59 lines
1.5 KiB
Text
59 lines
1.5 KiB
Text
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(:types EquipmentClass Equipment)
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(:constants
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EC_PositioningUnit - EquipmentClass
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EC_TransportationNode - EquipmentClass
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EC_Shuttle - EquipmentClass
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)
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(:predicates
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(EquipmentClassed ?E - Equipment ?C - EquipmentClass)
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(TransportationNodeOccupied ?E - Equipment)
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(PositioningUnitLocked ?E - Equipment)
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(TransportationNodeConnection ?F ?T - Equipment)
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(EquipmentLocation ?E ?R - Equipment)
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)
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(:functions
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(total-cost)
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(shuttle-time ?FROM ?TO - Equipment)
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)
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(:action MoveShuttle
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:parameters (?SHUTTLE ?FROM ?TO - Equipment)
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:precondition
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(and
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(EquipmentClassed ?SHUTTLE EC_Shuttle)
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(or
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(EquipmentClassed ?FROM EC_PositioningUnit)
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(EquipmentClassed ?FROM EC_TransportationNode)
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)
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(imply (EquipmentClassed ?FROM EC_PositioningUnit)
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(not (PositioningUnitLocked ?FROM))
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)
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(imply (EquipmentClassed ?FROM EC_TransportationNode) (TransportationNodeOccupied ?FROM)
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)
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(or
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(EquipmentClassed ?TO EC_PositioningUnit)
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(EquipmentClassed ?TO EC_TransportationNode)
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)
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(imply (EquipmentClassed ?TO EC_PositioningUnit)
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(not (PositioningUnitLocked ?TO))
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)
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(imply (EquipmentClassed ?TO EC_TransportationNode)
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(not (TransportationNodeOccupied ?TO))
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)
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(TransportationNodeConnection ?FROM ?TO)
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(EquipmentLocation ?SHUTTLE ?FROM)
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(not (EquipmentLocation ?SHUTTLE ?TO))
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)
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:effect
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(and
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(not (TransportationNodeOccupied ?FROM))
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(TransportationNodeOccupied ?TO)
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(increase (total-cost) (shuttle-time ?FROM ?TO))
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(not (EquipmentLocation ?SHUTTLE ?FROM))
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(EquipmentLocation ?SHUTTLE ?TO)
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)
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)
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