a2Q1 finished

assignment2/a2.lp

@@ -1,21 +1,32 @@
+%Instruction:
+%type clingo a2.lp -c n="steps constraint" in the command line. 
+%special rule: 
+%monkey can open door or close door when carrying the chair.
 
-
+%Test case
 room(r1,p1). room(r1,p2). room(r1,p3). room(r1,p4). % 4 locations in room r1
 room(r2,q1). room(r2,q2). % 2 locatoins in room r2
-at(monkey,r1,p1,0). %monkey is in room r1 at location p2 initially
-%at(chair, r2,q1,0). %chair is in room r2 at location q1 initially
-%at(bananas,r1,p4,0). %bananas are in room r1 at p4 initially
+at(monkey,r1,p2,0). %monkey is in room r1 at location p2 initially
+at(chair, r2,q1,0). %chair is in room r2 at location q1 initially
+at(bananas,r1,p4,0). %bananas are in room r1 at p4 initially
 door(r1,p2,r2,q1,closed,0). %there is a door adjacent p2 of r1 and q1 of r2 which is closed initially (p2 and q1 are "door locations")
 
 #show walk/5.
 #show walk/6.
-#show at/4.
+%#show at/4.
 #show openDoor/6.
 #show closeDoor/6.
+#show pick_up/4.
+#show put_down/4.
+#show climb/4.
+#show bananas/2.
 %#show door/6.
 %#show goal/1.
+%#show goal/0.
+%#show chair/3.
+%#show chair/2.
 
-time(0..5).
+time(0..n).%type clingo a2.lp -c n="steps constraint" in the command line. 
 
 
 % actions
@@ -30,6 +41,9 @@ time(0..5).
     at(monkey,Room,P1,T),
     not opening(monkey,T), %monkey cant move when he is busy
     not closing(monkey,T),
+    not pickingUp(monkey,T),
+    not puttingDown(monkey,T),
+    not climbing(monkey,T),
     not goal(T).
 
 {openDoor(monkey, Room1, P1, Room2, P2, T)}:-
@@ -41,18 +55,25 @@ time(0..5).
     door(Room1, P1, Room2, P2, closed, T),
     at(monkey,Room1,P1,T),
     not closing(monkey,T),
+    not pickingUp(monkey,T),
+    not puttingDown(monkey,T),
+    not climbing(monkey,T),
     not goal(T).
 
 {walk(monkey,Room1, P1, Room2, P2, T)}:-
 %monkey walk from (Room1, P1) to (Room2, P2)
     room(Room1, P1),
     room(Room2, P2),
+    Room1 != Room2,
     time(T),
 
     door(Room1, P1, Room2, P2,opened,T),
     at(monkey,Room1,P1,T),
     not opening(monkey,T), %monkey cant move when he is busy
     not closing(monkey,T),
+    not pickingUp(monkey,T),
+    not puttingDown(monkey,T),
+    not climbing(monkey,T),
     not goal(T).
 
 {closeDoor(monkey, Room1, P1, Room2, P2, T)}:-
@@ -64,18 +85,56 @@ time(0..5).
     door(Room1, P1, Room2, P2, opened, T),
     at(monkey,Room1,P1,T),
     not opening(monkey,T),
+    not pickingUp(monkey,T),
+    not puttingDown(monkey,T),
+    not climbing(monkey,T),
     not goal(T).
 
 
-%pick_up(monkey,Room,P,T):-
+{pick_up(monkey,Room,P,T)}:-
 %monkey picks up the chair, both of which are at position P of Room, at T.
+    room(Room, P),
+    time(T),
+
+    at(monkey, Room, P, T),
+    at(chair, Room, P, T),
+    chair(Room,P,T),
+    not opening(monkey,T),
+    not closing(monkey,T),
+    not puttingDown(monkey,T),
+    not climbing(monkey,T),
+    not goal(T).
 
