htncode

% Provides a prolog database env % % % % Logicmoo Project PrologMUD: A MUD server written in Prolog % Maintainer: Douglas Miles % Denton, TX 2005, 2010, 2014 % Dec 13, 2035 % */

12:-module(htncode,[]). 13 14 15:-multifile(user:push_env_ctx/0). 16:-dynamic(user:push_env_ctx/0). 17 18/* ***********************************/ 19/* Douglas Miles 2005, 2010, 2014 */ 20/* Denton, TX */ 21/* ***********************************/ 22 23 24 25% [Required] Load the Logicmoo Library Utils 26:- ensure_loaded(library(logicmoo_common)). 27:- ensure_loaded(library(planner_api)). 28:- use_module(library(logicmoo_planner)). 29 30:- kb_shared(baseKB:mpred_prop/3). 31 32:- ensure_loaded(library(logicmoo/util_structs)). 33:- ensure_loaded(library(logicmoo/util_bb_env)). 34:- prolog_load_context(file,File),ain(user:env_source_file(File)). 35 36:-op(500,fx,env_call). 37/* htncode.pl */ 38 39/* ***********************************/ 40/* Donghong Liu */ 41/* University of Huddersfield */ 42/* September 2002 */ 43/* **********************************/ 44 45:- style_check(-singleton). 46:-use_module(library(system)). 47 48/*********************** initialisation**************/ 49:- dynamic op_num/1. 50:- dynamic sum/1. 51%:- dynamic initial_node/1, final_node/1. 52:- dynamic methodC/7, operatorC/5, my_stats/1. 53%%:- dynamic node/7,,solved_node/5. 54:- dynamic tp_node/6,tn/6. 55:- dynamic solved_node/2. 56:- dynamic closed_node/6. 57:- dynamic gsubstate_classes/3. 58:- dynamic current_num/2. 59:- dynamic produce/4,goal_related/1. %%,achieved_goal/1. 60%:- unknown(error,fail). 61:- dynamic gsstates/3,gpred/2. 62% for boot.. 63:- dynamic kill_file/1,solution_file/1. 64% 65:- op(100,xfy,'=>'). 66 67:- dynamic htn_task/3. 68:- multifile htn_task/3. 69:- dynamic planner_task/3. 70htn_task(Id,Goal,Init):-planner_task(Id,Goal,Init). 71 72% The following elements are expected in the sort engineered domain model 73% 74:-dynamic sorts/2, 75 objects/2, 76 predicates/1, 77 atomic_invariants/1, 78 substate_classes/3, 79 method/6, 80 operator/4, 81 inconsistent_constraint/1. 82 83% ss class expressions 84% invariants: 85% atomic invariants 86% -ve invariants 87% +ve invariants 88% operators 89% foo. 90 91op_num(0). 92my_stats(0). 93solution_file(fred). 94 95%:-set_prolog_flag(unknown,fail). 96solve(Id) :- 97 htn_task(Id,Goal,Init), 98 once(planner_interface(Goal,Init,Sol,_)), 99% solution_file(F), 100% gensym_num(F,Id,TRF), 101% tell(user), 102% write('TASK '),write(Id),nl, 103% write('SOLUTION'),nl, 104% display_sol(Sol), 105% write('END FILE'),nl, 106% told, 107 clean. 108 109display_sol([]). 110display_sol([H|T]) :- 111 write(H), 112 nl, 113 display_sol(T). 114 115clean:- 116 retractall(op_num(_)), 117 retractall(current_num(_,_)), 118 retractall(node(_,_,_,_,_)), 119 retractall(tn(_,_,_,_,_,_)), 120 retractall(gpredicates(_,_)), 121 retractall(gsubstate_classes(_,_,_)), 122 retractall(methodC(_,_,_,_,_,_,_)), 123 retractall(operatorC(_,_,_,_,_)), 124 retractall(goal_related(_)), 125 retractall(produce(_,_,_,_)), 126 retractall(solved_node(_,_)), 127 retractall(tp_node(_,_,_,_,_,_)), 128 retractall(closed_node(_,_,_,_,_,_)), 129 retractall(score_list(_)), 130 assert(op_num(0)), 131 assert(my_stats(0)). 132 133planner_interface(G,I, SOLN,NODES):- 134 time(ground_hierarchy), 135 change_op_representation, 136 find_relate_state, 137 retract(op_num(_)), 138 assert(op_num(0)), 139 statistics(runtime,[_,Time]), 140 (retract(my_stats(_)) ; true), 141 assert(my_stats(Time)), 142 make_problem_into_node(I, G, Node), 143 assert(Node), 144 start_solve(SOLN,NODES). 145planner_interface(G,I, SOLN,NODES):- 146 tell(user),nl,write('failure in initial node'),!. 147 148 149 150/******************** HP ADT *********************/ 151 152% node(Name, Precond ,Decomps, Temp, Statics) 153getN_name(node(Name, _, _, _,_), Name). 154getN_pre(node(_,Pre, _, _, _), Pre). 155getN_decomp(node(_, _, Decomp,_,_), Decomp). 156getH_temp(node(_, _, _,Temps, _), Temps). 157getN_statics(node(_,_,_,_,Statics), Statics). 158 159%Ron 21/9/01 - Try to give a closedown method 160start_solve(SOLN,NODES):- 161 kill_file(Kill), 162 file_exists(Kill). 163% write('Found kill file'),nl. 164 165start_solve(Sol,OPNUM):- 166 retract(final_node(Node)), 167 retractall(current_num(_,_)), 168 getN_statics(Node,Statics), 169 statics_consist(Statics), 170 extract_solution(Node,Sol,SIZE), 171 statistics(runtime,[_,CP]), 172 TIM is CP/1000, 173 retract(op_num(OPNUM)), 174 assert(op_num(0)), 175 176 nl, nl, write('CPU Time = '),write(CP),nl, 177 write('TIME TAKEN = '),write(TIM), 178 write(' SECONDS'),nl, 179 write('Solution SIZE = '),write(SIZE),nl, 180 write('Operator Used = '),write(OPNUM),nl, 181 write('Solution:\n '),writeq(Sol),nl, 182 write('***************************************'), 183 assert(time_taken(CP)), 184 assert(soln_size(SIZE)), 185 assert(plan_used(OPNUM)), 186 retractall(tn(_,_,_,_,_,_)),!. 187 188start_solve(Sol,OPNUM):- 189 select_node(Node), 190% nl,write('processing '),write(Node),nl, 191 % expand/prove its hps 192 process_node(Node), 193 start_solve(Sol,OPNUM),!. 194start_solve(Sol,OPNUM):- 195 tell(user), write('+++ task FAILED +++'), 196 clean. 197 198/******************************** MAIN LOOP **********/ 199 200% expand a node.. 201process_node(Node) :- 202 getN_name(Node, Name), 203 getN_pre(Node, Pre), 204 getN_decomp(Node, Dec), 205 getH_temp(Node, Temps), 206 getN_statics(Node, Statics), 207 expand_decomp(Dec,Pre,Post,Temps,Temp1,Statics,Statics1,Dec1), 208 statics_consist(Statics), 209 assert_node(Name,Pre,Dec1,Temp1,Statics1). 210 211assert_node(Name,Pre,Decomp,Temp,Statics):- 212 all_HP_expanded(Decomp), 213 assert(final_node(node(Name,Pre,Decomp,Temp,Statics))),!. 214assert_node(Name,Pre,Dec,Temp,Statics):- 215 gensym_special(root,SYM), 216 assert(node(SYM,Pre,Dec,Temp,Statics)),!. 217 218all_HP_expanded([]):-!. 219all_HP_expanded([step(HPid,Name,_,_,exp(TN))|THPS]):- 220 all_HP_expanded(THPS),!. 221/************ expand every step *********************/ 222expand_decomp([],Post,Post,Temp,Temp,Statics,Statics,[]):-!. 223%0-1 if the step has expand already, get the state change, go to next 224expand_decomp([step(HPid,Name,Pre0,Post0,exp(TN))|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,State1,Post1,exp(TN))|Decomp1]):- 225 state_achieved(Pre0,Pre,State1), 226 state_change(State1,Pre0,Post0,Post1), 227 statics_consist(Statics), 228 expand_decomp(Decomp,Post1,Post,Temp,Temp1,Statics,Statics1,Decomp1),!. 229 230%0-2. if it is an achieve action 231expand_decomp([step(HPid,ACH,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 232 ACH=..[achieve|_], 233 state_achieved(Pre0,Pre,State), 234 statics_consist(Statics), 235 expand_decomp_ach([step(HPid,ACH,State,Post0,unexp)|Decomp],State,Post,Temp,Temp1,Statics,Statics1,Decomp1),!. 236/* 237% 1. if the step's Name is match a exist TN also Pre meet, return TN 238% tn(Tn0,Name,Pre0,Post0,Temp0,Decomp)is a task network 239% which was generated by previous process, 240% it has been decomposed to ordered primitive operators 241% and has all states changes defiend 242expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(Tn0))|Decomp1]):- 243 tn(Tn0,Name,Pre0,Post0,Temp0,Decomp0), 244 state_achieved(Pre0,Pre,State1), 245 statics_consist(Statics), 246 state_change(State1,Pre0,Post0,State), 247% nl,write('step '),write(HPid), 248 retract(op_num(N)), 249 N1 is N+1, 250 assert(op_num(N1)), 251% write('can be expand by tn '),write(Tn0),nl, 252 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics,Statics1,Decomp1),!. 253*/ 254% 2. if HP's name meet an method, 255% and it's precondition and achieve goals are achieved 256% expand it and make it to that TNs

262expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(TN))|Decomp1]):- 263 methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH),Dec0), 264 append_cut(Statics0,Statics,Statics2), 265 statics_consist(Statics2), 266 remove_unneed(Statics2,[],Statics3), 267 state_achieved(Pre0,Pre,State1), 268% state_achieved(ACH,State1,State11), 269 statics_consist(Statics3), 270 apply_method1(HPid,TN,Name,State1,Pre0,ACH,Post0,State,Statics3,Temp0,Dec0), 271% apply_method(HPid,TN,Name,State11,Pre0,Post0,State,Statics21,Temp0,Dec0), 272% changed here for if there are too many unordered tasks 273% apply_method1 is directly apply method even it's achieve goal not achieved 274% nl,write('step '),write(HPid), 275 retract(op_num(N)), 276 N1 is N+1, 277 assert(op_num(N1)), 278% write('can be expand by method '),write(Name),nl, 279 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 280 281 282 283 284 285 286 287 288% 3. if HP's name and it's Pre meet an operator, return operator's name 289expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(Name))|Decomp1]):- 290 operatorC(Name,Pre0,Post0,Cond,Statics0), 291 append_cut(Statics0,Statics,Statics2), 292 statics_consist(Statics2), 293 remove_unneed(Statics2,[],Statics21), 294 state_achieved(Pre0,Pre,State1), 295 state_change(State1,Pre0,Post0,State2), 296 cond_state_change(State2,Cond,State), 297% nl,write('step '),write(HPid), 298 statics_consist_instance(Statics0), 299% write('can be expand by operator '),write(Name),nl, 300 retract(op_num(N)), 301 N1 is N+1, 302 assert(op_num(N1)), 303 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics21,Statics1,Decomp1),!. 