def air_cargo_p2() -> AirCargoProblem:
cargos = ['C1', 'C2', 'C3']
planes = ['P1', 'P2', 'P3']
airports = ['JFK', 'SFO', 'ATL']
plane_to_airport = {
'P1': 'SFO',
'P2': 'JFK',
'P3': 'ATL'
}
cargo_to_airport = {
'C1': 'SFO',
'C2': 'JFK',
'C3': 'ATL',
}
pos = []
neg = []
for plane, this_airport in plane_to_airport.items():
for other_airport in airports:
if other_airport == this_airport:
pos.append(expr('At({}, {})'.format(plane, this_airport)))
else:
neg.append(expr('At({}, {})'.format(plane, other_airport)))
for cargo, this_airport in cargo_to_airport.items():
for other_airport in airports:
if this_airport == other_airport:
pos.append(expr('At({}, {})'.format(cargo, this_airport)))
else:
neg.append(expr('At({}, {})'.format(cargo, other_airport)))
for cargo in cargos:
for plane in planes:
neg.append(expr('In({}, {})'.format(cargo, plane)))
init = FluentState(pos, neg)
goal = [
expr('At(C1, JFK)'),
expr('At(C2, SFO)'),
expr('At(C3, SFO)'),
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
# TODO implement------------------------------------------------------------------------------------------------------------
new_state = FluentState([], [])
#----------------------insert---------------------
# Lifted from example_have_cake.py
# Get the current state
old_state = decode_state(state, self.state_map)
# Per the teaching materials, the precondition and effect of an action are each conjunctions of literals
# (positive or negated atomic sentences). The precondition defines the states in which the action can be
# executed, and the effect defines the result of executing the action. So, for each fluent (positive or
# negative) in the old state, we need to look in the action's effects (both the add and remove effects) to
# determine how the fluent will be carried over to the new state, as a positive or a negative fluent.
for fluent in old_state.pos:
if fluent not in action.effect_rem:
new_state.pos.append(fluent)
for fluent in old_state.neg:
if fluent not in action.effect_add:
new_state.neg.append(fluent)
# The action may have positive and negative effects INDEPENDENTLY of the old state. If they're add effects,
# we need to make sure these fluents are added to the new state's positive sentences. Similarly, if they're
# remove effects, these fluents need to be added to the new state's negative sentences.
for fluent in action.effect_add:
if fluent not in new_state.pos:
new_state.pos.append(fluent)
for fluent in action.effect_rem:
if fluent not in new_state.neg:
new_state.neg.append(fluent)
# Return the new state
#--------------------------------------------------
return encode_state(new_state, self.state_map)
def air_cargo_p2() -> AirCargoProblem:
cargos = ['C1', 'C2', 'C3']
planes = ['P1', 'P2', 'P3']
airports = ['JFK', 'SFO', 'ATL']
pos = [
expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(C3, ATL)'),
expr('At(P1, SFO)'),
expr('At(P2, JFK)'),
expr('At(P3, ATL)'),
]
neg = [
expr('At(C2, SFO)'),
expr('At(C2, ATL)'),
expr('In(C2, P1)'),
expr('In(C2, P2)'),
expr('In(C2, P3)'),
expr('At(C1, JFK)'),
expr('At(C1, ATL)'),
expr('In(C1, P1)'),
expr('In(C1, P2)'),
expr('In(C1, P3)'),
expr('At(C3, JFK)'),
expr('At(C3, SFO)'),
expr('In(C3, P1)'),
expr('In(C3, P2)'),
expr('In(C3, P3)'),
expr('At(P1, JFK)'),
expr('At(P1, ATL)'),
expr('At(P2, SFO)'),
expr('At(P2, ATL)'),
expr('At(P3, SFO)'),
expr('At(P3, JFK)'),
]
init = FluentState(pos, neg)
goal = [
expr('At(C1, JFK)'),
expr('At(C2, SFO)'),
expr('At(C3, SFO)'),
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p2() -> AirCargoProblem:
# TODO implement Problem 2 definition
'''
Init(At(C1, SFO) ∧ At(C2, JFK) ∧ At(C3, ATL)
