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May 27th, 2015
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  1. % Author:
  2. % Date: 2015-05-13
  3.  
  4. % acts
  5. act( go(X,Y), %action name
  6. [robot(S), at(S,X), on(S,floor), connection(X, C), connection(Y, C), diff(X,Y)], %preconditions
  7. [at(S,X)], %remove
  8. [at(S,Y)] %add
  9. ).
  10.  
  11. act( push(B,X,Y), %Action name
  12. [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
  13. [at(S,X), at(B,X)], %remove
  14. [at(S,Y), at(B,Y)] %add
  15. ).
  16.  
  17. act( climbUp(B),
  18. [robot(S), block(B), at(S,X), at(B,X), on(S,floor)], % preconditions
  19. [on(S,floor)], % remove
  20. [on(S,block)] % add
  21. ).
  22.  
  23. act( climbDown(B),
  24. [robot(S), block(B), at(S,X), at(B,X), on(S,block)], % preconditions
  25. [on(S,block)], % remove
  26. [on(S,floor)] % add
  27. ).
  28.  
  29. act( turnOn(L),
  30. [robot(S), on(S,block), at(S,Position), switch(Position, off), connection(Position, Room)], % preconditions
  31. [light(Room, off), switch(Position, off)], % remove
  32. [light(Room, on), switch(Position, on)] % add
  33. ).
  34.  
  35. act( turnOff(L),
  36. [robot(S), on(S,block), at(S,Position), switch(Position, on), connection(Position, Room)], % preconditions
  37. [light(Room, on), switch(Position, on)], % remove
  38. [light(Room, off), switch(Position, off)] % add
  39. ).
  40.  
  41.  
  42. %GOAL STATE:
  43. goal_state([
  44. light(room1, off),
  45. at(shakey, room1_room)
  46. ]).
  47. %INITIAL STATE:
  48.  
  49. initial_state([
  50. %Shakey börjar i
  51. robot(shakey),
  52. at(shakey, room1_room),
  53. on(shakey, floor),
  54.  
  55. %alla block är i room1 från början
  56. block(block1),
  57. block(block2),
  58. block(block3),
  59. block(block4),
  60. at(block1, room1_room),
  61. at(block2, room2_room),
  62. at(block3, room3_room),
  63. at(block4, room4_room),
  64.  
  65. %Ljus är på i room1 och room4
  66.  
  67. switch(room1_switch, on),
  68. switch(room2_switch, on),
  69. switch(room3_switch, on),
  70. switch(room4_switch, on),
  71. light(room1, on),
  72. light(room2, on),
  73. light(room3, on),
  74. light(room4, on),
  75. light(corridor, on),
  76.  
  77.  
  78. connection(room1_switch, room1),
  79. connection(room1_room, room1),
  80. connection(room1_door, room1),
  81.  
  82. connection(room2_switch, room2),
  83. connection(room2_room, room2),
  84. connection(room2_door, room2),
  85.  
  86. connection(room3_switch, room3),
  87. connection(room3_room, room3),
  88. connection(room3_door, room3),
  89.  
  90. connection(room4_switch, room4),
  91. connection(room4_room, room4),
  92. connection(room4_door, room4),
  93.  
  94. connection(room1_door, corridor),
  95. connection(room2_door, corridor),
  96. connection(room3_door, corridor),
  97. connection(room4_door, corridor)
  98.  
  99. ]).
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