304 305% 4. get another step which matchs and not after it before it to give a try 306expand_decomp([step(HP,N,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 307 get_another_step(step(HP2,N2,Pre2,Post2,Exp),Pre,Statics, 308 HP,Temp,Temp2,Decomp,Decomp2), 309 expand_decomp([step(HP2,N2,Pre2,Post2,Exp),step(HP,N,Pre0,Post0,unexp)|Decomp2],Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1). 310 311/* 312% 5. if HP's name meet an method, 313% and it's precondition achieved 314% but failed to match achieve_goals 315% expand it and make it to that TNs 316expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(TN))|Decomp1]):- 317 methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH),Dec0), 318 append_cut(Statics0,Statics,Statics2), 319 statics_consist(Statics2), 320 remove_unneed(Statics2,[],Statics3), 321 state_achieved(Pre0,Pre,State1), 322 statics_consist(Statics3), 323 apply_method1(HPid,TN,Name,State1,Pre0,ACH,Post0,State,Statics3,Temp0,Dec0), 324 % need to expand achieve goals first 325 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics3,Statics1,Decomp1),!. 326 327% 6. if all above failed 328% get another step which matchs and not after it before it to give a try 329expand_decomp([step(HP,N,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 330 get_another_step(step(HP2,N2,Pre2,Post2,Exp),Pre,Statics, 331 HP,Temp,Temp2,Decomp,Decomp2), 332 expand_decomp([step(HP2,N2,Pre2,Post2,Exp),step(HP,N,Pre0,Post0,unexp)|Decomp2],Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1). 333*/ 334% Else fail expand 335 336% get another step which is not after it before it 337get_another_step(A,Pre,Statics,HP,Temp,Temp1,[],Dec2):-fail. 338get_another_step(step(HP2,Name2,Pre2,Post2,Exp),Pre,Statics,HP,Temp,[before(HP2,HP)|Temp],Dec,Dec2):- 339 member(step(HP2,Name2,Pre2,Post2,Exp),Dec), 340 not(necessarily_before(HP,HP2, Temp)), 341 state_achieved(Pre2,Pre,_), 342 statics_consist(Statics), 343 list_take(Dec,[step(HP2,Name2,Pre2,Post2,Exp)],Dec2). 344 345% expand the achieve goal 346% 1.if the ACH is achieved already 347% remove it from decomposion and do the next 348expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 349 state_achieved(Post0,Pre,State), 350 statics_consist(Statics), 351% nl,write('step '),write(HPid), 352% write('is already achieved'),nl, 353 remove_temp(Temp,HPid,Temp,Temp2), 354 expand_decomp(Decomp,State,Post,Temp2,Temp1,Statics,Statics1,Decomp1),!. 355 356% 2.take out the already achieved states before expanding 357expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,ACH,Pre,Post0,exp(TN))|Decomp1]):- 358 expand_hp(HPid,TN,ACH,Pre,Post0,State,Statics,Statics2), 359 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 360 361% directly achieve HP's Pre and Post by operator,method or tn 362expand_hp(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 363 direct_expand_hp(HPid,TN,ACH,Pre,Post,State,Statics,Statics1),!. 364% else, nothing directly can achieve HP's Pre and Post 365% assert a temporely node for forward search 366% tp_node(Name, Precond, Postcond, Statics,Score,Temp,Decomps) 367expand_hp(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 368 make_to_steps1(Pre,Post,Steps), 369 gensym_special(tp,TP), 370 get_all_related_goal(Post), 371 get_score(100,[],Steps,Score), 372 assert(tp_node(TP,Pre,Post,Statics,Score,Steps)), 373 fwsearch(TN,Statics1,State), 374 clean_temp_nodes. 375 376% make the achieve goal states [se(..),se(..),..] to separate steps 377% remove states that have been achieved by precondition 378% by same them for declobber 379make_to_steps1(Pre,[],[]):-!. 380make_to_steps1(Pre,[se(Sort,Obj,SE)|Post],Steps):- 381 state_achieved([se(Sort,Obj,SE)],Pre,_), 382 make_to_steps1(Pre,Post,Steps),!. 383make_to_steps1(Pre,[se(Sort,Obj,SE)|Post],[step(HP,achieve(se(Sort,Obj,SE)),undefd,[se(Sort,Obj,SE)],unexp)|Steps]):- 384 objects(Sort,Objls),%Sort is primitive 385 gensym_special(hp,HP), 386 make_to_steps1(Pre,Post,Steps),!. 387make_to_steps1(Pre,[se(Sort,Obj,SE)|Post],[step(HP,achieve(se(Sort,Obj,SE)),undefd,[se(Sort,Obj,SE)],unexp)|Steps]):- 388 var(Obj), 389 gensym_special(hp,HP), 390 make_to_steps1(Pre,Post,Steps),!. 391make_to_steps1(Pre,[se(SortN,Obj,SE)|Post],[step(HP,achieve(se(PSort,Obj,SE)),undefd,[se(PSort,Obj,SE)],unexp)|Steps]):- 392 not(var(Obj)), 393 find_prim_sort(SortN,PSortls), 394 member(PSort,PSortls), 395 objects(PSort,Objls), 396 member(Obj,Objls), 397 gensym_special(hp,HP), 398 make_to_steps1(Pre,Post,Steps),!. 399 400 401% get all the states that can achieve the goal state 402get_all_related_goal(Goal):- 403 retractall(goal_related(_)), 404 assert(goal_related(Goal)), 405 get_all_related_goal1(Goal,States), 406 retractall(goal_related(_)), 407 assert(goal_related(States)),!. 408% tell(user),write(States),nl,told,!. 409 410get_all_related_goal1([],States):- 411 setof(State,goal_related(State),States1), 412 set_flatten(States1,[],States),!. 413get_all_related_goal1([se(Sort,Obj,SE)|Rest],States):- 414 produce(se(Sort,Obj,SE1),A,OPre,ST), 415 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 416 retract(goal_related(List)), 417 set_append_e(List,OPre,List1), 418 assert(goal_related(List1)), 419 fail. 420get_all_related_goal1([se(SortN,Obj,SE)|Rest],States):- 421 nonvar(Obj), 422 objects(Sort,Objls), 423 not(not(member(Obj,Objls))), 424 produce(se(Sort,Obj,SE1),A,OPre,ST), 425 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 426 retract(goal_related(List)), 427 set_append_e(List,OPre,List1), 428 assert(goal_related(List1)), 429 fail. 430get_all_related_goal1([se(SortN,Obj,SE)|Rest],States):- 431 var(Obj), 432 find_prim_sort(SortN,Sortls), 433 member(Sort,Sortls), 434 produce(se(Sort,Obj,SE1),A,OPre,ST), 435 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 436 retract(goal_related(List)), 437 set_append_e(List,OPre,List1), 438 assert(goal_related(List1)), 439 fail. 440get_all_related_goal1([se(Sort,Obj,SE)|Rest],States):- 441 get_all_related_goal1(Rest,States). 442 443% find out the difference of Pre and Post0 to expand 444% if only one Obj in Post, don't do check. 445take_out_achieved(Pre,[se(Sort,Obj,SE)],[],[se(Sort,Obj,SE)]):-!. 446take_out_achieved(Pre,[],Post,Post):-!. 447% Pre conditions are all instantiated states 448% only Post conditions have variables 449take_out_achieved(Pre,[se(Sort,Obj,ST)|Post],Post0,Post1):- 450 var(Obj), 451 append(Post0,[se(Sort,Obj,ST)],Post2), 452 take_out_achieved(Pre,Post,Post2,Post1),!. 453take_out_achieved(Pre,[se(Sort,Obj,ST)|Post],Post0,Post1):- 454 member(se(Sort,Obj,ST1),Pre), 455 append_diff(Sort,Obj,ST,ST1,Post0,Post2), 456 list_take(Pre,[se(Sort,Obj,ST1)],Pre2), 457 take_out_achieved(Pre2,Post,Post2,Post1),!. 458 459% append only the different one 460append_diff(Sort,Obj,ST,ST1,Post0,Post0):- 461 not_conflict(Sort,Obj,ST,ST1,STN),!. 462append_diff(Sort,Obj,ST,ST1,Post0,Post1):- 463 append(Post0,[se(Sort,Obj,ST)],Post1),!. 464% --------------------------------------------------- 465 466%1. if an achieve action meets an TN Pre and post meet 467direct_expand_hp(HPid,Tn0,ACH,Pre,Post,Pre1,Statics,Statics):- 468 tn(Tn0,Name,Pre0,Post0,Temp0,Decomp0), 469 state_achieved(Pre0,Pre,State1), 470 state_achieved(Post,Post0,_), 471 state_change(State1,Pre0,Post0,Pre1), 472 statics_consist(Statics), 473% nl,write('step '),write(HPid), 474 retract(op_num(N)), 475 N1 is N+1, 476 assert(op_num(N1)),!. 477% write('can be expand by tn '),write(Tn0),nl,!. 478 479%2. if an action's name meets is an operator's, 480% return 481direct_expand_hp(HPid,Name,Name,Pre,Post,State,Statics,Statics1):- 482 operatorC(Name,Pre0,Post0,Cond,Statics0), 483 append_cut(Statics0,Statics,Statics1), 484 statics_consist(Statics11), 485 remove_unneed(Statics11,[],Statics1), 486 post_instant(Post0,Cond,Statics1,Post), 487 state_achieved(Pre0,Pre,State1), 488 state_change(State1,Pre0,Post0,State2), 489 cond_state_change(State2,Cond,State3), 490 state_achieved(Post,State3,State), 491 statics_consist_instance(Statics0), 492% nl,write('step '),write(HPid), 493% write('can be expand by operator '),write(Name),nl, 494 retract(op_num(N)), 495 N1 is N+1, 496 assert(op_num(N1)),!. 497 498%2. if an achieve action meets an operator's Pre and post meet, 499% return 500direct_expand_hp(HPid,Name,ACH,Pre,Post,State,Statics,Statics1):- 501 operatorC(Name,Pre0,Post0,Cond,Statics0), 502 append_cut(Statics0,Statics,Statics2), 503 statics_consist(Statics2), 504 remove_unneed(Statics2,[],Statics1), 505 post_instant(Post0,Cond,Statics1,Post), 506 state_achieved(Pre0,Pre,State1), 507 state_change(State1,Pre0,Post0,State2), 508 cond_state_change(State2,Cond,State3), 509 state_achieved(Post,State3,State), 510 statics_consist(Statics1), 511% nl,write('step '),write(HPid), 512% write('can be expand by operator '),write(Name),nl, 513 retract(op_num(N)), 514 N1 is N+1, 515 assert(op_num(N1)),!. 