∧ At(P1, SFO) ∧ At(P2, JFK) ∧ At(P3, ATL)
Goal(At(C1, JFK) ∧ At(C2, SFO) ∧ At(C3, SFO))
'''
cargos = ['C1', 'C2', 'C3']
planes = ['P1', 'P2', 'P3']
airports = ['JFK', 'SFO', 'ATL']
pos = [
expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(C3, ATL)'),
expr('At(P1, SFO)'),
expr('At(P2, JFK)'),
expr('At(P3, ATL)')
]
negs = []
for ca in cargos:
for pl in planes:
neg = expr('In({}, {})'.format(ca, pl))
if neg not in negs and neg not in pos:
negs.append(neg)
for ap in airports:
neg = expr('At({}, {})'.format(pl, ap))
if neg not in negs and neg not in pos:
negs.append(neg)
neg = expr('At({}, {})'.format(ca, ap))
if neg not in negs and neg not in pos:
negs.append(neg)
init = FluentState(pos, negs)
goal = [
expr('At(C1, JFK)'),
expr('At(C2, SFO)'),
expr('At(C3, SFO)'),
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p3() -> AirCargoProblem:
# TODO implement Problem 3 definition
cargos=['C1','C2','C3','C4']
planes=['P1','P2']
airports=['SFO','JFK','ATL','ORD']
pos=[expr('At(C1,SFO)'),expr('At(C2,JFK)'),expr('At(C3,ATL)'),expr('At(C4,ORD)'),
expr('At(P1,SFO)'),expr('At(P2,JFK)')]
neg=[expr('In(C1,P1)'),expr('In(C1,P2)'),
expr('In(C2,P1)'),expr('In(C2,P2)'),
expr('In(C3,P1)'),expr('In(C3,P2)'),
expr('In(C4,P1)'),expr('In(C4,P2)'),
expr('At(C1,JFK)'),expr('At(C1,ATL)'),expr('At(C1,ORD)'),
expr('At(C2,SFO)'),expr('At(C2,ATL)'),expr('At(C2,ORD)'),
expr('At(C3,SFO)'),expr('At(C3,JFK)'),expr('At(C3,ORD)'),
expr('At(C4,SFO)'),expr('At(C4,JFK)'),expr('At(C4,ATL)'),
expr('At(P1,JFK)'),expr('At(P1,ATL)'),expr('At(P1,ORD)'),
expr('At(P2,SFO)'),expr('At(P2,ATL)'),expr('At(P2,ORD)')]
init=FluentState(pos,neg)
goal=[expr('At(C1,JFK)'),expr('At(C3,JFK)'),expr('At(C2,SFO)'),expr('At(C4,SFO)')]
return AirCargoProblem(cargos,planes,airports,init,goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
# TODO implement
current_state = []
for idx,p in enumerate(state):
if p == 'T':
current_state.append(self.state_map[idx])
for effect in action.effect_add:
current_state.append(effect)
for effect in action.effect_rem:
current_state.remove(effect)
new_state = FluentState(current_state, [])
return encode_state(new_state, self.state_map)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
# TODO implement
new_state = FluentState([], [])
old_state = decode_state(state, self.state_map)
new_state.pos.extend(f for f in old_state.pos if f not in action.effect_rem)
new_state.pos.extend(f for f in action.effect_add if f not in new_state.pos)
new_state.neg.extend(f for f in old_state.neg if f not in action.effect_add)
new_state.neg.extend(f for f in action.effect_rem if f not in new_state.neg)
return encode_state(new_state, self.state_map)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
# TODO implement
kb = PropKB()
kb.tell(decode_state(state, self.state_map).pos_sentence())
# Act on the KB with 'action'
action.act(kb, action.args)
# Create a new fluent state from the KB
new_state = FluentState(kb.clauses, [])
return encode_state(new_state, self.state_map)
def result(self, state: str, action: Action):
new_state = FluentState([], [])
old_state = decode_state(state, self.state_map)
for fluent in old_state.pos:
if fluent not in action.effect_rem:
new_state.pos.append(fluent)
#Check if current fluent could persist or not by seeing if effect_rem will impact current fluent
for fluent in action.effect_add:
if fluent not in new_state.pos:
new_state.pos.append(fluent)
#If add effect from action not in new state fluent, add it
for fluent in old_state.neg:
if fluent not in action.effect_add:
new_state.neg.append(fluent)
#Identify if negative fluent that could not be effect_add by action?
