report/src/domaintask6.pl

   1 % ------------------------- Domain Definition -------------------------
   2 % --- Cross-file definitions ------------------------------------------
   3 :- multifile connected/3, crate/3, agent/2, visited/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
  15 poss(push(From, Direction), S) :-
  16         agent(From, S),
  17         connected(From, CrateLocation, Direction),
  18         crate(_, CrateLocation, S),
  19         connected(CrateLocation, CrateTarget, Direction),
  20         not(crate(_, CrateTarget, S)).
  21
  22 % --- Successor state axioms ------------------------------------------
  23 visited(Plek, result(A, S)) :-
  24         A = move(Plek, _);
  25         visited(Plek, S).
  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).