 
-%put_down(monkey,Room,P,T):-
+{put_down(monkey,Room,P,T)}:-
 %monkey puts down the chair at position P of Room, at T.
+    room(Room, P),
+    time(T),
 
-%climb(monkey, Room,P, T):-
-%monkey climbs to the chair, both of which are at position P of Room at T. 
+    at(monkey, Room, P, T),
+    at(chair, Room, P, T),
+    chair(on_monkey,T),
+    not opening(monkey,T),
+    not closing(monkey,T),
+    not pickingUp(monkey,T),
+    not climbing(monkey,T),
+    not goal(T).
+
+{climb(monkey, Room,P, T)}:-
+%monkey climbs to the chair, both of which are at position P of Room at T.
+    room(Room,P),
+    time(T),
+
+    at(monkey, Room, P, T),
+    at(chair, Room, P, T),
+    chair(Room,P,T),
+    at(bananas, Room, P,T),
+    not opening(monkey,T),
+    not closing(monkey,T),
+    not puttingDown(monkey,T),
+    not pickingUp(monkey,T),
+    not surroundingDoorsOpened(Room,T),
+    not goal(T).
 
 
 
@@ -85,7 +144,16 @@ opening(monkey,T):-
     openDoor(monkey, _, _, _, _, T).
 
 closing(monkey,T):-
-    closeDoor(monkey, _, _, _, _, T).    
+    closeDoor(monkey, _, _, _, _, T). 
+
+pickingUp(monkey,T):-
+    pick_up(monkey, _, _, T).      
+
+puttingDown(monkey,T):-
+    put_down(monkey, _, _, T).
+
+climbing(monkey,T):-
+    climb(monkey, _, _, T).
 
 at(monkey,Room,P2,T+1):-
 %change's monkey position when monkey walks from p1 to p2 at the same room
@@ -142,6 +210,35 @@ at(monkey, Room, Place, T+1):-
     at(monkey, Room, Place, T),
     closing(monkey,T).    
 
+at(monkey, Room, Place, T+1):-
+%monkey stays at the same place when picking up chair.
+    at(monkey, Room, Place, T),
+    pickingUp(monkey,T).
+
+at(monkey, Room, Place, T+1):-
+%monkey stays at the same place when putting Down chair.
+    at(monkey, Room, Place, T),
+    puttingDown(monkey,T).
+
+at(chair, Room, Place, T):-
+    chair(on_monkey, T),
+    at(monkey, Room, Place, T).
+
+at(chair, Room, Place, T):-
+    chair(Room, Place, T).
+
+at(monkey, Room, Place, T+1):-
+%monkey stays at the same place when climbing.
+    at(monkey, Room, Place, T),
+    climbing(monkey,T).
+
+at(bananas, Room, Place, T+1):-
+%bananas stays at the same place if monkey doesn't reach it.
+    time(T),
+    at(bananas, Room, Place, T).
+
+
+
 door(Room1, P1, Room2, P2, closed, T+1):-
 %change the door's property if the door is closed.
     room(Room1,P1),
@@ -164,7 +261,7 @@ door(Room1, P1, Room2, P2, opened, T+1):-
     not goal(T).%if goal is achieved, dont keep anymore
 
 door(Room1, P1, Room2, P2, closed, T+1):-
-%keep door closed in the Time(T+1) if it is not openend now.
+%keep door closed in the Time(T+1) if it is not opened now.
     room(Room1,P1),
     room(Room2,P2),
     time(T), 
@@ -174,10 +271,48 @@ door(Room1, P1, Room2, P2, closed, T+1):-
     not openDoor(monkey, Room2, P2, Room1, P1, T),
     not goal(T).%if goal is achieved, dont keep anymore
 
+chair(on_monkey,T+1):-
+    time(T),
+
+    pick_up(monkey, _, _,T).
+
+chair(on_monkey,T+1):-
+    time(T),
+
+    chair(on_monkey, T),
+    not put_down(monkey, _, _,T).
+
+chair(Room, P, T+1):-
+    time(T),
+
+    put_down(monkey, Room, P, T).
+
+chair(Room, P, T+1):-
+    time(T),
+
+    chair(Room, P, T),
+    not pick_up(monkey, Room, P,T).
+
+chair(Room, P, T):-
+    time(T),
+
+    at(chair, Room, P,T),
+    not chair(on_monkey, T).
+
+bananas(on_monkey, T+1):-
+
+    climbing(monkey,T).
+
+surroundingDoorsOpened(Room,T):-
+    door(Room, _, _, _, opened, T).
+
+
 %dont set a action as a goal.
 goal(T) :- 
-        at(monkey,r2,q2,T).
+        %at(monkey,r1,p4,T),
+        %chair(r1,p4,T).
         %door(r1, p2, r2, q1, opened, T).
+        bananas(on_monkey,T).
 goal(T+1):-  time(T), goal(T).            
 goal :- time(T), goal(T).
 :-  not goal.