for fluent in action.effect_rem:
if fluent not in new_state.neg:
new_state.neg.append(fluent)
#Make sure remove effect from action is put into fluent of next state
return encode_state(new_state, self.state_map)
def air_cargo_p3() -> AirCargoProblem:
# TODO implement Problem 3 definition
cargos = ['C1', 'C2', 'C3', 'C4']
planes = ['P1', 'P2']
airports = ['SFO', 'JFK', 'ATL', 'ORD']
pos = [expr('At({}, {})'.format(i,j)) for i,j in zip(cargos,airports)] + \
[expr('At({}, {})'.format(i,j)) for i,j in zip(planes,airports[:len(planes)])]
neg = [expr('At({}, {})'.format(i,j)) for i in cargos for j in airports] + \
[expr('At({}, {})'.format(i,j)) for i in planes for j in airports] + \
[expr('In({}, {})'.format(i,j)) for i in cargos for j in planes]
neg = list(set(neg).difference(set(pos)))
init = FluentState(pos, neg)
goal = [
expr('At(C1, JFK)'),
expr('At(C2, SFO)'),
expr('At(C3, JFK)'),
expr('At(C4, SFO)'),
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p3() -> AirCargoProblem:
# TODO COMPLETED: implement Problem 3 definition
cargos = ['C1', 'C2', 'C3', 'C4']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO', 'ATL', 'ORD']
pos = [expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(C3, ATL)'),
expr('At(C4, ORD)'),
expr('At(P1, SFO)'),
expr('At(P2, JFK)'),
]
neg = get_neg_clauses(cargos,planes,airports,pos)
init = FluentState(pos, neg)
goal = [expr('At(C1, JFK)'),
expr('At(C2, SFO)'),
expr('At(C3, JFK)'),
expr('At(C4, SFO)'),
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p1():
""" Implementation of air cargo transport problem 1
Init(
At(C1, SFO) ∧ At(C2, JFK) ∧
At(P1, SFO) ∧ At(P2, JFK) ∧
Cargo(C1) ∧ Cargo(C2) ∧
Plane(P1) ∧ Plane(P2) ∧
Airport(JFK) ∧ Airport(SFO)
)
Goal(
At(C1, JFK) ∧ At(C2, SFO)
)
"""
cargos = ['C1', 'C2']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO']
pos = [
expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(P1, SFO)'),
expr('At(P2, JFK)')
]
neg = [
expr('At(C1, JFK)'),
expr('In(C1, P1)'),
expr('In(C1, P2)'),
expr('At(C2, SFO)'),
expr('In(C2, P1)'),
expr('In(C2, P2)'),
expr('At(P1, JFK)'),
expr('At(P2, SFO)')
]
init = FluentState(pos, neg)
goal = [expr('At(C1, JFK)'), expr('At(C2, SFO)')]
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p2() -> AirCargoProblem:
"""
Given:
Init(At(C1, SFO) ∧ At(C2, JFK) ∧ At(C3, ATL)
∧ At(P1, SFO) ∧ At(P2, JFK) ∧ At(P3, ATL)
∧ Cargo(C1) ∧ Cargo(C2) ∧ Cargo(C3)
∧ Plane(P1) ∧ Plane(P2) ∧ Plane(P3)
∧ Airport(JFK) ∧ Airport(SFO) ∧ Airport(ATL))
Goal(At(C1, JFK) ∧ At(C2, SFO) ∧ At(C3, SFO))
"""
cargos = ['C1', 'C2', 'C3']
planes = ['P1', 'P2', 'P3']
airports = ['SFO', 'JFK', 'ATL']
pos = [At('C1', 'SFO'), At('C2', 'JFK'), At('C3', 'ATL')]
pos += [At('P1', 'SFO'), At('P2', 'JFK'), At('P3', 'ATL')]
neg = [
At('C1', 'JFK'),
At('C1', 'ATL'),
At('C2', 'SFO'),
At('C2', 'ATL'),
At('C3', 'SFO'),
