update, het werkt nu maar niet efficient

diff --git a/report/src/domaintask1.pl b/report/src/domaintask1.pl
index 1f41f38..20f6593 100644 (file)
--- a/report/src/domaintask1.pl
+++ b/report/src/domaintask1.pl
@@ -11,6 +11,7 @@ poss(move(From, To), S) :-
        agent(From, S),
        connected(From, To, _),
        not(crate(_, To, S)).
+
 poss(push(From, Direction), S) :-
        agent(From, S),
        connected(From, CrateLocation, Direction),
@@ -21,8 +22,8 @@ poss(push(From, Direction), S) :-
 % --- Successor state axioms ------------------------------------------
 agent(AgentPlek, result(A, S)) :-
        A = move(_, AgentPlek);
-       A = push(OudeAgentPlek1, Richting),
-               connected(OudeAgentPlek1, AgentPlek, Richting);
+       A = push(OudeAgentPlek, Richting),
+               connected(OudeAgentPlek, AgentPlek, Richting);
        not(A = move(AgentPlek, _)), not(A = push(AgentPlek, _)),
                agent(AgentPlek, S).
        

diff --git a/report/src/domaintask4.pl b/report/src/domaintask4.pl
new file mode 100644 (file)
index 0000000..cdbcfe6
--- /dev/null
+++ b/report/src/domaintask4.pl
@@ -0,0 +1,36 @@
+% ------------------------- Domain Definition -------------------------
+% --- Cross-file definitions ------------------------------------------
+:- multifile connected/3, crate/3, agent/2.
+
+% --- Primitive control actions ---------------------------------------
+primitive_action(move(_, _)).
+primitive_action(push(_, _)).
+
+% --- Precondition for primitive actions ------------------------------
+poss(move(From, To), S) :-
+       agent(From, S),
+       connected(From, To, _),
+       not(crate(_, To, S)).
+poss(push(From, Direction), S) :-
+       agent(From, S),
+       connected(From, CrateLocation, Direction),
+       crate(_, CrateLocation, S),
+       connected(CrateLocation, CrateTarget, Direction),
+       not(crate(_, CrateTarget, S)).
+
+% --- Successor state axioms ------------------------------------------
+agent(AgentPlek, result(A, S)) :-
+       A = move(_, AgentPlek);
+       A = push(OudeAgentPlek, Richting),
+               connected(OudeAgentPlek, AgentPlek, Richting);
+       not(A = move(AgentPlek, _)), not(A = push(AgentPlek, _)),
+               agent(AgentPlek, S).
+       
+crate(Krat, Kratplek, result(A, S)) :-
+       A = push(AgentPlek, Richting), 
+               connected(AgentPlek, OudeKratPlek, Richting),
+               connected(OudeKratPlek, Kratplek, Richting),
+               crate(Krat, OudeKratPlek, S);
+       not(A = push(AgentPlek2, Richting2)),
+               connected(AgentPlek2, Kratplek, Richting2),
+               crate(Krat, Kratplek, S).

diff --git a/report/src/domaintask5.pl b/report/src/domaintask5.pl
new file mode 100644 (file)
index 0000000..cdbcfe6
--- /dev/null
+++ b/report/src/domaintask5.pl
@@ -0,0 +1,36 @@
+% ------------------------- Domain Definition -------------------------
+% --- Cross-file definitions ------------------------------------------
+:- multifile connected/3, crate/3, agent/2.
+
+% --- Primitive control actions ---------------------------------------
+primitive_action(move(_, _)).
+primitive_action(push(_, _)).
+
+% --- Precondition for primitive actions ------------------------------
+poss(move(From, To), S) :-
+       agent(From, S),
+       connected(From, To, _),
+       not(crate(_, To, S)).
+poss(push(From, Direction), S) :-
+       agent(From, S),
+       connected(From, CrateLocation, Direction),
+       crate(_, CrateLocation, S),
+       connected(CrateLocation, CrateTarget, Direction),
+       not(crate(_, CrateTarget, S)).
+
+% --- Successor state axioms ------------------------------------------
+agent(AgentPlek, result(A, S)) :-
+       A = move(_, AgentPlek);
+       A = push(OudeAgentPlek, Richting),
+               connected(OudeAgentPlek, AgentPlek, Richting);
+       not(A = move(AgentPlek, _)), not(A = push(AgentPlek, _)),
+               agent(AgentPlek, S).
+       
+crate(Krat, Kratplek, result(A, S)) :-
+       A = push(AgentPlek, Richting), 
+               connected(AgentPlek, OudeKratPlek, Richting),
+               connected(OudeKratPlek, Kratplek, Richting),
+               crate(Krat, OudeKratPlek, S);
+       not(A = push(AgentPlek2, Richting2)),
+               connected(AgentPlek2, Kratplek, Richting2),
+               crate(Krat, Kratplek, S).

