pushing end TP

TP01/sol/gotoAirportFromPark_problem.hddl

+(define (problem gotoAirport) (:domain travel)
+	(:objects home park airport - location
+
+        )
+    (:htn
+	   :tasks (and (travel home park) (travel park airport))
+	   :ordering ()
+	   :constraints ()
+	 )
+	 
+	 (:init 
+ 	    (at home)
+            (shortDistance  home park)
+            (shortDistance  park home)
+
+  )
+)

TP01/sol/gotoAirport_problem.hddl

+(define (problem gotoAirport) (:domain travel)
+	(:objects home park airport - location
+
+        )
+    (:htn
+	   :tasks (and (travel home airport))
+	   :ordering ()
+	   :constraints ()
+	 )
+	 
+	 (:init 
+ 	    (at home)
+            (shortDistance  home park)
+            (shortDistance  park home)
+
+  )
+)

TP01/sol/gotoPark_problem.hddl

+(define (problem gotoPark) (:domain travel)
+	(:objects home park - location
+    )
+    (:htn
+	   :tasks (and (travel home park))
+	   :ordering ()
+	   :constraints ()
+	)
+	 
+	 (:init 
+ 	    (at home)
+        (shortDistance home park)
+    )
+)

TP01/sol/sol.md

+### Writing some tasks, methods and litterals
+
+plan travelWalkTaxi.hddl  gotoAirport_problem.hddl debug
+
+plan travelWalkTaxi.hddl  gotoAirportFromPark_problem.hddl debug
+
+plan travelWalkTaxiCost.hddl travelWalkTaxiCost_problem.hddl debug
+
+
+plan travelManyPlaces.hddl travelManyPlaces_problem.hddl debug
+
+
+
+
+
+
+
+
+

TP01/sol/travelManyPlaces.hddl

+(define (domain travel)
+	(:requirements :typing)
+
+    (:types
+        location - object
+		Money - object
+    )
+
+	(:predicates 
+				(at ?x - object)
+				(hasTaxi ?x - object)
+				(shortDistance ?x ?y - object)
+				(next ?arg0 ?arg1 - Money)
+		        (money-level ?arg0 - Money)
+                (cashMachinePresent ?x - object)                
+
+	)
+	
+	(:task travel :parameters (?from - object ?to - object))
+	
+	(:method travel-by-foot
+	    :parameters (?x ?y - location)
+	    :task (travel ?x ?y)
+	    :precondition (and (at ?x) (shortDistance ?x ?y))
+	    :ordered-subtasks (and (walk ?x ?y)))
+	
+	(:method travel-by-taxi 
+	   :parameters (?x ?y - object ?l2 ?l1 - Money)
+	   :task (travel ?x ?y)
+	   :precondition (and 
+	                     (at ?x) 
+						 (next ?l2 ?l1)
+					 )
+	   :ordered-subtasks (and (getTaxi ?x) (rideTaxi ?x ?y) (pay_driver ?l2 ?l1))
+	)
+
+	(:method getCash-travel 
+	   :parameters (?x ?y ?z - object ?l1 ?l2 - Money)
+	   :task (travel ?x ?y)
+	   :precondition (and 
+	                     (at ?x) 
+                         (money-level ?l1)
+                         (next ?l2 ?l1)
+                         (cashMachinePresent ?z)
+                         (shortDistance ?x ?z)
+					 )
+	   :ordered-subtasks (and 
+                             (travel ?x ?z)
+                             (getCash ?z ?l1 ?l2)
+                             (travel ?z ?y)
+                         )
+	)    
+
+ 	(:action walk 
+	   :parameters (?x ?y - object)
+ 	   :precondition (and 
+                              (at ?x)
+ 	    	              (shortDistance ?x ?y)
+                         )
+ 	   :effect (and (not (at ?x)) (at ?y))
+ 	   ;:cost 0
+ 	)
+ 	(:action getCash 
+	   :parameters (?x - object ?l1 ?l2 - Money )
+ 	   :precondition (and 
+                              (at ?x)
+                              (cashMachinePresent ?x)
+                              (money-level ?l1)
+                              (next ?l2 ?l1)
+                         )
+ 	   :effect (and  
+                   (money-level ?l2)
+                )
+ 	   ;:cost 0
+ 	)    
+		
+ 	(:action getTaxi 
+	   :parameters (?x - object)
+ 	   :precondition (and (at ?x)
+	    )
+	
+ 	   :effect (and (hasTaxi ?x))
+ 	   ;:cost 0
+ 	)
+	
+ 	(:action rideTaxi 
+	   :parameters (?x ?y - object)
+ 	   :precondition (and (at ?x)
+ 	    			(hasTaxi ?x)
+ 	   )
+	   
+ 	   :effect (and (not (at ?x)) (not (hasTaxi ?x)) (at ?y))
+ 	   ;:cost 2
+ 	)
+
+ 	(:action pay_driver 
+	   :parameters (?l2 - Money ?l1 - Money)
+ 	   :precondition (and 
+				         (money-level ?l2)
+ 	                 )
+	   
+ 	   :effect (and 
+				   (not (money-level ?l2))
+				   (money-level ?l1)
+	           )
+ 	   ;:cost 2
+ 	)
+
+)