516 517%3. if an achieve action meets a method's pre and post, 518% expand it and make it to that TNs 519direct_expand_hp(HPid,TN,ACH,Pre,Post,State1,Statics,Statics1):- 520 methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH0),Dec0), 521 append_cut(Statics0,Statics,Statics2), 522 statics_consist(Statics2), 523 remove_unneed(Statics2,[],Statics1), 524 post_instant(Post0,[],Statics1,Post), 525 state_achieved(Pre0,Pre,Pre1), 526 state_achieved(Post,Post0,Post01), 527 statics_consist(Statics1), 528 apply_method1(HPid,TN,Name,Pre1,Pre0,ACH0,Post01,State1,Statics1,Temp0,Dec0),!. 529 530% apply_method/10: apply method in the HP 531% when the method name's precondition and achieve goals are achieved 532% no extra operators are bring in while expansion 533apply_method(HPid,TN,Name,Pre,Pre0,Post0,State,Statics,Temp,Dec):- 534 make_dec0(HPid,Dec,Temp,Dec0,Temp0), 535 expand_method(Dec0,Pre,Post,Temp0,Temp1,Statics,Statics1,Dec1), 536 state_achieved(Post0,Post,State), 537 statics_consist(Statics), 538% nl,write('step '),write(HPid), 539% write('can be expand by method '),write(Name),nl, 540 retract(op_num(N)), 541 N1 is N+1, 542 assert(op_num(N1)), 543 make_tn(TN,Name,Pre,State,Temp1,Dec1),!. 544 545make_dec0(HPid,Dec,Temp,Dec0,Temp0):- 546 make_dec01(HPid,1,Dec,Dec0), 547 change_temp(HPid,Temp,[],Temp0),!. 548make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp1,Dec1):- 549 state_achieved(ACH,Pre,_), 550 make_dec01(HPid,1,Dec,Dec1), 551 change_temp(HPid,Temp,[],Temp1). 552make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,[before(STID0,STID1)|Temp1],[step(STID0,achieve(ACH),Pre,ACH,unexp)|Dec1]):- 553 gensym_num(HPid,0,STID0), 554 gensym_num(HPid,1,STID1), 555 make_dec01(HPid,1,Dec,Dec1), 556 change_temp(HPid,Temp,[],Temp1),!. 557 558make_dec01(HPid,_,[],[]):-!. 559make_dec01(HPid,Num,[HDec|TDec],[step(STID,HDec,undefd,undefd,unexp)|TDec0]):- 560 operatorC(HDec,_,_,_,_), 561 gensym_num(HPid,Num,STID), 562 Num1 is Num + 1, 563 make_dec01(HPid,Num1,TDec,TDec0). 564make_dec01(HPid,Num,[HDec|TDec],[step(STID,HDec,undefd,undefd,unexp)|TDec0]):- 565 methodC(HDec,_,_,_,_,_,_), 566 gensym_num(HPid,Num,STID), 567 Num1 is Num + 1, 568 make_dec01(HPid,Num1,TDec,TDec0). 569 570change_temp(HPid,[],Temp2,Temp2):-!. 571change_temp(HPid,[before(N1,N2)|Temp],Temp2,[before(ST1,ST2)|Temp0]):- 572 gensym_num(HPid,N1,ST1), 573 gensym_num(HPid,N2,ST2), 574 change_temp(HPid,Temp,Temp2,Temp0),!. 575 576% expand_method/8 expand method without bring in any other operators 577% that is: all achieve goals are achieved 578expand_method([],Post,Post,Temp,Temp,Statics,Statics,[]):-!. 579expand_method([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(TN))|Decomp1]):- 580 tn(TN,Name,Pre0,Post0,Temp0,Decomp0), 581 state_achieved(Pre0,Pre,State1), 582 state_change(State1,Pre0,Post0,State), 583 statics_consist(Statics), 584% nl,write('step '),write(HPid), 585 retract(op_num(N)), 586 N1 is N+1, 587 assert(op_num(N1)), 588% write('can be expand by tn '),write(TN), 589 expand_method(Decomp,State,Post,Temp,Temp1,Statics,Statics1,Decomp1). 590expand_method([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(Name))|Decomp1]):- 591 operatorC(Name,Pre0,Post0,Cond,Statics0), 592 append_cut(Statics0,Statics,Statics2), 593 statics_consist(Statics2), 594 remove_unneed(Statics2,[],Statics21), 595 post_instant(Post0,Cond,Statics21,Post0), 596 state_achieved(Pre0,Pre,State1), 597 state_change(State1,Pre0,Post0,State2), 598 cond_state_change(State2,Cond,State3), 599 state_achieved(Post0,State3,State), 600 statics_consist_instance(Statics0), 601% nl,write('step '),write(HPid), 602% write('can be expand by operator '),write(Name),nl, 603 retract(op_num(N)), 604 N1 is N+1, 605 assert(op_num(N1)), 606 expand_method(Decomp,State,Post,Temp,Temp1,Statics21,Statics1,Decomp1). 607expand_method([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(TN))|Decomp1]):- 608 methodC(Name,Pre0,Post0,Statics0,Temp0,ACH,Dec0), 609 append_cut(Statics0,Statics,Statics2), 610 statics_consist(Statics2), 611 remove_unneed(Statics2,[],Statics21), 612 post_instant(Post0,[],Statics21,Post0), 613 state_achieved(Pre0,Pre,State1), 614 statics_consist(Statics21), 615 apply_method(HPid,TN,Name,State1,Pre0,Post0,State,Statics21,Temp0,Dec0), 616 expand_method(Decomp,State,Post,Temp,Temp1,Statics21,Statics1,Decomp1). 617% --------------------end of apply_method/10--------------------- 618 619% apply_method1/11: apply method in the HP 620% when the method name's precondition achieved 621% but need bring in operators while expansion 622apply_method1(HPid,TN,Name,Pre,Pre0,ACH,Post0,State,Statics,Temp,Dec):- 623 make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp2,Dec2), 624 expand_decomp(Dec2,Pre,Post,Temp2,Temp1,Statics,Statics1,Dec1), 625 state_achieved(Post0,Post,State), 626% nl,write('step '),write(HPid), 627% write('can be expand by method '),write(Name),nl, 628 retract(op_num(N)), 629 N1 is N+1, 630 assert(op_num(N1)), 631 make_tn(TN,Name,Pre,State,Temp1,Dec1),!. 632 633 634% --------------------end of apply_method1/11--------------------- 635 636% forward search for operators can't directly solved 637fwsearch(TN,ST,State):- 638 retract(solved_node(ST,step(HP,Name,Pre,State,exp(TN)))). 639fwsearch(TN,ST,State):- 640 select_tnode(tp_node(TP,Pre,Post,Statics,Score,Dec)), 641 assert(closed_node(TP,Pre,Post,Statics,Score,Dec)), 642 expand_node(Statics,Statics1,Pre,Post,Dec,[],Dec1), 643 assert_tnode(TP,Pre,Post,Statics1,Score,Dec1), 644 solved_node(_,_),%expand every possible way until find solution 645 fwsearch(TN,ST,State). 646fwsearch(TN,ST,State):- 647 tp_node(TP,Pre,Post,Statics,Score,Dec), 648 fwsearch(TN,ST,State). 649 650clean_temp_nodes:- 651 retractall(current_num(tp,_)), 652 retractall(tp_node(_,_,_,_,_,_)), 653 retractall(closed_node(_,_,_,_,_,_)),!. 654 655% expand all way possible to achieve the Post 656expand_node(Statics,Statics,Pre,Post,[],List,List):- 657 state_achieved(Post,Pre,_),!. 658expand_node(Statics,Statics1,Pre,Post,[step(HP,Name,_,Post0,unexp)|Rest],List,Dec1):- 659 state_achieved(Post0,Pre,_), 660 expand_node(Statics,Statics1,Pre,Post,Rest,List,Dec1),!. 661expand_node(Statics,Statics1,Pre,Post,[step(HP,Name,_,Post0,unexp)|Rest],List,Dec1):- 662 direct_expand_hp(HP,TN,Name,Pre,Post0,State,Statics,Statics2), 663 append(List,[step(HP,Name,Pre,State,exp(TN))],List2), 664 remove_achieved_rest(State,Statics2,Rest,Rest1), 665 make_to_steps(State,Post,Steps,Rest1), 666 append(Rest1,Steps,Rest2), 667 expand_node(Statics2,Statics1,State,Post,Rest2,List2,Dec1). 668expand_node(Statics,Statics1,Pre,Post,[step(HP,Name,_,Post0,unexp)|Rest],List,Dec1):- 669 apply_op(Statics,Statics1,[step(HP,Name,Pre,Post0,unexp)|Rest],List,Dec1). 670expand_node(Statics,Statics1,Pre,Post,[step(HP,Name,Pre0,Post0,exp(TN))|TDec],List,Dec1):- 671 append(List,[step(HP,Name,Pre0,Post0,exp(TN))],List2), 672 expand_node(Statics,Statics1,Post0,Post,TDec,List2,Dec1),!. 673 674remove_achieved_rest(State,Statics,[],[]):-!. 675remove_achieved_rest(State,Statics,[step(HP,Name,_,Post0,unexp)|Rest],Rest1):- 676 state_achieved(Post0,State,_), 677 remove_achieved_rest(State,Statics,Rest,Rest1),!. 678remove_achieved_rest(State,Statics,[HP|Rest],[HP|Rest1]):- 679 remove_achieved_rest(State,Statics,Rest,Rest1),!. 680 681/* add an operator that can achieve the goal related states*/ 682% This is only applied when it can't be directly achieved 683apply_op(Statics,Statics1,[step(HP,Name,Pre,[se(Sort,Obj,SE)],unexp)|Rest],List,Dec):- 684 produce(se(Sort,Obj,SE1),OP,OPre,ST), 685 append_cut(Statics,ST,Statics2), 686 statics_consist(Statics2), 687 remove_unneed(Statics2,[],Statics1), 688 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 689 instantiate(OPre,Statics1), 690 not(member(step(_,OP,_,_,_),Rest)), 691 make_to_steps(Pre,OPre,Steps,Rest), 692 change_head_state(Pre,Steps,Steps1), 693 append(List,Steps1,List2), 694 append(List2,[step(HP,OP,undefd,[se(Sort,Obj,SE)],unexp)|Rest],Dec). 695% tell(user),write('+'),told. 696apply_op(Statics,Statics1,[step(HP,Name,Pre,[se(SortN,Obj,SE)],unexp)|Rest],List,Dec):- 697 find_prim_sort(SortN,PSortls), 698 member(Sort,PSortls), 699 produce(se(Sort,Obj,SE1),OP,OPre,ST), 700 append_cut(Statics,ST,Statics2), 701 statics_consist(Statics2), 702 remove_unneed(Statics2,[],Statics1), 703 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 704 instantiate(OPre,Statics1), 705 not(member(step(_,OP,_,_,_),Rest)), 706 make_to_steps(Pre,OPre,Steps,Rest), 707 change_head_state(Pre,Steps,Steps1), 708 append(List,Steps1,List2), 709 append(List2,[step(HP,OP,undefd,[se(Sort,Obj,SE)],unexp)|Rest],Dec). 710% tell(user),write('+'),told. 711 712% make the achieve goal states [se(..),se(..),..] to separate steps 713% remove the states that have been achieved by precondition 714make_to_steps(Pre,[],[],Rest):-!. 715make_to_steps(Pre,[se(Sort,Obj,SE)|Post],Steps,Rest):- 716 state_achieved([se(Sort,Obj,SE)],Pre,_), 717 make_to_steps(Pre,Post,Steps,Rest),!. 718make_to_steps(Pre,[se(Sort,Obj,SE)|Post],Steps,Rest):- 719 member(step(_,achieve(se(Sort,Obj,SE)),_,_),Rest), 720 make_to_steps(Pre,Post,Steps,Rest),!. 721make_to_steps(Pre,[se(Sort,Obj,SE)|Post],[step(HP,achieve(se(Sort,Obj,SE)),undefd,[se(Sort,Obj,SE)],unexp)|Steps],Rest):- 722 gensym_special(hp,HP), 723 make_to_steps(Pre,Post,Steps,Rest),!. 