diff --git a/report/src/instancetask1.pl b/report/src/instancetask1.pl
index ad091b2..28567c7 100644 (file)
--- a/report/src/instancetask1.pl
+++ b/report/src/instancetask1.pl
@@ -4,55 +4,61 @@
 
 % --- Definition of the initial state ---------------------------------
 % north and east
-connected(loc1-1, loc2-1, north).
-connected(loc1-1, loc1-2, east).
-connected(loc1-2, loc2-2, north).
-connected(loc1-2, loc1-3, east).
-connected(loc1-3, loc2-3, north).
-connected(loc1-3, loc1-4, east).
-connected(loc1-4, loc2-4, north).
-
-connected(loc2-1, loc3-1, north).
-connected(loc2-1, loc2-2, east).
-connected(loc2-2, loc3-2, north).
-connected(loc2-2, loc2-3, east).
-connected(loc2-3, loc3-3, north).
-connected(loc2-3, loc2-4, east).
-
-connected(loc3-1, loc3-2, north).
-connected(loc3-2, loc3-3, north).
+connected(loc11, loc21, east).
+connected(loc11, loc12, north).
+connected(loc12, loc22, east).
+connected(loc12, loc13, north).
+connected(loc13, loc23, east).
+connected(loc13, loc14, north).
+connected(loc14, loc24, east).
+
+connected(loc21, loc31, east).
+connected(loc21, loc22, north).
+connected(loc22, loc32, east).
+connected(loc22, loc23, north).
+connected(loc23, loc33, east).
+connected(loc23, loc24, north).
+
+connected(loc31, loc32, east).
+connected(loc32, loc33, east).
 
 % The other way around, west and south
-connected(loc2-1, loc1-1, south).
-connected(loc1-2, loc1-1, west).
-connected(loc2-2, loc1-2, south).
-connected(loc1-3, loc1-2, west).
-connected(loc2-3, loc1-3, south).
-connected(loc1-4, loc1-3, west).
-connected(loc2-4, loc1-4, south).
-
-connected(loc3-1, loc2-1, south).
-connected(loc2-2, loc2-1, west).
-connected(loc3-2, loc2-2, south).
-connected(loc2-3, loc2-2, west).
-connected(loc3-3, loc2-3, south).
-connected(loc2-4, loc2-3, west).
-
-connected(loc3-2, loc3-1, south).
-connected(loc3-3, loc3-2, south).
+connected(loc21, loc11, west).
+connected(loc12, loc11, south).
+connected(loc22, loc12, west).
+connected(loc13, loc12, south).
+connected(loc23, loc13, west).
+connected(loc14, loc13, south).
+connected(loc24, loc14, west).
+
+connected(loc31, loc21, west).
+connected(loc22, loc21, south).
+connected(loc32, loc22, west).
+connected(loc23, loc22, south).
+connected(loc33, loc23, west).
+connected(loc24, loc23, south).
+
+connected(loc32, loc31, west).
+connected(loc33, loc32, west).
 
 %connected(X, Y, east) :- connected(Y, X, west).
 %connected(X, Y, north) :- connected(Y, X, south).
 
-crate(crate-c, loc2-1, s0).
-crate(crate-b, loc2-2, s0).
-crate(crate-a, loc2-3, s0).
+crate(cratec, loc21, s0).
+crate(crateb, loc22, s0).
+crate(cratea, loc23, s0).
 
-target(crate-a, loc1-1).
-target(crate-b, loc1-3).
-target(crate-c, loc1-2).
+target(cratea, loc12).
+target(crateb, loc13).
+target(cratec, loc11).
 
-agent(loc3-2, s0).
+agent(loc32, s0).
 