TP01/sol/travelManyPlaces_problem.hddl

+(define (problem gotoAirport) (:domain travel)
+	(:objects       home park airport museum cashMachine - location 
+	          		$0 $20 $40 $60 - Money
+
+    )
+    (:htn
+	   :tasks (and 
+                    (travel home park) 
+                    ;(travel park airport)                    
+                    (travel park museum)
+                    (travel museum airport)
+
+              )
+	   :ordering ()
+	   :constraints ()
+	)
+	 
+	 (:init 
+ 	    (at home)
+        (cashMachinePresent cashMachine)
+		(next $60 $40)
+		(next $40 $20)
+		(next $20 $0)						
+        (shortDistance  home park)
+        (shortDistance  park home)
+        (shortDistance  park cashMachine)
+        (shortDistance  cashMachine park)
+        (shortDistance  museum cashMachine)
+        (shortDistance  cashMachine museum)
+
+		;(money-level $60)
+		(money-level $0)
+		
+
+    )
+)

TP01/sol/travelWalkTaxi.hddl

+(define (domain travel)
+	(:requirements :typing)
+    (:types
+        location - object
+    )
+
+	(:predicates 
+				(at ?x - object)
+				(hasTaxi ?x - object)
+				(shortDistance ?x ?y - object)
+
+	)
+	
+	(:task travel :parameters (?from - object ?to - object))
+	
+	(:method travel-by-foot
+	    :parameters (?x ?y - location)
+	    :task (travel ?x ?y)
+	    :precondition (and (at ?x) (shortDistance ?x ?y))
+	    :ordered-subtasks (and (walk ?x ?y)))
+	
+	(:method travel-by-taxi
+	   :parameters (?x ?y - object)
+	   :task (travel ?x ?y)
+	   :precondition (and (at ?x) )
+	   :ordered-subtasks (and (getTaxi ?x) (rideTaxi ?x ?y)))
+
+
+ 	(:action walk 
+	   :parameters (?x ?y - object)
+ 	   :precondition (and 
+                              (at ?x)
+ 	    	              (shortDistance ?x ?y)
+                         )
+ 	   :effect (and (not (at ?x)) (at ?y))
+ 	)
+		
+ 	(:action getTaxi 
+	   :parameters (?x - object)
+ 	   :precondition (and (at ?x) )
+	
+ 	   :effect (and (hasTaxi ?x))
+ 	)
+	
+ 	(:action rideTaxi 
+	   :parameters (?x ?y - object)
+ 	   :precondition (and (at ?x)
+ 	    			(hasTaxi ?x)
+ 	   )
+ 	   :effect (and (not (at ?x)) (not (hasTaxi ?x)) (at ?y))
+ 	)
+)

TP01/sol/travelWalkTaxiCost.hddl

+(define (domain travel)
+	(:requirements :typing)
+
+    (:types
+        location - object
+		Money - object
+    )
+
+	(:predicates 
+				(at ?x - object)
+				(hasTaxi ?x - object)
+				(shortDistance ?x ?y - object)
+				(next ?arg0 ?arg1 - Money)
+		        (money-level ?arg0 - Money)
+
+	)
+	
+	(:task travel :parameters (?from - object ?to - object))
+	
+	(:method travel-by-foot
+	    :parameters (?x ?y - location)
+	    :task (travel ?x ?y)
+	    :precondition (and (at ?x) (shortDistance ?x ?y))
+	    :ordered-subtasks (and (walk ?x ?y)))
+	
+	(:method travel-by-taxi 
+	   :parameters (?x ?y - object ?l2 ?l1 - Money)
+	   :task (travel ?x ?y)
+	   :precondition (and 
+	                     (at ?x) 
+						 (next ?l2 ?l1)
+					 )
+	   :ordered-subtasks (and (getTaxi ?x) (rideTaxi ?x ?y) (pay_driver ?l2 ?l1))
+	)
+
+ 	(:action walk 
+	   :parameters (?x ?y - object)
+ 	   :precondition (and 
+                              (at ?x)
+ 	    	              (shortDistance ?x ?y)
+                         )
+ 	   :effect (and (not (at ?x)) (at ?y))
+ 	   ;:cost 0
+ 	)
+		
+ 	(:action getTaxi 
+	   :parameters (?x - object)
+ 	   :precondition (and (at ?x)
+	    )
+	
+ 	   :effect (and (hasTaxi ?x))
+ 	   ;:cost 0
+ 	)
+	
+ 	(:action rideTaxi 
+	   :parameters (?x ?y - object)
+ 	   :precondition (and (at ?x)
+ 	    			(hasTaxi ?x)
+ 	   )
+	   
+ 	   :effect (and (not (at ?x)) (not (hasTaxi ?x)) (at ?y))
+ 	   ;:cost 2
+ 	)
+
+ 	(:action pay_driver 
+	   :parameters (?l2 - Money ?l1 - Money)
+ 	   :precondition (and 
+				         (money-level ?l2)
+ 	                 )
+	   
+ 	   :effect (and 
+				   (not (money-level ?l2))
+				   (money-level ?l1)
+	           )
+ 	   ;:cost 2
+ 	)
+
+)