724 725change_head_state(Pre,[step(HP,A,undefd,B,unexp)|Steps],[step(HP,A,Pre,B,unexp)|Steps]):-!. 726 727% instantiate the object in lhs states 728instantiate([],Statics). 729instantiate([se(Sort,Obj,SE)|States],Statics):- 730 nonvar(Obj), 731 instantiate(States,Statics),!. 732instantiate([se(Sort,Obj,SE)|States],Statics):- 733 ground(SE), 734 instantiate(States,Statics),!. 735instantiate([se(Sort,Obj,SE)|States],Statics):- 736 var(Obj), 737 get_sort_objects(Sort,Objls), 738 member(Obj,Objls), 739 statics_consist_instance(Statics), 740 instantiate(States,Statics). 741 742 743% select a tp_node with lowest score 744select_tnode(tp_node(HPid,Pre,Post,Statics,Score,Dec)) :- 745 retractall(score_list(LS)), 746 assert(score_list([])), 747 lowest_score(Score), 748 retract(tp_node(HPid,Pre,Post,Statics,Score,Dec)),!. 749% tell(user),nl,write('new level'),nl,told,!. 750 751% find the lowest_score of tp_node 752lowest_score(LScore):- 753 tp_node(HPid,Pre,Post,Statics,Score,Dec), 754 retract(score_list(LS)), 755 assert(score_list([Score|LS])), 756 fail. 757lowest_score(LScore):- 758 retract(score_list(D)), 759 sort(D,[LScore|SD]). 760 761:- style_check(-discontiguous). 762% assert tp_node if all HP expand, assert solved_node 763assert_tnode(TP,Pre,Post,Statics,Score1,Dec):- 764 all_HP_expanded(Dec), 765 combine_exp_steps2(Dec,OneDec), 766 assert(solved_node(Statics,OneDec)),!. 767 768combine_exp_steps2([OneDec],OneDec):-!. 769combine_exp_steps2([Dec1,Dec2|Rest],OneDec):- 770 combine_steps1(Dec1,Dec2,OneDec1), 771 combine_exp_steps2([OneDec1|Rest],OneDec),!. 772% else combine the steps of expanded steps 773% make it to [step(_,...,exp()),step(_,...,unexp)] 774% that makes possible to find the repeated nodes 775% also makes possible to make operator chains for later use 776assert_tnode(TP,Pre,Post,Statics,Score,Dec):- 777 combine_exp_steps(Dec,ExpDec,UnexpDec), 778 assert_tnode1(TP,Pre,Post,Statics,Score,ExpDec,UnexpDec),!. 779 780:- style_check(+discontiguous). 781 782assert_tnode1(TP,Pre,Post,Statics,Score,ExpDec,UnexpDec):- 783 existing_node(ExpDec,UnexpDec,Statics). 784assert_tnode1(TP,Pre,Post,Statics,Score,ExpDec,UnexpDec):- 785 get_score(Score,ExpDec,UnexpDec,Score1), 786 gensym_special(tp,TP1), 787 append(ExpDec,UnexpDec,Dec), 788 assert(tp_node(TP1,Pre,Post,Statics,Score1,Dec)),!. 789 790% combine the expanded steps to one 791combine_exp_steps([step(A,B,C,D,unexp)|Rest],[],[step(A,B,C,D,unexp)|Rest]):-!. 792combine_exp_steps([step(A,B,C,D,exp(TN)),step(A1,B1,C1,D1,unexp)|Rest],[step(A,B,C,D,exp(TN))],[step(A1,B1,C1,D1,unexp)|Rest]):-!. 793combine_exp_steps([step(A1,B1,C1,D1,exp(TN1)),step(A2,B2,C2,D2,exp(TN2))|Rest],ExpDec,UnexpDec):- 794 combine_steps1(step(A1,B1,C1,D1,exp(TN1)),step(A2,B2,C2,D2,exp(TN2)),ExpDec1), 795 combine_exp_steps([ExpDec1|Rest],ExpDec,UnexpDec),!. 796 797combine_steps1(step(HP1,Name1,Pre1,Post1,exp(TN1)),step(HP2,Name2,Pre2,Post2,exp(TN2)),step(HP,achieve(Post2),Pre1,Post2,exp(TN))):- 798 find_only_changed(Pre1,Post2,[],Pre0,[],Post0), 799 not(isemptylist(Post0)), 800 gensym_special(hp,HP), 801 gensym_special(tn,TN), 802 assert(tn(TN,achieve(Post0),Pre0,Post0,[before(TN1,TN2)],[step(HP1,Name1,Pre1,Post1,exp(TN1)),step(HP2,Name2,Pre2,Post2,exp(TN2))])),!. 803 804% already been. 805existing_node([step(_,_,Pre,Post,exp(TN))],UnexpDec,Statics):- 806 tp_node(_,_,_,Statics0,_,[step(_,_,Pre0,Post0,exp(TN0))|Rest]), 807 append_st(Statics,Statics0,Statics1), 808 all_equal(Pre,Pre0,Statics1), 809 all_equal(Post,Post0,Statics1), 810 existing_node([],UnexpDec,Statics1). 811existing_node([step(_,_,Pre,Post,exp(TN))],UnexpDec,Statics):- 812 closed_node(_,_,_,Statics0,_,[step(_,_,Pre0,Post0,exp(TN0))|Rest]), 813 append_st(Statics,Statics0,Statics1), 814 all_equal(Pre,Pre0,Statics1), 815 all_equal(Post,Post0,Statics1), 816 existing_node([],UnexpDec,Statics1). 817existing_node([],[step(_,Name,Pre,_,unexp)|Rest],Statics):- 818 tp_node(_,_,_,Statics0,_,[step(_,Name,Pre0,_,_,unexp)|Rest]), 819 append_st(Statics,Statics0,Statics1), 820 all_equal(Pre,Pre0,Statics1). 821existing_node([],[step(_,Name,Pre,_,unexp)|Rest],Statics):- 822 closed_node(_,_,_,Statics0,_,[step(_,Name,Pre0,_,_,unexp)|Rest]), 823 append_st(Statics,Statics0,Statics1), 824 all_equal(Pre,Pre0,Statics1). 825 826 827 828 829 830 831 832all_equal([],[],Statics):- 833 statics_consist(Statics),!. 834all_equal([se(Sort,Obj,SE)|Pre],[se(Sort,Obj,SE1)|Pre1],Statics):- 835 is_achieved(SE,SE1), 836 all_equal(Pre,Pre1,Statics),!. 837all_equal([se(Sort,Obj,SE)|Pre],Pre1,Statics):- 838 member(se(Sort,Obj,SE1),Pre1), 839 list_take(Pre1,[se(Sort1,Obj1,SE1)],Pre2), 840 all_equal(Pre,Pre1,Statics),!. 841 842get_score(Score,[],UnExpDec,Score1):- 843 length(UnExpDec,Len), 844 Score1 is Score+Len,!. 845get_score(Score,[step(HP,Name,Pre0,Post0,exp(TN))],UnExpDec,Score1):- 846 goal_related(States), 847 state_achieved_Num(Post0,States,0,Num), 848 length(UnExpDec,Len), 849 Score1 is Score-Num,!. 850 851%------------------------------------------- 852% the number of postcondition achieved 853% the more the better 854state_achieved_Num([],Pre0,Num,Num):-!. 855state_achieved_Num([se(Sort,Obj,SE)|Post],Pre0,N,Num):- 856 member(se(Sort,Obj,SE0),Pre0), 857 state_achieved([se(Sort,Obj,SE0)],[se(Sort,Obj,SE)],_), 858 N1 is N+1, 859 state_achieved_Num(Post,Pre0,N1,Num),!. 860state_achieved_Num([se(Sort,Obj,SE)|Post],Pre0,N,Num):- 861 state_achieved_Num(Post,Pre0,N,Num),!. 862 863% the states that can achieve a state 864% that is: 865% for a state in the rhs of operator 866% all the states in the lhs 867find_relate_state:- 868 operatorC(A,Pre,Post,Cond,ST), 869 assert_related_states(A,Pre,Post,Cond,ST), 870 fail. 871find_relate_state. 872 873assert_related_states(A,Pre,Post,Cond,ST):- 874 assert_related_states1(A,Pre,Post,ST), 875 assert_related_states2(A,Pre,Cond,ST). 876 877% find relate in nec 878% the sorts here are primitive 879assert_related_states1(A,Pre,[],ST):-!. 880%when prev 881assert_related_states1(A,Pre,[se(Sort,Obj,SE)|Post],ST):- 882 member_e(se(Sort,Obj,SE),Pre), 883 assert_related_states1(A,Pre,Post,ST),!. 884%when nec 885assert_related_states1(A,Pre,[se(Sort,Obj,SE)|Post],ST):- 886 assert(produce(se(Sort,Obj,SE),A,Pre,ST)), 887 assert_related_states1(A,Pre,Post,ST),!. 888 889% find relate in conditional 890% the sorts here are not primitive 891assert_related_states2(A,Pre,SC,ST):- 892 make_sc_primitive(SC,PSC), 893 assert_related_states21(A,Pre,PSC,ST). 894 895assert_related_states21(A,Pre,[],ST):-!. 896assert_related_states21(A,Pre,[sc(Sort,Obj,SE=>SS)|Trans],ST):- 897 rem_statics([se(Sort,Obj,SE)],[se(Sort,Obj,SER)],St1), 898 rem_statics([se(Sort,Obj,SS)],[se(Sort,Obj,SSR)],St2), 899 append_cut(ST,St1,ST1), 900 append_cut(ST1,St2,ST21), 901 remove_unneed(ST21,[],ST2), 902 append_cut(Pre,[se(Sort,Obj,SER)],Pre1), 903 assert(produce(se(Sort,Obj,SSR),A,Pre1,ST2)), 904 assert_related_states21(A,Pre,Trans,ST),!. 905 906%------------------------------------------- 907% the number of state change compare with precondition 908% the less the better 909pre_changed_Num([],Pre0,Num,Num):-!. 910pre_changed_Num([se(Sort,Obj,SE)|Pre],Pre0,N,Num):- 911 state_achieved([se(Sort,Obj,SE)],Pre0,_), 912 N1 is N+1, 913 pre_changed_Num(Pre,Pre0,N1,Num),!. 914pre_changed_Num([se(Sort,Obj,SE)|Pre],Pre0,N,Num):- 915 pre_changed_Num(Pre,Pre0,N,Num),!. 916 917 918 919%------------------------------------------- 920% remove HP1 from the temp list 921% if HP1<HP2, then all HP3<HP1 => HP3<HP2 922% if HP2<HP1, then all HP1<HP3 => HP2<HP3 923remove_temp([],HP1,List,List):-!. 924remove_temp([before(HP1,HP2)|Temp],HP1,List,Temp1):- 925 remove_temp_before(List,before(HP1,HP2),List2), 926 remove_temp(Temp,HP1,List2,Temp1),!. 927remove_temp([before(HP2,HP1)|Temp],HP1,List,Temp1):- 928 remove_temp_after(List,before(HP2,HP1),List2), 929 remove_temp(Temp,HP1,List2,Temp1),!. 930remove_temp([before(HPX,HPY)|Temp],HP1,List,Temp1):- 931 remove_temp(Temp,HP1,List,Temp1),!. 932 933% if HP1<HP2, remove HP1<HP2, and change all HP3<HP1 => HP3<HP2 934remove_temp_before([],before(HP1,HP2),[]):-!. 935remove_temp_before([before(HP1,HP2)|T],before(HP1,HP2),T1):- 936 remove_temp_before(T,before(HP1,HP2),T1),!. 937remove_temp_before([before(HP3,HP1)|T],before(HP1,HP2),[before(HP3,HP2)|T1]):- 938 remove_temp_before(T,before(HP1,HP2),T1),!. 939remove_temp_before([before(HPX,HPY)|T],before(HP1,HP2),[before(HPX,HPY)|T1]):- 940 remove_temp_before(T,before(HP1,HP2),T1),!. 941% if HP2<HP1, remove HP2<HP1, and change all HP1<HP3 => HP2<HP3 942remove_temp_after([],before(HP1,HP2),[]):-!. 943remove_temp_after([before(HP2,HP1)|T],before(HP2,HP1),T1):- 944 remove_temp_after(T,before(HP2,HP1),T1),!. 945remove_temp_after([before(HP1,HP3)|T],before(HP2,HP1),[before(HP2,HP3)|T1]):- 946 remove_temp_after(T,before(HP2,HP1),T1),!. 947remove_temp_after([before(HPX,HPY)|T],before(HP2,HP1),[before(HPX,HPY)|T1]):- 948 remove_temp_after(T,before(HP2,HP1),T1),!. 949 950remove_dec(HPid,[],[]):-!. 951remove_dec(HPid,[step(HPid,_,_,_,_)|Dec],Dec1):- 952 remove_dec(HPid,Dec,Dec1),!. 953remove_dec(HPid,[step(A,B,C,D,F)|Dec],[step(A,B,C,D,F)|Dec1]):- 954 remove_dec(HPid,Dec,Dec1),!. 