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- % Author:
- % Date: 2015-05-13
- % acts
- act( go(X,Y), %action name
- [robot(S), at(S,X), on(S,floor), connection(X, C), connection(Y, C), diff(X,Y)], %preconditions
- [at(S,X)], %remove
- [at(S,Y)] %add
- ).
- act( push(B,X,Y), %Action name
- [robot(S), block(B), at(S,X), at(B,X), on(S,floor), connection(X,C), connection(Y,C), light(C,on), diff(X,Y)], %preconditions
- [at(S,X), at(B,X)], %remove
- [at(S,Y), at(B,Y)] %add
- ).
- act( climbUp(B),
- [robot(S), block(B), at(S,X), at(B,X), on(S,floor)], % preconditions
- [on(S,floor)], % remove
- [on(S,block)] % add
- ).
- act( climbDown(B),
- [robot(S), block(B), at(S,X), at(B,X), on(S,block)], % preconditions
- [on(S,block)], % remove
- [on(S,floor)] % add
- ).
- act( turnOn(L),
- [robot(S), on(S,block), at(S,Position), switch(Position, off), connection(Position, Room)], % preconditions
- [light(Room, off), switch(Position, off)], % remove
- [light(Room, on), switch(Position, on)] % add
- ).
- act( turnOff(L),
- [robot(S), on(S,block), at(S,Position), switch(Position, on), connection(Position, Room)], % preconditions
- [light(Room, on), switch(Position, on)], % remove
- [light(Room, off), switch(Position, off)] % add
- ).
- %GOAL STATE:
- goal_state([
- light(room1, off),
- at(shakey, room1_room)
- ]).
- %INITIAL STATE:
- initial_state([
- %Shakey börjar i
- robot(shakey),
- at(shakey, room1_room),
- on(shakey, floor),
- %alla block är i room1 från början
- block(block1),
- block(block2),
- block(block3),
- block(block4),
- at(block1, room1_room),
- at(block2, room2_room),
- at(block3, room3_room),
- at(block4, room4_room),
- %Ljus är på i room1 och room4
- switch(room1_switch, on),
- switch(room2_switch, on),
- switch(room3_switch, on),
- switch(room4_switch, on),
- light(room1, on),
- light(room2, on),
- light(room3, on),
- light(room4, on),
- light(corridor, on),
- connection(room1_switch, room1),
- connection(room1_room, room1),
- connection(room1_door, room1),
- connection(room2_switch, room2),
- connection(room2_room, room2),
- connection(room2_door, room2),
- connection(room3_switch, room3),
- connection(room3_room, room3),
- connection(room3_door, room3),
- connection(room4_switch, room4),
- connection(room4_room, room4),
- connection(room4_door, room4),
- connection(room1_door, corridor),
- connection(room2_door, corridor),
- connection(room3_door, corridor),
- connection(room4_door, corridor)
- ]).
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