 % --- Goal condition that the planner will try to reach ---------------
-goal(S) :- forall(crate(Crate, Loc, S), target(Crate, Loc)).
+%goal(S) :- forall(crate(Crate, Loc, S), target(Crate, Loc)).
+goal(S) :- crate(cratea, Targeta, S), target(cratea, Targeta),
+       crate(crateb, Targetb, S), target(crateb, Targetb),
+       crate(cratec, Targetc, S), target(cratec, Targetc).
+%goal(S) :- crate(cratea, Targeta, S), target(_, Targeta),
+%      crate(crateb, Targetb, S), target(_, Targetb),
+%      crate(cratec, Targetc, S), target(_, Targetc).

diff --git a/report/src/instancetask4.pl b/report/src/instancetask4.pl
new file mode 100644 (file)
index 0000000..9fade9c
--- /dev/null
+++ b/report/src/instancetask4.pl
@@ -0,0 +1,61 @@
+% ------------------------- Problem Instance --------------------------
+% --- Load domain definitions from an external file -------------------
+:- [domaintask4].
+
+% --- Definition of the initial state ---------------------------------
+% north and east
+connected(loc11, loc21, east).
+connected(loc11, loc12, north).
+connected(loc12, loc22, east).
+connected(loc12, loc13, north).
+connected(loc13, loc23, east).
+connected(loc13, loc14, north).
+connected(loc14, loc24, east).
+
+connected(loc21, loc31, east).
+connected(loc21, loc22, north).
+connected(loc22, loc32, east).
+connected(loc22, loc23, north).
+connected(loc23, loc33, east).
+connected(loc23, loc24, north).
+
+connected(loc31, loc32, east).
+connected(loc32, loc33, east).
+
+% The other way around, west and south
+connected(loc21, loc11, west).
+connected(loc12, loc11, south).
+connected(loc22, loc12, west).
+connected(loc13, loc12, south).
+connected(loc23, loc13, west).
+connected(loc14, loc13, south).
+connected(loc24, loc14, west).
+
+connected(loc31, loc21, west).
+connected(loc22, loc21, south).
+connected(loc32, loc22, west).
+connected(loc23, loc22, south).
+connected(loc33, loc23, west).
+connected(loc24, loc23, south).
+
+connected(loc32, loc3-1, west).
+connected(loc33, loc3-2, west).
+
+%connected(X, Y, east) :- connected(Y, X, west).
+%connected(X, Y, north) :- connected(Y, X, south).
+
+crate(cratec, loc21, s0).
+crate(crateb, loc22, s0).
+crate(cratea, loc23, s0).
+
+target(cratea, loc12).
+target(crateb, loc13).
+target(cratec, loc11).
+
+agent(loc32, s0).
+
+% --- Goal condition that the planner will try to reach ---------------
+%goal(S) :- forall(crate(Crate, Loc, S), target(Crate, Loc)).
+goal(S) :- crate(cratea, Targeta, S), target(cratea, Targeta),
+       crate(crateb, Targetb, S), target(crateb, Targetb),
+       crate(cratec, Targetc, S), target(cratec, Targetc).

diff --git a/report/src/instancetask5.pl b/report/src/instancetask5.pl
new file mode 100644 (file)
index 0000000..81cc483
--- /dev/null
+++ b/report/src/instancetask5.pl
@@ -0,0 +1,57 @@
+% ------------------------- Problem Instance --------------------------
+% --- Load domain definitions from an external file -------------------
+:- [domaintask5].
+
+% --- Definition of the initial state ---------------------------------
+% north and east
+connected(loc11, loc21, east).
+connected(loc11, loc12, north).
+connected(loc12, loc22, east).
+connected(loc12, loc13, north).
+connected(loc13, loc23, east).
+connected(loc13, loc14, north).
+connected(loc14, loc24, east).
+
+connected(loc21, loc31, east).
+connected(loc21, loc22, north).
+connected(loc22, loc32, east).
+connected(loc22, loc23, north).
+connected(loc23, loc33, east).
+connected(loc23, loc24, north).
+
+connected(loc31, loc32, east).
+connected(loc32, loc33, east).
+
+% The other way around, west and south
+connected(loc21, loc11, west).
+connected(loc12, loc11, south).
+connected(loc22, loc12, west).
+connected(loc13, loc12, south).
+connected(loc23, loc13, west).
+connected(loc14, loc13, south).
+connected(loc24, loc14, west).
+
+connected(loc31, loc21, west).
+connected(loc22, loc21, south).
+connected(loc32, loc22, west).
+connected(loc23, loc22, south).
+connected(loc33, loc23, west).
+connected(loc24, loc23, south).
+
+connected(loc32, loc3-1, west).
+connected(loc33, loc3-2, west).
+
+crate(cratec, loc21, s0).
+crate(crateb, loc22, s0).
+crate(cratea, loc23, s0).
+
+target(cratea, loc12).
+target(crateb, loc13).
+target(cratec, loc11).
+
+agent(loc32, s0).
+
+% --- Goal condition that the planner will try to reach ---------------
+goal(S) :- crate(cratea, Targeta, S), target(_, Targeta),
+       crate(crateb, Targetb, S), target(_, Targetb),
+       crate(cratec, Targetc, S), target(_, Targetc).