955 956/******************************************************/ 957% state2 is achieved by state1(or they are not conflict) 958% the output state is the combination of the two states 959state_achieved(undefd,State,State):-!. 960state_achieved(State1,State2,State3):- 961 state_achieved1(State1,State2,State3). 962 963state_achieved1([],State2,State2). 964state_achieved1([se(Sort,Obj,ST1)|State1],State2,[se(Sort,Obj,STN)|State]):- 965 get_sort_objects(Sort,Objls), 966 member(Obj,Objls), 967 member(se(Sort,Obj,ST2),State2), 968 not_conflict(Sort,Obj,ST1,ST2,STN), 969 list_take(State2,[se(Sort,Obj,ST2)],State21), 970 state_achieved1(State1,State21,State). 971state_achieved1([se(Sort1,Obj,ST1)|State1],State2,[se(Sort,Obj,STN)|State]):- 972 not(objects(Sort1,Objls)), 973 find_prim_sort(Sort1,Sortls), 974 member(se(Sort,Obj,ST2),State2), 975 member(Sort,Sortls), 976 not_conflict(Sort,Obj,ST1,ST2,STN), 977 list_take(State2,[se(Sort,Obj,ST2)],State21), 978 state_achieved1(State1,State21,State). 979 980% two states not conflict 981not_conflict(Sort,Obj,ST,ST1,NewST):- 982 gsubstate_classes(Sort,Obj,Substateclasses), 983 member(State0,Substateclasses), 984 is_achieved(ST,State0), 985 is_achieved(ST1,State0), 986 set_append_e(ST,ST1,NewST),!. 987 988% all the element in list1 are static or in list2 989is_achieved([],_):-!. 990is_achieved([H|T], State) :- 991 is_statics(H), 992 is_achieved(T,State),!. 993is_achieved([H|T], State) :- 994 member(H,State), 995 is_achieved(T,State),!. 996 997% check if a predicate is statics or not 998is_statics(ne(A,B)):-!. 999is_statics(is_of_sort(A,B)):-!. 1000is_statics(is_of_primitive_sort(A,B)):-!. 1001is_statics(Pred):- 1002 functor(Pred,FF,NN), 1003 functor(Pred1,FF,NN), 1004 atomic_invariants(Atom), 1005 member(Pred1,Atom),!. 1006 1007 1008%------------------------------------------- 1009 1010/************ state changes by actions ********/ 1011% if an object's state meet the precondition 1012% it change to the postcondition 1013state_change([],Pre0,Post0,[]):-!. 1014state_change(Pre,[],[],Pre):-!. 1015% if a obj pre achieves action's pre 1016% change the obj's post state with action's post 1017state_change([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,NewSS)|State]):- 1018 member(se(Sort,Obj,SE0),Pre0), 1019 member(se(Sort,Obj,SS0),Post0), 1020 not_conflict(Sort,Obj,SE,SE0,_), 1021 state_change1(SE,SE0,SS0,NewSS), 1022 list_take(Pre0,[se(Sort,Obj,SE0)],Pre1), 1023 list_take(Post0,[se(Sort,Obj,SS0)],Post1), 1024 state_change(Pre,Pre1,Post1,State),!. 1025% if a obj state not defined in action's pre 1026% move it to its post 1027state_change([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,SE)|State]):- 1028 state_change(Pre,Pre0,Post0,State),!. 1029 1030state_change1([],SE0,SS0,SS0):-!. 1031state_change1([HSE|TSE],SE0,SS0,SS1):- 1032 member(HSE,SE0), 1033 state_change1(TSE,SE0,SS0,SS1),!. 1034state_change1([HSE|TSE],SE0,SS0,[HSE|SS1]):- 1035 state_change1(TSE,SE0,SS0,SS1),!. 1036%------------------------------------------- 1037%------------------------------------------- 1038/************ state changes by conditions ********/ 1039% for all the object's state meet the precondition 1040% it change to the postcondition 1041cond_state_change([],Cond,[]):-!. 1042cond_state_change(State,[],State):-!. 1043cond_state_change([se(Sort,Obj,SE)|Pre],Cond,[se(Sort,Obj,NewSS)|State]):- 1044 member(sc(Sort1,Obj,SE0=>SS0),Cond), 1045 statics_consist([is_of_sort(Obj,Sort1),is_of_sort(Obj,Sort)]), 1046 not_conflict(Sort,Obj,SE,SE0,_), 1047 state_change1(SE,SE0,SS0,NewSS), 1048 cond_state_change(Pre,Cond,State),!. 1049cond_state_change([se(Sort,Obj,SE)|Pre],Cond,[se(Sort,Obj,SE)|State]):- 1050 cond_state_change(Pre,Cond,State),!. 1051 1052%------------------------------------------- 1053% check that an action's state change 1054% included changes of the goal states need to be achieved 1055post_changed(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1056 member(se(Sort,Obj,SE0),Post0), 1057 state_achieved([se(Sort,Obj,SE0)],[se(Sort,Obj,SE)],_), 1058 statics_consist(Statics). 1059post_changed(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1060 member(sc(Sort,Obj,SE1=>SS),Cond), 1061 state_achieved([se(Sort,Obj,SS)],[se(Sort,Obj,SE)],_), 1062 statics_consist(Statics). 1063post_changed(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1064 post_changed(Post0,Cond,Statics,Post). 1065 1066all_achieved([],Statics,Post). 1067all_achieved([se(Sort,Obj,SL)|Pre],Statics,Post):- 1068 not(member(se(Sort,Obj,SR),Post)), 1069 all_achieved(Pre,Statics,Post). 1070all_achieved([se(Sort,Obj,SL)|Pre],Statics,Post):- 1071 member(se(Sort,Obj,SR),Post), 1072 is_achieved(SL,SR), 1073 statics_consist_instance(Statics), 1074 all_achieved(Pre,Statics,Post). 1075 1076 1077%------------------------------------------- 1078% instantiate a bit 1079% use action's state change include the postcondition 1080post_instant(Post0,Cond,Statics,[]):-!. 1081post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1082 member(se(Sort,Obj,SE0),Post0), 1083 statics_consist(Statics). 1084post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1085 member(sc(Sort,Obj,SE1=>SS),Cond), 1086 statics_consist(Statics). 1087post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1088 member(sc(Sort0,Obj,SE1=>SS),Cond), 1089 not(objects(Sort0,_)), 1090 subsorts(Sort0,Sortls), 1091 not(not(member(Sort,Sortls))), 1092 statics_consist(Statics). 1093post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1094 post_instant(Post0,Cond,Statics,Post),!. 1095/******************************* NODE ADT *********************/ 1096 1097%node(Name, Precond, Decomps, Temp, Statics) 1098% When inputting new methods etc filter all statics into 1099% static slot 1100 1101make_problem_into_node(I,goal(L,TM,STATS), NN) :- 1102 make_problem_up(L, STEPS), 1103 make_num_hp(TM,Temp), 1104 sort_steps(STEPS,Temp,STEPS1), 1105 make_ss_to_se(I,I_Pre), 1106 NN = node(root,I_Pre,STEPS1 ,Temp, STATS),!. 1107 1108% make problem to steps 1109make_problem_up([],[]):-!. 1110make_problem_up([achieve(L)|R],[step(HP,achieve(L1),undefd,[L1],unexp)|RS]):- 1111 %preconditon here is undefd 1112 make_ss_to_se([L],[L1]), 1113 gensym_special(hp,HP), 1114 make_problem_up(R, RS),!. 1115make_problem_up([achieve(L)|R],[step(HP,achieve(L1),undefd,L1,unexp)|RS]):- 1116 %preconditon here is undefd 1117 make_ss_to_se(L,L1), 1118 gensym_special(hp,HP), 1119 make_problem_up(R, RS),!. 1120make_problem_up([O|R],[step(HP,O,undefd,undefd,unexp)|RS]):- 1121 methodC(O,Pre,Post,Statics1,Temp,ACH,Dec), 1122 gensym_special(hp,HP), 1123 make_problem_up(R, RS),!. 1124make_problem_up([O|R], 1125 [step(HP,O,undefd,undefd,unexp)|RS]):- 1126 operatorC(O,Pre,Post,Cond,Statics1), 1127 gensym_special(hp,HP), 1128 make_problem_up(R, RS),!. 1129 1130make_num_hp([],[]):-!. 1131make_num_hp([before(N1,N2)|TM],[before(H1,H2)|Temp]):- 1132 gensym_num(hp,N1,H1), 1133 gensym_num(hp,N2,H2), 1134 make_num_hp(TM,Temp),!. 1135 1136%**************sort steps********************************* 1137% sort steps by temporal constraints. 1138sort_steps(Steps,[],Steps):-!. 1139sort_steps([Steps|[]],[],[Steps]):-!. 1140sort_steps(Steps,Temp,OrderedST):- 1141 steps_in_temp(Temp,[],ST), 1142 sort_steps1(Temp,ST,OrderedSTID), 1143 sort_steps2(Steps,OrderedSTID,[],OrderedST),!. 1144 1145% find out the steps in temporal constraints. 1146steps_in_temp([],ST,ST):-!. 1147steps_in_temp([before(H1,H2)|TT],List,ST):- 1148 set_append_e(List,[H1,H2],List1), 1149 steps_in_temp(TT,List1,ST),!. 1150 1151% sort the steps_id(hps) by temporal constraints. 1152sort_steps1(Temp,[],[]):-!. 1153sort_steps1(Temp,[HP1|TST],[HPF|OST]):- 1154 earliest_step(HP1,HPF,Temp,TST,TST1), 1155 sort_steps1(Temp,TST1,OST),!. 1156 1157earliest_step(HPF,HPF,Temp,[],[]):-!. 1158earliest_step(HP1,HPF,Temp,[HP2|TST],[HP1|TST1]):- 1159 member(before(HP2,HP1),Temp), 1160 earliest_step(HP2,HPF,Temp,TST,TST1),!. 1161earliest_step(HP1,HPF,Temp,[HP2|TST],[HP2|TST1]):- 1162 earliest_step(HP1,HPF,Temp,TST,TST1),!. 1163 1164% sort the steps, put the unordered steps in the front 1165sort_steps2(OtherST,[],OrderedST1,OrderedST):- 1166 append(OrderedST1,OtherST,OrderedST),!. 1167sort_steps2(Steps,[HP|THPS],List,OrderedST):- 1168 member(step(HP,N,Pre,Post,F),Steps), 1169 append(List,[step(HP,N,Pre,Post,F)],List1), 1170 list_take(Steps,[step(HP,N,Pre,Post,F)],Steps1), 1171 sort_steps2(Steps1,THPS,List1,OrderedST),!. 1172sort_steps2(Steps,[HP|THPS],List,OrderedST):- 1173 sort_steps2(Steps,THPS,List,OrderedST),!. 1174%******************************************************* 1175 1176% replace ss to se 1177make_ss_to_se([],[]):-!. 1178make_ss_to_se([ss(Sort,Obj,Post)|TPost],[se(Sort,Obj,Post)|TPre]):- 1179 make_ss_to_se(TPost,TPre),!. 1180make_ss_to_se([se(Sort,Obj,Post)|TPost],[se(Sort,Obj,Post)|TPre]):- 1181 make_ss_to_se(TPost,TPre),!. 1182 1183%******************************************************* 1184% extract_solution(Node,.. 1185% recurvise routine to work down tree and 1186% print out a linearisation of it 1187extract_solution(Node,PHPs,SIZE1) :- 1188 % its the name of a hierarchical op...... 1189 getN_decomp(Node, HPs), 1190 push_to_primitive(HPs,[],PHPs), 1191 pprint(PHPs,1,SIZE), 1192 SIZE1 is SIZE -1,!. 