report/src/domaintask7.pl

   1 % ------------------------- Domain Definition -------------------------
   2 % --- Cross-file definitions ------------------------------------------
   3 :- multifile connected/3, crate/4, agent/2, key/3.
   4
   5 % --- Primitive control actions ---------------------------------------
   6 primitive_action(move(_, _)).
   7 primitive_action(push(_, _)).
   8 primitive_action(pickup(_)).
   9
  10 % --- Precondition for primitive actions ------------------------------
  11 poss(move(From, To), S) :-
  12         agent(From, S),
  13         connected(From, To, _),
  14         not(crate(_, _, To, S)).
  15
  16 poss(push(From, Direction), S) :-
  17         agent(From, S),
  18         connected(From, CrateLocation, Direction),
  19         crate(_, Key, CrateLocation, S),
  20         keyinbag(Key, S),
  21         connected(CrateLocation, CrateTarget, Direction),
  22         not(crate(_, _, CrateTarget, S)).
  23
  24 poss(pickup(CurrentLocation), S) :-
  25         agent(CurrentLocation, S),
  26         key(_, CurrentLocation, S).
  27
  28 % --- Successor state axioms ------------------------------------------
  29 agent(AgentPlek, result(A, S)) :-
  30         A = move(_, AgentPlek);
  31         A = push(OudeAgentPlek, Richting),
  32                 connected(OudeAgentPlek, AgentPlek, Richting);
  33         not(A = move(AgentPlek, _)), not(A = push(AgentPlek, _)),
  34                 agent(AgentPlek, S).
  35
  36 crate(Krat, _, Kratplek, result(A, S)) :-
  37         A = push(AgentPlek, Richting),
  38                 connected(AgentPlek, OudeKratPlek, Richting),
  39                 connected(OudeKratPlek, Kratplek, Richting),
  40                 crate(Krat, _, OudeKratPlek, S);
  41         not(A = push(AgentPlek2, Richting2)),
  42                 connected(AgentPlek2, Kratplek, Richting2),
  43                 crate(Krat, _, Kratplek, S).
  44
  45 key(Key, Location, result(A, S)) :-
  46         not(A = pickup(Location)), key(Key, Location, S).
  47
  48 keyinbag(Key, result(A, S)) :-
  49         agent(CurrentLocation, S),
  50                 A = pickup(CurrentLocation),
  51                 key(Key, CurrentLocation, S);
  52         keyinbag(Key, S).