At('C3', 'JFK')
]
neg += [
At('P1', 'JFK'),
At('P1', 'ATL'),
At('P2', 'SFO'),
At('P2', 'ATL'),
At('P3', 'SFO'),
At('P3', 'JFK')
]
neg += [In(c, p) for p in planes for c in cargos]
init = FluentState(pos, neg)
goal = [At('C1', 'JFK'), At('C2', 'SFO'), At('C3', 'SFO')]
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p2() -> AirCargoProblem:
# TODO implement Problem 2 definition
# 5/10/17 Bhinesh Patel - copy and modified air_cargo_p1
cargos = ['C1', 'C2', 'C3']
planes = ['P1', 'P2', 'P3']
airports = ['JFK', 'SFO', 'ATL']
pos = [expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(C3, ATL)'),
expr('At(P1, SFO)'),
expr('At(P2, JFK)'),
expr('At(P3, ATL)'),
]
neg = [expr('At(C3, JFK)'),
expr('At(C3, SFO)'),
expr('In(C3, P1)'),
expr('In(C3, P2)'),
expr('In(C3, P3)'),
expr('At(C2, SFO)'),
expr('At(C2, ATL)'),
expr('In(C2, P1)'),
expr('In(C2, P2)'),
expr('In(C2, P3)'),
expr('At(C1, JFK)'),
expr('At(C1, ATL)'),
expr('In(C1, P1)'),
expr('In(C1, P2)'),
expr('In(C1, P3)'),
expr('At(P1, JFK)'),
expr('At(P1, ATL)'),
expr('At(P2, SFO)'),
expr('At(P2, ATL)'),
expr('At(P3, SFO)'),
expr('At(P3, JFK)'),
]
init = FluentState(pos, neg)
goal = [expr('At(C1, JFK)'),
expr('At(C2, SFO)'),
expr('At(C3, SFO)')
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p3() -> AirCargoProblem:
cargos = ["C1", "C2", "C3", "C4"]
planes = ["P1", "P2"]
airports = ["JFK", "SFO", "ATL", "ORD"]
pos = [
expr("At(C1, SFO)"),
expr("At(C2, JFK)"),
expr("At(C3, ATL)"),
expr("At(C4, ORD)"),
expr("At(P1, SFO)"),
expr("At(P2, JFK)")
]
neg = []
neg = [expr("In({}, {})".format(c, p)) for p in planes for c in cargos]
# for c in cargos:
# for p in planes:
# neg.append(expr("In({}, {})".format(c, p)))
for c in cargos:
for a in airports:
if not ((c == "C1" and a == "SFO") or (c == "C2" and a == "JFK") or
(c == "C3" and a == "ATL") or (c == "C4" and a == "ORD")):
neg.append(expr("At({}, {})".format(c, a)))
for p in planes:
for a in airports:
if not ((p == "P1" and a == "SFO") or (p == "P2" and a == "JFK")):
neg.append(expr("At({}, {})".format(p, a)))
init = FluentState(pos, neg)
goal = [
expr("At(C1, JFK)"),
expr("At(C2, SFO)"),
expr("At(C3, JFK)"),
expr("At(C4, SFO)")
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
fluent_state = decode_state(state, self.state_map)
new_pos = set(fluent_state.pos)
new_pos = new_pos.difference(action.effect_rem)
new_pos = new_pos.union(action.effect_add)
new_neg = set(fluent_state.neg)
new_neg = new_neg.difference(action.effect_add)
new_neg = new_neg.union(action.effect_rem)
new_state = FluentState(list(new_pos), list(new_neg))
return encode_state(new_state, self.state_map)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
kb = PropKB(decode_state(state, self.state_map).sentence())
# Not sure why action.args should be given here instead
# of using it as default.
action.act(kb, action.args)
