
  30         A = push(AgentPlek, Richting),
  31                 connected(AgentPlek, OudeKratPlek, Richting),
  32                 connected(OudeKratPlek, Kratplek, Richting),
  33                 crate(Krat, OudeKratPlek, S);
  34         not(A = push(AgentPlek2, Richting2)),
  35                 connected(AgentPlek2, Kratplek, Richting2),
  36                 crate(Krat, Kratplek, S).