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213/************ change_op_representation ***********/ 1214% make pre and post explicit 1215% filter out statics and put in a new slot 1216change_op_representation :- 1217 method(A,B,C,Stat,T,Dec), 1218 make_ss_to_se(B,B0), 1219 make_se_primitive(B0,B1), 1220 make_sc_primitive(C,C1), 1221 get_preconditions(C1,B1,Pre,Post), 1222 rem_statics(Post, PostR,St1), 1223 rem_statics(Pre, PreR,St2), 1224 append_cut(St1,St2,Statics), 1225 append_cut(Stat,Statics,Statics1), 1226 remove_unneed(Statics1,[],Statics2), 1227 get_achieval(A,Dec,T,Dec1,T1,ACH), 1228 assert(methodC(A,PreR,PostR,Statics2,T1,achieve(ACH),Dec1)), 1229 fail. 1230change_op_representation :- 1231 operator(A,B,C,D), 1232 make_ss_to_se(B,B0), 1233 make_se_primitive(B0,B1), 1234 make_sc_primitive(C,C1), 1235% make_sc_primitive(D,D1), 1236 %can't do that because it narrow the conditional change 1237 get_preconditions(C1,B1,Pre,Post), 1238 rem_statics(Post, PostR,St1), 1239 rem_statics(Pre, PreR,St2), 1240 append_cut(St1,St2,Statics1), 1241 remove_unneed(Statics1,[],Statics), 1242 statics_consist(Statics), 1243 assert(operatorC(A,PreR,PostR,D,Statics)), 1244 fail. 1245change_op_representation:- 1246 retractall(current_num(sm,_)),!. 1247 1248get_preconditions([],Prev,Prev,Prev) :-!. 1249get_preconditions([sc(S,X,From =>To)|Rest],Prev,[se(S,X,From1)|Pre],[se(S,X,To1)|Post]):- 1250 member_e(se(S,X,PSE),Prev), 1251 append(PSE,From,From1), 1252 append(PSE,To,To1), 1253 list_take(Prev,[se(S,X,PSE)],Prev1), 1254 get_preconditions(Rest,Prev1, Pre,Post),!. 1255get_preconditions([sc(S,X,From =>To)|Rest],Prev,[se(S,X,From)|Pre],[se(S,X,To)|Post]):- 1256 get_preconditions(Rest,Prev, Pre,Post),!. 1257get_preconditions([],Prev,Prev,Prev) :-!. 1258 1259% get all achieve goals out 1260get_achieval(A,Dec,T,Dec1,T1,Achieval):- 1261 retractall(current_num(sm,_)), 1262 make_dec(A,Dec,Dec1,T,T1,[],Achieval),!. 1263make_dec(A,[],[],Temp,Temp,Achieval,Achieval):-!. 1264make_dec(A,[HD|TD],TD1,Temp,Temp1,Achieval,Achieval1):- 1265 HD=..[achieve|Goal], 1266 current_num(sm,Num), 1267 replace_achieval_temp(Temp,Temp0,Num), 1268 make_ss_to_se(Goal,Goal0), 1269 append(Achieval,Goal0,Achieval0), 1270 make_dec(A,TD,TD1,Temp0,Temp1,Achieval0,Achieval1),!. 1271make_dec(A,[HD|TD],TD1,Temp,Temp1,Achieval,Achieval1):- 1272 HD=..[achieve|Goal], 1273 not(current_num(sm,Num)), 1274 replace_achieval_temp(Temp,Temp0,1), 1275 make_ss_to_se(Goal,Goal0), 1276 append(Achieval,Goal0,Achieval0), 1277 make_dec(A,TD,TD1,Temp0,Temp1,Achieval0,Achieval1). 1278make_dec(A,[HD|TD],[HD|TD1],Temp,Temp1,Achieval,Achieval1):- 1279 HD=..[DecName|Goal], 1280 DecName\==achieve, 1281 gensym_special(sm,SM), 1282 current_num(sm,Num), 1283 make_dec(A,TD,TD1,Temp,Temp1,Achieval,Achieval1),!. 1284 1285% get rid of the achievals in temp orders 1286replace_achieval_temp(Temp,Temp1,Num):- 1287 change_all_numbers(Temp,Num,Temp00), 1288 tidy_temp(Temp00,Temp1). 1289 1290change_all_numbers([],Num,[]):-!. 1291change_all_numbers([HTemp|TTemp],Num,[HTemp00|TTemp00]):- 1292 HTemp=..[before|Nums], 1293 change_nums(Nums,Num,Nums1), 1294 HTemp00=..[before|Nums1], 1295 change_all_numbers(TTemp,Num,TTemp00). 1296 1297change_nums([],Num,[]):-!. 1298change_nums([Num1|TN],Num,[Num1|TN1]):- 1299 Num1<Num, 1300 change_nums(TN,Num,TN1),!. 1301change_nums([Num1|TN],Num,[Num2|TN1]):- 1302 Num1>Num, 1303 Num2 is Num1-1, 1304 change_nums(TN,Num,TN1),!. 1305change_nums([Num|TN],Num,[0|TN1]):- 1306 change_nums(TN,Num,TN1),!. 1307 1308% since assumed achieval only happen at first, so only change the after ones 1309tidy_temp(Temp,Temp1):- 1310 member(before(Num,0),Temp), 1311 list_take(Temp,[before(Num,0)],Temp0), 1312 change_laters(Temp0,Num,Temp01), 1313 tidy_temp(Temp01,Temp1). 1314tidy_temp([],[]):-!. 1315tidy_temp([before(0,Num)|Temp],Temp0):- 1316 tidy_temp(Temp,Temp0),!. 1317tidy_temp([before(Num1,Num2)|Temp],[before(Num1,Num2)|Temp0]):- 1318 tidy_temp(Temp,Temp0),!. 1319 1320change_laters([before(0,Num2)|Temp],Num,[before(Num,Num2)|Temp0]):- 1321 change_laters(Temp,Num,Temp0). 1322change_laters([before(Num1,0)|Temp],Num,[before(Num1,0)|Temp0]):- 1323 change_laters(Temp,Num,Temp0). 1324change_laters([before(Num1,Num2)|Temp],Num,[before(Num1,Num2)|Temp0]):- 1325 change_laters(Temp,Num,Temp0). 1326 1327% change the states to primitive states 1328make_se_primitive([],[]). 1329make_se_primitive([se(Sort,Obj,ST)|SE],[se(Sort,Obj,ST)|SE0]):- 1330 find_prim_sort(Sort,[Sort]),!, 1331 make_se_primitive(SE,SE0). 1332make_se_primitive([se(Sort,Obj,ST)|SE],[se(PSort,Obj,ST)|SE0]):- 1333 find_prim_sort(Sort,PSorts), 1334 member(PSort,PSorts), 1335 make_se_primitive(SE,SE0). 1336 1337% change the state changes to primitive states 1338make_sc_primitive([],[]). 1339make_sc_primitive([sc(Sort,Obj,SE1=>SE2)|ST],[sc(Sort,Obj,SE1=>SE2)|ST0]):- 1340 find_prim_sort(Sort,[Sort]),!, 1341 make_sc_primitive(ST,ST0). 1342make_sc_primitive([sc(Sort,Obj,SE1=>SE2)|ST],[sc(PSort,Obj,SE1=>SE2)|ST0]):- 1343 find_prim_sort(Sort,PSorts), 1344 member(PSort,PSorts), 1345 make_sc_primitive(ST,ST0). 1346% ------------ end of change operator ---------------------- 1347make_tn(TN,Name,Pre,Post,Temp,Dec):- 1348 gensym_special(tn,TN), 1349 find_only_changed(Pre,Post,[],Pre1,[],Post1), 1350% tell(user),nl,write(tn(TN,Name,Pre1,Post1,Temp,Dec)),nl,told, 1351 assert(tn(TN,Name,Pre1,Post1,Temp,Dec)),!. 1352 1353find_only_changed([],[],Pre,Pre,Post,Post):-!. 1354% just a lazy check if they are in exactly same sequence 1355find_only_changed([se(Sort,Obj,ST)|Pre],[se(Sort,Obj,ST)|Post],Pre0,Pre1,Post0,Post1):- 1356 find_only_changed(Pre,Post,Pre0,Pre1,Post0,Post1),!. 1357find_only_changed([se(Sort,Obj,ST)|Pre],Post,Pre0,Pre1,Post0,Post1):- 1358 member(se(Sort,Obj,ST1),Post), 1359 list_take(Post,[se(Sort,Obj,ST1)],Post2), 1360 append_changed(se(Sort,Obj,ST),se(Sort,Obj,ST1),Pre0,Pre3,Post0,Post3), 1361 find_only_changed(Pre,Post2,Pre3,Pre1,Post3,Post1),!. 1362find_only_changed([se(Sort,Obj,ST)|Pre],Post,Pre0,Pre1,Post0,Post1):- 1363 member(se(SortN,Obj,ST1),Post), 1364 list_take(Post,[se(SortN,Obj,ST1)],Post2), 1365 append_changed(se(Sort,Obj,ST),se(SortN,Obj,ST1),Pre0,Pre3,Post0,Post3), 1366 find_only_changed(Pre,Post2,Pre3,Pre1,Post3,Post1),!. 1367% other fail. 1368 1369% append only changed states 1370% not_conflict here means not changed 1371append_changed(se(Sort,Obj,ST),se(Sort1,Obj,ST1),Pre0,Pre0,Post0,Post0):- 1372 not_conflict(Sort,Obj,ST,ST1,_),!. 1373append_changed(se(Sort,Obj,ST),se(Sort1,Obj,ST1),Pre0,Pre3,Post0,Post3):- 1374 append(Pre0,[se(Sort,Obj,ST)],Pre3), 1375 append(Post0,[se(Sort,Obj,ST1)],Post3),!. 1376 1377 1378 1379%***********print out solution************************** 1380push_to_primitive([],PHPs,PHPs) :-!. 1381push_to_primitive([step(HPID,_,_,_,exp(TN))|HPs],List,PHPs) :- 1382 tn(TN,Name,Pre,Post,Temp,Dec), 1383 push_to_primitive(Dec,List,Dec1), 1384 push_to_primitive(HPs,Dec1,PHPs),!. 1385push_to_primitive([step(HPID,_,_,_,exp(Name))|HPs],List,PHPs):- 1386 append(List,[Name],List1), 1387 push_to_primitive(HPs,List1,PHPs),!. 1388 1389 1390/*********** TEMPORAL AND DECLOBBERING ************/ 1391 1392possibly_before(I,J,Temps) :- 1393 \+ necessarily_before(J,I,Temps), !. 1394 1395necessarily_before(J,I,Temps) :- 1396 member(before(J,I),Temps),!. 1397necessarily_before(J,I,Temps) :- 1398 member(before(J,Z),Temps), 1399 necessarily_before(Z,I,Temps),!. 1400 1401/********** retracting, asserting and reporting nodes *****************/ 1402 1403/***** SOLUTION ******/ 1404select_node(node(Name,Pre,Temp,Decomp,Statics)) :- 1405 retract(node(Name,Pre,Temp,Decomp,Statics)), 1406% nl,nl,write(Name),write(' RETRACTED'),nl,nl, 1407% tell(user), 1408% nl,nl,write(Name),write(' RETRACTED'),nl,nl, 1409% tell(FF), 1410 !. 1411 1412is_of_primitive_sort(X,Y) :- 1413 objects(Y,L),member(X,L). 1414is_of_sort(X,Y) :- 1415 is_of_primitive_sort(X,Y). 1416is_of_sort(X,Y) :- 1417 sorts(Y,SL),member(Z,SL),is_of_sort(X,Z). 1418 1419find_all_upper([],[]). 1420find_all_upper([HVars|TV],[HSorts|TS]):- 1421 uppersorts(HSorts,Upsorts), 1422 member(HVars,Upsorts), 1423 find_all_upper(TV,TS). 1424 1425% find out primitive sorts of a sort. 1426find_prim_sort(Sort,PS):- 1427 subsorts(Sort,Subsorts), 1428 split_prim_noprim(Subsorts,PS,NP),!. 1429 1430% find out the objects of a sort 1431get_sort_objects(Sort,Objs):- 1432 find_prim_sort(Sort,PSorts), 1433 get_objects1(PSorts,Objls), 1434 flatten(Objls,[],Objs),!. 1435 1436get_objects1([],[]):-!. 1437get_objects1([PS1|RS],[Objls1|Objls]):- 1438 objects(PS1,Objls1), 1439 get_objects1(RS,Objls),!. 1440 1441% find subsorts of a sort(include). 1442subsorts(Sort,Subsorts):- 1443 sort_down([Sort],[Sort],Subsorts),!. 1444 1445sort_down([],Subsorts,Subsorts):-!. 1446sort_down([HOpen|TOpen],List,Sortslist):- 1447 sorts(HOpen,Sorts), 1448 append(List,Sorts,List1), 1449 append(TOpen,Sorts,Open1), 1450 sort_down(Open1,List1,Sortslist),!. 1451sort_down([HOpen|TOpen],List,Sortslist):- 1452 sort_down(TOpen,List,Sortslist),!. 1453 1454% find uppersorts of a sort or object(include). 1455uppersorts(Sort,Uppersorts):- 1456 objects(Sort,Objls), 1457 sort_up(Sort,[Sort],Uppersorts),!. 