# FAIL, kb does not have a method to go back to a FluentState?
pos_list = [
clause for clause in kb.clauses if '~' != clause.__repr__()[0]
]
neg_list = [
clause for clause in kb.clauses if '~' == clause.__repr__()[0]
]
return encode_state(FluentState(pos_list, neg_list), self.state_map)
def air_cargo_p2() -> AirCargoProblem:
cargos = ['C1', 'C2', 'C3']
planes = ['P1', 'P2', 'P3']
airports = ['JFK', 'SFO', 'ATL']
# generate list of all fluents
all = set(expr_in(c, p) for (c, p) in product(cargos, planes)) \
| set(expr_at(p, a) for (p, a) in product(planes, airports)) \
| set(expr_at(c, a) for (c, a) in product(cargos, airports))
pos = [
expr_at('C1', 'SFO'),
expr_at('C2', 'JFK'),
expr_at('C3', 'ATL'),
expr_at('P1', 'SFO'),
expr_at('P2', 'JFK'),
expr_at('P3', 'ATL')
]
init = FluentState(pos, list(all - set(pos)))
goal = [expr_at('C1', 'JFK'), expr_at('C2', 'SFO'), expr_at('C3', 'SFO')]
return AirCargoProblem(cargos, planes, airports, init, goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
new_state = FluentState([], [])
# Create knowledge base
kb = PropKB()
# Add the current state to the KB
kb.tell(decode_state(state, self.state_map).pos_sentence())
# Change the KB according to action
action.act(kb, action.args)
# Add those changes to the FluentState
for i in kb.clauses:
new_state.pos.append(i)
# Return the state in string formate (encode)
return encode_state(new_state, self.state_map)
def air_cargo_p1() -> AirCargoProblem:
cargos = ['C1', 'C2']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO']
pos = [expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(P1, SFO)'),
expr('At(P2, JFK)')]
neg = [expr('At(C2, SFO)'),
expr('In(C2, P1)'),
expr('In(C2, P2)'),
expr('At(C1, JFK)'),
expr('In(C1, P1)'),
expr('In(C1, P2)'),
expr('At(P1, JFK)'),
expr('At(P2, SFO)')]
init = FluentState(pos, neg)
goal = [expr('At(C1, JFK)'),
expr('At(C2, SFO)')]
return AirCargoProblem(cargos, planes, airports, init, goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
# TODO implement
new_state = FluentState([], [])
kb = PropKB()
kb.tell(decode_state(state, self.state_map).pos_sentence())
action.check_precond(kb, action.args)
action.act(kb, action.args)
for clause in kb.clauses:
if kb.ask_if_true:
new_state.pos.append(clause)
else:
new_state.neg.append(clause)
return encode_state(new_state, self.state_map)
def air_cargo_p3() -> AirCargoProblem:
cargos = ['C1', 'C2', 'C3', 'C4']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO', 'ATL', 'ORD']
pos = [
expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(C3, ATL)'),
expr('At(C4, ORD)'),
expr('At(P1, SFO)'),
expr('At(P2, JFK)'),
]
neg = build_negative(pos, cargos, planes, airports)
init = FluentState(pos, neg)
goal = [
expr('At(C1, JFK)'),
expr('At(C2, SFO)'),
expr('At(C3, JFK)'),
expr('At(C4, SFO)'),
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
new_state = FluentState([], [])
old_state = decode_state(state, self.state_map)
# copy over fluent if not in the effect_rem section
# of the executed action
for fluent in old_state.pos:
#TODO print("result", "fluent", fluent)
if fluent not in action.effect_rem:
new_state.pos.append(fluent)
# copy over fluent if not in the effect_add section
# of the executed action
for fluent in old_state.neg:
if fluent not in action.effect_add:
new_state.neg.append(fluent)
# create new fluents from action
for fluent in action.effect_add:
# avoiding duplicates
# (contradictions/mutexes are already handled by the preconditions when
# creating the list of possible actions)
if fluent not in new_state.pos:
new_state.pos.append(fluent)
# remove effects as a consequence of this action
for fluent in action.effect_rem:
# Avoid duplicates
if fluent not in new_state.neg:
new_state.neg.append(fluent)
return encode_state(new_state, self.state_map)
def air_cargo_p3() -> AirCargoProblem:
# TODO implement Problem 3 definition
cargos = ['C1', 'C2', 'C3', 'C4']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO', 'ATL', 'ORD']
pos = [
expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(C3, ATL)'),
expr('At(C4, ORD)'),
expr('At(P1, SFO)'),
expr('At(P2, JFK)')
]
neg_cargo_plane = [
expr("In({}, {})".format(c, p)) for c in cargos for p in planes
]
neg_cargo_airport = []
for c in cargos:
for a in airports:
if not ((c == 'C1' and a == 'SFO') or (c == 'C2' and a == 'JFK') or
(c == 'C3' and a == 'ATL') or (c == 'C4' and a == 'ORD')):
neg_cargo_airport.append(expr("At({}, {})".format(c, a)))
neg_plane_airport = []
for p in planes:
for a in airports:
if not ((p == 'P1' and a == 'SFO') or (p == 'P2' and a == 'JFK')):
neg_plane_airport.append(expr("At({}, {})".format(p, a)))
init = FluentState(pos,
neg_cargo_plane + neg_cargo_airport + neg_plane_airport)
goal = [
expr('At(C1, JFK)'),
expr('At(C3, JFK)'),
expr('At(C2, SFO)'),
expr('At(C4, SFO)')
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
# TODO implement
new_state = FluentState([], [])
# EG: state=FTTTFF
# self.state_map=[At(C1,SFO),At(P1, ORD),In(C2,P1),etc..], it is a list contain positive and negative
# fluent of our current Problem. This value won't be changed since our problem won't be changed
# Get the current state
current_state = decode_state(state, self.state_map)
# Per the teaching materials, the precondition and effect of an action are each conjunctions of literals
# (positive or negated atomic sentences). The precondition defines the states in which the action can be
# executed, and the effect defines the result of executing the action. So, for each fluent (positive or
# negative) in the current state, we need to look in the action's effects (both the add and remove effects) to
# determine how the fluent will be carried over to the new state, as a positive or a negative fluent.
for fluent in current_state.pos:
if fluent not in action.effect_rem:
new_state.pos.append(fluent)
for fluent in current_state.neg:
if fluent not in action.effect_add:
new_state.neg.append(fluent)
# The action may have positive and negative effects INDEPENDENTLY of the current state. If they're add effects,
# we need to make sure these fluents are added to the new state's positive sentences. Similarly, if they're
# remove effects, these fluents need to be added to the new state's negative sentences.
for fluent in action.effect_add:
if fluent not in new_state.pos:
new_state.pos.append(fluent)
for fluent in action.effect_rem:
if fluent not in new_state.neg:
new_state.neg.append(fluent)
return encode_state(new_state, self.state_map)
def air_cargo_p3() -> AirCargoProblem:
cargos = ['C1', 'C2', 'C3', 'C4']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO', 'ATL', 'ORD']
pos = [
expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(C3, ATL)'),
expr('At(C4, ORD)')
]
pos += [
expr('At(P1, SFO)'),
expr('At(P2, JFK)'),
]
# The cargos aren't in any of the planes
neg = [expr('In({}, {})'.format(c, p)) for c in cargos for p in planes]
# The planes are not at the other airports
neg += [expr('At(P1, {})'.format(a)) for a in ['JFK', 'ATL', 'ORD']]
neg += [expr('At(P2, {})'.format(a)) for a in ['SFO', 'ATL', 'ORD']]
# The cargos are not at the other airports
neg += [expr('At(C1, {})'.format(a)) for a in ['JFK', 'ATL', 'ORD']]
neg += [expr('At(C2, {})'.format(a)) for a in ['SFO', 'ATL', 'ORD']]
neg += [expr('At(C3, {})'.format(a)) for a in ['SFO', 'JFK', 'ORD']]
neg += [expr('At(C4, {})'.format(a)) for a in ['SFO', 'JFK', 'ATL']]
init = FluentState(pos, neg)
goal = [
expr('At(C1, JFK)'),
expr('At(C3, JFK)'),
expr('At(C2, SFO)'),
expr('At(C4, SFO)'),
]
return AirCargoProblem(cargos, planes, airports, init, goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
# TODO implement
new_state = FluentState([], [])
#get current state
curr_state = decode_state(state, self.state_map)