TP01/sol/travelWalkTaxiCost_money.hddl

+(define (domain travel)
+	(:requirements :typing)
+
+    (:types
+        location - object
+	Money - object
+    )
+
+	(:predicates 
+				(at ?x - object)
+				(hasTaxi ?x - object)
+				(shortDistance ?x ?y - object)
+				(next ?arg0 ?arg1 - Money)
+		                (money-level ?arg0 - Money)
+
+	)
+	
+	(:task travel :parameters (?from - object ?to - object))
+	
+	(:method travel-by-foot
+	    :parameters (?x ?y - location)
+	    :task (travel ?x ?y)
+	    :precondition (and (at ?x) (shortDistance ?x ?y))
+	    :ordered-subtasks (and (walk ?x ?y)))
+	
+	(:method travel-by-taxi 
+	   :parameters (?x ?y - object ?l2 ?l1 - Money)
+	   :task (travel ?x ?y)
+	   :precondition (and 
+	                     (at ?x) 
+						 (next ?l2 ?l1)
+					 )
+	   :ordered-subtasks (and (getTaxi ?x) (rideTaxi ?x ?y) (pay_driver ?l2 ?l1))
+	)
+
+ 	(:action walk 
+	   :parameters (?x ?y - object)
+ 	   :precondition (and 
+                              (at ?x)
+ 	    	              (shortDistance ?x ?y)
+                         )
+ 	   :effect (and (not (at ?x)) (at ?y))
+ 	   ;:cost 0
+ 	)
+		
+ 	(:action getTaxi 
+	   :parameters (?x - object)
+ 	   :precondition (and (at ?x)
+	    )
+	
+ 	   :effect (and (hasTaxi ?x))
+ 	   ;:cost 0
+ 	)
+	
+ 	(:action rideTaxi 
+	   :parameters (?x ?y - object)
+ 	   :precondition (and (at ?x)
+ 	    			(hasTaxi ?x)
+ 	   )
+	   
+ 	   :effect (and (not (at ?x)) (not (hasTaxi ?x)) (at ?y))
+ 	   ;:cost 2
+ 	)
+
+ 	(:action pay_driver 
+	   :parameters (?l2 - Money ?l1 - Money)
+ 	   :precondition (and 
+				         (money-level ?l2)
+ 	                 )
+	   
+ 	   :effect (and 
+				   (not (money-level ?l2))
+				   (money-level ?l1)
+	           )
+ 	   ;:cost 2
+ 	)
+
+)

TP01/sol/travelWalkTaxiCost_money_problem.hddl

+(define (problem gotoAirport) (:domain travel)
+	(:objects       home park airport - location 
+	          		$0 $20 $40 $60 - Money
+
+    )
+    (:htn
+	   :tasks (and (travel home park) (travel park airport))
+	   :ordering ()
+	   :constraints ()
+	)
+	 
+	 (:init 
+ 	    (at home)
+		(next $60 $40)
+		(next $40 $20)
+		(next $20 $0)						
+        (shortDistance  home park)
+        (shortDistance  park home)
+		(money-level $60)
+		
+
+    )
+)

TP01/sol/travelWalkTaxiCost_problem.hddl

+(define (problem gotoAirport) (:domain travel)
+	(:objects       home park airport - location 
+	          		$0 $20 $40 $60 - Money
+
+    )
+    (:htn
+	   :tasks (and (travel home park) (travel park airport))
+	   :ordering ()
+	   :constraints ()
+	)
+	 
+	 (:init 
+ 	    (at home)
+		(next $60 $40)
+		(next $40 $20)
+		(next $20 $0)						
+        (shortDistance  home park)
+        (shortDistance  park home)
+		(money-level $60)
+		
+
+    )
+)