1458uppersorts(Sort,Uppersorts):- 1459 sorts(Sort,Sortls), 1460 sort_up(Sort,[Sort],Uppersorts),!. 1461uppersorts(Obj,Sortls):- 1462 objects(Sort,Objls), 1463 member(Obj, Objls), 1464 sort_up(Sort,[Sort],Sortls),!. 1465 1466sort_up(Sort, List,Sortslist):- 1467 sorts(non_primitive_sorts,NPSorts), 1468 sort_up1(Sort,NPSorts,NPSorts,List,Sortslist),!. 1469 1470sort_up1(Sort,[],NPSorts,Sortslist,Sortslist):-!. 1471sort_up1(Sort,[HNPSorts|TNPSorts],NPSorts,List,Sortslist):- 1472 sorts(HNPSorts,Sorts), 1473 member(Sort,Sorts), 1474 append(List, [HNPSorts], List1), 1475 sort_up(HNPSorts,List1,Sortslist),!. 1476sort_up1(Sort,[HNPSorts|TNPSorts],NPSorts,List,Sortslist):- 1477 sort_up1(Sort,TNPSorts,NPSorts,List,Sortslist),!. 1478 1479% find out primitive sorts from a sorts list. 1480split_prim_noprim([],[],[]):-!. 1481split_prim_noprim([HS|TS],[HS|TP],NP):- 1482 objects(HS,Obj), 1483 split_prim_noprim(TS,TP,NP),!. 1484split_prim_noprim([HS|TS],PS,[HS|NP]):- 1485 split_prim_noprim(TS,PS,NP),!. 1486 1487 1488 1489 1490 1491% check for statics consist and instanciate them 1492statics_consist_instance([]):-!. 1493statics_consist_instance(Statics) :- 1494 get_invariants(Invs), 1495 statics_consist_instance0(Invs,Statics). 1496 1497statics_consist_instance0(Invs,[]):-!. 1498statics_consist_instance0(Invs,[ne_back(A,B)|TStatics]):- 1499 not(A==B), 1500 statics_consist_instance0(Invs,TStatics). 1501statics_consist_instance0(Invs,[ne(A,B)|TStatics]):- 1502 append(TStatics,[ne_back(A,B)],TStatics1), 1503 statics_consist_instance0(Invs,TStatics1),!. 1504statics_consist_instance0(Invs,[is_of_sort(Obj,Sort)|TStatics]):- 1505 is_of_sort(Obj,Sort), 1506 statics_consist_instance0(Invs,TStatics). 1507statics_consist_instance0(Invs,[is_of_primitive_sort(Obj,Sort)|TStatics]):- 1508 is_of_primitive_sort(Obj,Sort), 1509 statics_consist_instance0(Invs,TStatics). 1510statics_consist_instance0(Invs,[Pred|TStatics]):- 1511 member(Pred,Invs), 1512 statics_consist_instance0(Invs,TStatics). 1513 1514% check for statics consist without instanciate them 1515% only instance the variable when there is one choice of from the ground lists 1516statics_consist([]):-!. 1517statics_consist(Statics):- 1518 get_invariants(Invs), 1519 statics_consist1(Invs,Statics),!. 1520 1521statics_consist1(Invs,[]):-!. 1522statics_consist1(Invs,[ne_back(A,B)|TStatics]):- 1523 not(A==B), 1524 statics_consist1(Invs,TStatics),!. 1525statics_consist1(Invs,[ne(A,B)|TStatics]):- 1526 append(TStatics,[ne_back(A,B)],TStatics1), 1527 statics_consist1(Invs,TStatics1),!. 1528statics_consist1(Invs,[is_of_sort(Obj,Sort)|TStatics]):- 1529 get_sort_objects(Sort,Objs), 1530 obj_member(Obj,Objs), 1531 statics_consist1(Invs,TStatics),!. 1532statics_consist1(Invs,[is_of_primitive_sort(Obj,Sort)|TStatics]):- 1533 objects(Sort,Objs), 1534 obj_member(Obj,Objs), 1535 statics_consist1(Invs,TStatics),!. 1536statics_consist1(Invs,[Pred|TStatics]):- 1537 pred_member(Pred,Invs), 1538 statics_consist1(Invs,TStatics),!. 1539 1540/***************** local utils *****************/ 1541 1542/*********** DOMAIN MODEL FUNCTIONS *****************/ 1543get_invariants(Invs) :- 1544 atomic_invariants(Invs),!. 1545 1546rem_statics([ss(S,X,Preds)|Post], [ss(S,X,PredR)|PostR],Rt1) :- 1547 filter_list(Preds, is_a_dynamic_pred,PredR), 1548 filter_list(Preds, is_a_static_pred, R), 1549 rem_statics(Post, PostR,Rt), 1550 append(Rt,[is_of_sort(X,S)|R],Rt1),!. 1551rem_statics([se(S,X,Preds)|Post], [se(S,X,PredR)|PostR],Rt1) :- 1552 filter_list(Preds, is_a_dynamic_pred,PredR), 1553 filter_list(Preds, is_a_static_pred, R), 1554 rem_statics(Post, PostR,Rt), 1555 append(Rt,[is_of_sort(X,S)|R],Rt1),!. 1556rem_statics([], [],[]) :-!. 1557 1558 1559 1560/***************** STATICS ************************/ 1561 1562isemptylist([]):-!. 1563 1564 1565member_cut(X,[X|_]) :- !. 1566member_cut(X,[_|Y]) :- member_cut(X,Y),!. 1567 1568member_e(X,[Y|_]):- 1569 X==Y,!. 1570member_e(X,[Y|L]):- 1571 var(Y), 1572 member_e(X,L),!. 1573member_e(ss(Sort,Obj,SE),[ss(Sort,Obj1,SE)|_]):- 1574 Obj==Obj1,!. 1575member_e(se(Sort,Obj,SE),[se(Sort,Obj1,SE)|_]):- 1576 Obj==Obj1,!. 1577member_e(sc(Sort,Obj,SE1=>SE2),[sc(Sort,Obj1,SE1=>SE2)|_]):- 1578 Obj==Obj1,!. 1579member_e(X,[Y|L]):- member_e(X,L),!. 1580% u_mem in ob_utils is SLOW!?. 1581% this is a fast impl. 1582u_mem_cut(_,[]):-!,fail. 1583u_mem_cut(X,[Y|_]) :- X == Y,!. 1584u_mem_cut(X,[_|L]) :- u_mem_cut(X,L),!. 1585 1586 1587% check if object X is a member of a objects list 1588% 1. if it is not a variable, check if it is in the list 1589% 2. X is a variable, and the list only has one objects, make X as that obj 1590% 3. X is a variable, but the list has more than one objects, leave X unchange 1591obj_member(X,[X|[]]):-!. 1592obj_member(X,List):- 1593 obj_member0(X,List),!. 1594obj_member0(X,[Y|_]):- 1595 var(X),!.%if X is var, but Y not, the leave X as that variable 1596obj_member0(X,[Y|_]):- 1597 X==Y,!. 1598obj_member0(X,[_|Y]) :- obj_member0(X,Y),!. 1599 1600% check if a predicate is a member of a ground predicate list, 1601% 1. when only one predicates found 1602% just used in binding the predicates to a sort without instantiate it 1603% for efficiency, instantiate the variable if the list only have one atom 1604pred_member(ne(A,B),List):- 1605 A\==B,!. 1606pred_member(is_of_sort(A,B),List):- 1607 get_sort_objects(B,Objls), 1608 obj_member(A,Objls),!. 1609pred_member(is_of_primitive_sort(A,B),List):- 1610 objects(B,Objls), 1611 obj_member(A,Objls),!. 1612pred_member(X,List):- 1613 setof(X,member(X,List),Refined), 1614 pred_member0(X,Refined),!. 1615pred_member0(X,[X|[]]):-!. 1616pred_member0(X,Y):- 1617 pred_member1(X,Y),!. 1618pred_member1(X,[Y|_]):- 1619 X=..[H|XLs], 1620 Y=..[H|YLs], 1621 vequal(XLs,YLs),!. 1622pred_member1(X,[_|Y]):- pred_member1(X,Y),!. 1623 1624 1625 1626append_cut([],L,L) :- !. 1627append_cut([H|T],L,[H|Z]) :- append_cut(T,L,Z),!. 1628 1629% remove the constants that no need 1630% instanciate the viables that all ready been bind 1631% ------------------------------------------ 1632append_st(ST1,ST2,ST):- 1633 append_cut(ST1,ST2,ST0), 1634 remove_unneed(ST0,[],ST),!. 1635 1636% remove the constants that no need 1637% instanciate the variables that all ready been bind 1638remove_unneed([],C,C):-!. 1639remove_unneed([A|B], Z, C):- 1640 var(A), 1641 member_e(A,Z), 1642 remove_unneed(B, Z, C),! . 1643remove_unneed([A|B], Z, C):- 1644 var(A), 1645 append(Z,[A],D), 1646 remove_unneed(B, D, C),!. 1647remove_unneed([A|B], Z, C):- 1648 ground(A), 1649 remove_unneed(B, Z, C),!. 1650remove_unneed([A|B], Z, C):- 1651 A=..[ne|Paras], 1652 append(Z,[A],D), 1653 remove_unneed(B, D, C),!. 1654remove_unneed([A|B], Z, C):- 1655 A=..[Pred|Paras], 1656 same_var_member(A,Z), 1657 remove_unneed(B, Z, C),!. 1658remove_unneed([A|B], Z, C):- 1659 append(Z,[A],D), 1660 remove_unneed(B, D, C),!. 1661 1662same_var_member(Pred,[Pred1|List]):- 1663 var(Pred1), 1664 same_var_member(Pred,List),!. 1665same_var_member(Pred,[Pred1|List]):- 1666 Pred==Pred1,!. 1667same_var_member(Pred,[Pred1|List]):- 1668 Pred=..[H|T], 1669 Pred1=..[H|T1], 1670 same_var_member1(T,T1),!. 1671same_var_member(Pred,[Pred1|List]):- 1672 same_var_member(Pred,List),!. 1673 1674same_var_member1([],[]):-!. 1675same_var_member1([H1|T],[H2|T]):- 1676 var(H1), 1677 H1==H2,!. 1678same_var_member1([H|T1],[H|T2]):- 1679 var(T1), 1680 T1==T2,!. 1681same_var_member1([H1|T1],[H2|T2]):- 1682 H1==H2, 1683 same_var_member1(T1,T2),!. 1684 1685 1686% set_append_e: list1 + list2 -> list 1687% no duplicate, no instanciation 1688% ------------------------------------------ 1689set_append_e(A,B,C):- 1690 append_cut(A,B,D), 1691 remove_dup(D,[],C),!. 1692 1693% remove duplicate 1694remove_dup([],C,C):-!. 1695remove_dup([A|B],Z,C) :- 1696 member_e(A, Z), 1697 remove_dup(B, Z, C),! . 1698remove_dup([A|B], Z, C):- 1699 append(Z,[A],D), 1700 remove_dup(B, D, C),!. 1701 1702vequal([],[]):-!. 1703vequal([X|XLs],[Y|YLs]):- 1704 var(X), 1705 vequal(XLs,YLs),!. 1706vequal([X|XLs],[Y|YLs]):- 1707 var(Y), 1708 vequal(XLs,YLs),!. 1709vequal([X|XLs],[Y|YLs]):- 1710 X==Y, 1711 vequal(XLs,YLs),!. 1712 1713 1714% append_st: append two statics 1715 1716/* is X is in the atomic_invariants then by defn its a static. */ 1717is_a_static_pred(X) :- 1718 atomic_invariants( A ), 1719 not( not( member(X,A) )),!. 1720is_a_static_pred(ne(_,_)) :-!. 1721is_a_static_pred(is_of_sort(_,_)) :-!. 1722 1723is_a_dynamic_pred(X) :- 1724 not( is_a_static_pred(X) ),!. 1725 1726/* filter_list(X,condition(args),XO) 1727 1728 XO is reduced list */ 1729 ([X|Rest],Op,[X|Rest1]) :- 1731 Op =.. OL, 1732 append(OL,[X],OL1), 1733 Pred =.. OL1, 1734 call(Pred), 1735 filter_list(Rest,Op,Rest1),!. 1736filter_list([_|Rest],Op,Rest1) :- 1737 filter_list(Rest,Op,Rest1),!. 1738filter_list([],_,[]). 1739 1740 1741 1742% ----------------------utilities--------------------- 1743/* 1744not(X):- \+X. 1745member(X,[X|_]). 1746member(X,[_|L]) :- member(X,L). 1747append([],L,L):-!. 1748append([H|T],L,[H|Z]) :- append(T,L,Z),!. 1749 */ 1750 1751file_exists(Filename):-exists_file(Filename). 1752 1753% subtract(A,B,C): subtract B from A 1754% ------------------------------------- 1755subtract([],_,[]):-!. 