# the effect defines the result of executing the action.
# so each fluent (positive) is checked over the new state.
for fluent in curr_state.pos:
if fluent not in action.effect_rem:
new_state.pos.append(fluent)
# each fluent (negative) is checked over the new state.
for fluent in curr_state.neg:
if fluent not in action.effect_add:
new_state.neg.append(fluent)
# check fluent over action (positive)
# if positive(add) effect, then these fluents are added
# to the new state's positive clause
for fluent in action.effect_add:
if fluent not in new_state.pos:
new_state.pos.append(fluent)
# check fluent over action (negative)
# if negative (add) effect, then these fluents are added
# to the new state's negative clause
for fluent in action.effect_rem:
if fluent not in new_state.neg:
new_state.neg.append(fluent)
return encode_state(new_state, self.state_map)
def air_cargo_p2() -> AirCargoProblem:
cargos = air_cargo_p1().cargos[:]
cargos.append('C3')
planes = air_cargo_p1().planes[:]
planes.append('P3')
airports = air_cargo_p1().airports
airports.append('ATL')
pos = decode_state(air_cargo_p1().initial_state_TF,
air_cargo_p1().state_map).pos
pos.extend([
expr('At(C3, ATL)'),
expr('At(P3, ATL)'),
])
neg = decode_state(air_cargo_p1().initial_state_TF,
air_cargo_p1().state_map).neg
neg.extend([
expr('At(C3, JFK)'),
expr('At(C3, SFO)'),
expr('In(C3, P1)'),
expr('In(C3, P2)'),
expr('In(C3, P3)'),
expr('At(C1, ATL)'),
expr('In(C1, P3)'),
expr('At(C2, ATL)'),
expr('In(C2, P3)'),
expr('At(P3, JFK)'),
expr('At(P3, SFO)'),
expr('At(P1, ATL)'),
expr('At(P2, ATL)'),
])
init = FluentState(pos, neg)
goal = air_cargo_p1().goal[:]
goal.append(expr('At(C3, SFO)'))
return AirCargoProblem(cargos, planes, airports, init, goal)
def result(self, state: str, action: Action):
""" Return the state that results from executing the given
action in the given state. The action must be one of
self.actions(state).
:param state: state entering node
:param action: Action applied
:return: resulting state after action
"""
# TODO implement
# create an empty new state
new_state = FluentState([], [])
# decode the old state
old_state = decode_state(state, self.state_map)
# loop through the fluents in the old state - positive
for fluent in old_state.pos:
# if pos fluent not in the removal effect
if fluent not in action.effect_rem:
# add the fluent to the new state - positive
new_state.pos.append(fluent)
# loop through the fluents in the action - additive
for fluent in action.effect_add:
# if pos fluent not in the new state - positive
if fluent not in new_state.pos:
# add the fluent to the new state - positive
new_state.pos.append(fluent)
# loop through the fluents in the old state - neg
for fluent in old_state.neg:
# if neg fluent not in the additive effect
if fluent not in action.effect_add:
# add the fluent to the new state - neg
new_state.neg.append(fluent)
# loop through the fluents in the action - removal
for fluent in action.effect_rem:
# if neg fluent not in the new state - neg
if fluent not in new_state.neg:
# add the fluent to the new state - neg
new_state.neg.append(fluent)
# return the resulting state encoded
return encode_state(new_state, self.state_map)
def air_cargo_p2() -> AirCargoProblem:
# TODO implement Problem 2 definition
# Identify initial state and goal for Problem 2
cargos = ['C1', 'C2', 'C3']
planes = ['P1', 'P2', 'P3']
airports = ['JFK', 'SFO', 'ATL']
pos = [
expr('At(P1, SFO)'),
expr('At(P2, JFK)'),
expr('At(P3, ATL)'),
expr('At(C1, SFO)'),
expr('At(C2, JFK)'),
expr('At(C3, ATL)')
]
neg = [
expr('At(P1, JFK)'),
expr('At(P1, ATL)'),
expr('At(P2, SFO)'),
expr('At(P2, ATL)'),
expr('At(P3, SFO)'),
expr('At(P3, JFK)'),
expr('At(C1, JFK)'),
expr('At(C1, ATL)'),
expr('At(C2, SFO)'),
expr('At(C2, ATL)'),
expr('At(C3, SFO)'),
expr('At(C3, JFK)'),
expr('In(C1, P1)'),
expr('In(C1, P2)'),
expr('In(C1, P3)'),
expr('In(C2, P1)'),
expr('In(C2, P2)'),
expr('In(C2, P3)'),
expr('In(C3, P1)'),
expr('In(C3, P2)'),
expr('In(C3, P3)')
]
init = FluentState(pos, neg)
goal = [expr('At(C1, JFK)'), expr('At(C2, SFO)'), expr('At(C3, SFO)')]
return AirCargoProblem(cargos, planes, airports, init, goal)