1756subtract([A|B],C,D) :- 1757 member(A,C), 1758 subtract(B,C,D),!. 1759subtract([A|B],C,[A|D]) :- 1760 subtract(B,C,D),!. 1761 1762/* arg1 - arg2 = arg3 */ 1763 1764list_take(R,[E|R1],R2):- 1765 remove_el(R,E,RR), 1766 list_take(RR,R1,R2),!. 1767list_take(R,[_|R1],R2):- 1768 list_take(R,R1,R2),!. 1769list_take(A,[],A) :- !. 1770 1771 % remove_el: list * el -> list-el 1772% ---------------------------------- 1773remove_el([],_,[]) :- ! . 1774remove_el([A|B],A,B) :- ! . 1775remove_el([A|B],C,[A|D]) :- 1776 remove_el(B,C,D) . 1777 1778/* generate symbol predicate (from file futile)*/ 1779 1780gensym_special(Root,Atom) :- 1781 getnum(Root,Num), 1782 name(Root,Name1), 1783 name(Num,Name2), 1784 append(Name1,Name2,Name), 1785 name(Atom,Name). 1786 1787getnum(Root,Num) :- 1788 retract(current_num(Root,Num1)),!, 1789 Num is Num1+1, 1790 asserta(current_num(Root,Num)). 1791 1792getnum(Root,1) :- asserta(current_num(Root,1)). 1793 1794 1795/************ end of change_op_representation ***********/ 1796 1797gensym_num(Root,Num,Atom):- 1798 name(Root,Name), 1799 name(Num,Name1), 1800 append(Name,Name1,Name2), 1801 name(Atom,Name2),!. 1802 1803 1804%******************************************************* 1805pprint([],SIZE,SIZE):-!. 1806pprint([HS|TS],Size0,SIZE):- 1807 list(HS), 1808 pprint(HS,Size0,Size1), 1809 pprint(TS,Size1,SIZE),!. 1810pprint([HS|TS],Size0,SIZE):- 1811% write('step '),write(Size0),write(': '), 1812% write(HS),nl, 1813 Size1 is Size0+1, 1814 pprint(TS,Size1,SIZE),!. 1815 1816 1817% list of lists -> list 1818 1819flatten([HO|TO], List, O_List):- 1820 append(HO, List, List_tmp), 1821 flatten(TO, List_tmp, O_List),!. 1822flatten([H|TO], List,O_List):- 1823 append([H], List, List_tmp), 1824 flatten(TO, List_tmp, O_List). 1825flatten([], [HList|T], O_List):- 1826 HList = [], 1827 flatten(T, [], O_List). 1828flatten([], [HList|T], O_List):- 1829 list(HList), 1830 flatten([HList|T],[], O_List),!. 1831flatten([], L,L):-!. 1832 1833% flatten with no duplicate 1834set_flatten([HO|TO], List, O_List):- 1835 set_append_e(HO, List, List_tmp), 1836 set_flatten(TO, List_tmp, O_List),!. 1837set_flatten([H|TO], List,O_List):- 1838 set_append_e([H], List, List_tmp), 1839 set_flatten(TO, List_tmp, O_List). 1840set_flatten([], [HList|T], O_List):- 1841 HList = [], 1842 set_flatten(T, [], O_List). 1843set_flatten([], [HList|T], O_List):- 1844 list(HList), 1845 set_flatten([HList|T],[], O_List),!. 1846set_flatten([], L,L):-!. 1847 1848% list: [el1,el2, ...] --> bool 1849% ----------------------------- 1850list(A) :- 1851 var(A) , 1852 ! , 1853 fail . 1854list(A) :- 1855 functor(A,'.',_). 1856% ***********************for multy tasks***************** 1857:- assert(time_taken(0)). 1858:- assert(soln_size(0)). 1859:- assert(plan_used(0)). 1860 1861solve(N,FN):- 1862 N < FN, 1863 tell(user), 1864 nl,write('task '), write(N),write(': '),nl, 1865 solution_file(F), 1866 tell(F), 1867 nl,write('task '), write(N),write(': '),nl, 1868 solve(N), 1869 Ni is N+1, 1870 solve(Ni,FN). 1871solve(FN,FN):- 1872 tell(user),nl,write('task '), 1873 write(FN),write(': '),nl, 1874 solution_file(F), 1875 tell(F), 1876 nl,write('task '), 1877 write(FN),write(': '),nl, 1878 solve(FN), 1879 retractall(sum(_)), 1880 assert(sum(0)), 1881 sum_time(CP), 1882 retractall(sum(_)), 1883 assert(sum(0)), 1884 sum_size(SIZE), 1885 TIM is CP /1000, 1886 retractall(sum(_)), 1887 assert(sum(0)), 1888 sum_plan(PLAN), 1889 retractall(time_taken(_)), 1890 retractall(soln_size(_)), 1891 retractall(plan_used(_)), 1892 nl,write('total time '),write(TIM),write(' seconds'), 1893 nl,write('total size '),write(SIZE), 1894 nl,write('plan used '),write(PLAN), 1895 nl, 1896 told. 1897 1898sum_time(TIM):- 1899 time_taken(CP), 1900 retract(sum(N)), 1901 N1 is N +CP, 1902 assert(sum(N1)), 1903 fail. 1904sum_time(TIM):- 1905 sum(TIM). 1906sum_size(SIZE):- 1907 soln_size(S), 1908 retract(sum(N)), 1909 N1 is N +S, 1910 assert(sum(N1)), 1911 fail. 1912sum_size(SIZE):- 1913 sum(SIZE). 1914 1915 1916sum_plan(Plan):- 1917 plan_used(PL), 1918 retract(sum(N)), 1919 N1 is N +PL, 1920 assert(sum(N1)), 1921 fail. 1922sum_plan(Plan):- 1923 sum(Plan). 1924 1925 1926%ground the hierarchy structure of HTN planning domain 1927ground_hierarchy:- 1928 ground_predicates, 1929 ground_substate_class,!. 1930 1931% grounding predicates to object level 1932% assert in prolog database as gpredicates(Pred,GPredls) 1933ground_predicates:- 1934 predicates(Preds), 1935 grounding_preds(Preds), 1936 collect_grounded_pred,!. 1937 1938grounding_preds([]). 1939% if it is statics, only choose within atomic_invariants 1940grounding_preds([HPred|TP]):- 1941 functor(HPred,FF,NN), 1942 functor(APred,FF,NN), 1943 atomic_invariants(Atom), 1944 member(APred,Atom), 1945 ground_all_var_atom(HPred), 1946 grounding_preds(TP). 1947% else, combine all the objects 1948grounding_preds([HPred|TP]):- 1949 functor(HPred,FF,NN), 1950 functor(GPred,FF,NN), 1951 ground_all_var(GPred,HPred), 1952 grounding_preds(TP). 1953 1954% collect all the grounded predicates together 1955collect_grounded_pred:- 1956 gpred(Pred,_), 1957 setof(GPred,gpred(Pred,GPred),GPredls), 1958 retractall(gpred(Pred,_)), 1959 assert(gpredicates(Pred,GPredls)), 1960 fail. 1961collect_grounded_pred. 1962 1963% grounding substate_class to primary sort level 1964% assert in prolog database as gsubstate_class(Sort,Obj,States) 1965ground_substate_class:- 1966 substate_classes(Sort,Obj,Substate), 1967 find_prim_sort(Sort,PS), 1968 assert_subclass(PS,Obj,Substate), 1969 fail. 1970ground_substate_class:- 1971 collect_grounded_substates. 1972 1973assert_subclass([],Obj,Substate). 1974assert_subclass([HS|TS],Obj,Substate):- 1975 assert(gsstates(HS,Obj,Substate)), 1976 assert_subclass(TS,Obj,Substate). 1977 1978collect_grounded_substates:- 1979 gsstates(Sort,Obj,_), 1980 setof(SStates,gsstates(Sort,Obj,SStates),GSStates), 1981 retractall(gsstates(Sort,Obj,_)), 1982 all_combined(GSStates,GSStates0), 1983 assert(gsubstate_classes(Sort,Obj,GSStates0)), 1984 fail. 1985collect_grounded_substates. 1986 1987all_combined(SStates,CSStates):- 1988 xprod(SStates,CSStates1), 1989 flat_interal(CSStates1,CSStates),!. 1990 1991flat_interal([],[]):-!. 1992flat_interal([HSS1|TSS1],[HSS|TSS]):- 1993 flatten(HSS1,[],HSS), 1994 flat_interal(TSS1,TSS),!. 1995 1996ground_all_var_atom(HPred):- 1997 functor(HPred,FF,NN), 1998 functor(GPred,FF,NN), 1999 functor(APred,FF,NN), 2000 atomic_invariants(Atom), 2001 member(APred,Atom), 2002 GPred=..[Name|Vars], 2003 APred=..[Name|Sorts], 2004 ground_all_var_atom0(Vars,Sorts), 2005 assert_gpred(GPred), 2006 fail. 2007ground_all_var_atom(HPred). 2008 2009ground_all_var_atom0([],[]). 2010ground_all_var_atom0([HVars|TV],[HSorts|TS]):- 2011 subsorts(HSorts,Subsorts), 2012 split_prim_noprim(Subsorts,PSorts,NPSorts), 2013 member(LS,PSorts), 2014 objects(LS,Objls), 2015 member(HVars,Objls), 2016 ground_all_var_atom0(TV,TS). 2017ground_all_var_atom0([HVar|TV],[HASorts|TS]):- 2018 objects(Sorts,Objls), 2019 member(HASorts,Objls), 2020 HVar=HASorts, 2021 ground_all_var_atom0(TV,TS). 2022 2023ground_all_var(GPred,HPred):- 2024 GPred=..[Name|Vars], 2025 HPred=..[Name|Sorts], 2026 ground_all_var0(Vars,Sorts), 2027 not(inconsistent_constraint([GPred])), 2028 assert_gpred(GPred), 2029 fail. 2030ground_all_var(GPred,HPred). 2031 2032ground_all_var0([],[]). 2033ground_all_var0([HVars|TV],[HSorts|TS]):- 2034 objects(HSorts,Objls), 2035 member(HVars,Objls), 2036 ground_all_var0(TV,TS). 2037ground_all_var0([HVars|TV],[HSorts|TS]):- 2038 subsorts(HSorts,Subsorts), 2039 split_prim_noprim(Subsorts,PSorts,NPSorts), 2040 member(LS,PSorts), 2041 objects(LS,Objls), 2042 member(HVars,Objls), 2043 ground_all_var0(TV,TS). 2044 2045% assert grounded predicates with related upper level predicates 2046 2047assert_gpred(GPred):- 2048 functor(GPred,FF,NN), 2049 functor(UPred,FF,NN), 2050 assert_gpred0(GPred,UPred),!. 2051 2052assert_gpred0(GPred,UPred):- 2053 GPred=..[Name|PSorts], 2054 UPred=..[Name|Vars], 2055 get_obj_sort(Vars,PSorts), 2056 assert(gpred(UPred,GPred)), 2057 fail. 2058assert_gpred0(GPred,UPred). 2059 2060get_obj_sort([],[]):-!. 2061get_obj_sort([HVars|TV],[HObj|TS]):- 2062 objects(HVars,Objls), 2063 member(HObj,Objls), 2064 get_obj_sort(TV,TS),!. 2065 2066delete_all_nodes :- 2067 retractall(node(_,_,_,_,_)), 2068 retractall(final_node(_)), 2069 retractall(tp_node(_,_,_,_,_,_)), 2070 retractall(closed_node(_,_,_,_,_,_)), 2071 retractall(solved_node(_,_,_)). 2072delete_all_nodes :- !. 2073 2074 2075% xprod: list * list --> (list X list) 2076% ----------------------------------- 2077xprod(A,B,C) :- 2078 xprod([A,B],C) . 2079 2080xprod([],[]). 2081xprod(A,E) :- 2082 xprod(A,B,C,D) , 2083 F =..[^,C,D] , 2084 call(setof(B,F,E)) . 2085 2086xprod([X],[A],A,member(A,X)) . 2087xprod([X,Y],[A,B],C,(D,E)) :- 2088 C =..[^,A,B] , 2089 D =..[member,A,X] , 2090 E =..[member,B,Y] . 2091xprod([X|Y],[A|E],D,(F,G)) :- 2092 D =..[^,A,C] , 2093 F =..[member,A,X] , 2094 xprod(Y,E,C,G). 2095 2096 2097:- include(translog4_domain). 2098:- include(translog4_ops). 2099%:- include(translog4_ops2). 2100%:- include(translog4_ops3). 2101:- include(translog4_problems). 2102 2103:- fixup_exports.