private static Pddl buildShakeysWorldPddl() {
// Initial static state of Shakey's World.
List<Proposition> initialState = new ArrayList<Proposition>();
// Goal static state of Shakey's World.
List<Proposition> goalState = new ArrayList<Proposition>();
// Set up room & location states.
for (int roomNum = 1; roomNum <= 4; roomNum++) {
// Rooms.
initialState.add(RoomProposition.initRoomProposition("Room" + roomNum));
goalState.add(RoomProposition.initRoomProposition("Room" + roomNum));
// Locations.
initialState.add(LocationProposition.initLocationProposition("Room" + roomNum));
goalState.add(LocationProposition.initLocationProposition("Room" + roomNum));
initialState.add(LocationProposition.initLocationProposition("Door" + roomNum));
goalState.add(LocationProposition.initLocationProposition("Door" + roomNum));
initialState.add(LocationProposition.initLocationProposition("Switch" + roomNum));
goalState.add(LocationProposition.initLocationProposition("Switch" + roomNum));
// Room space also in room.
initialState.add(InProposition.initInProposition("Room" + roomNum, "Room" + roomNum));
goalState.add(InProposition.initInProposition("Room" + roomNum, "Room" + roomNum));
// One switch in each room.
initialState.add(InProposition.initInProposition("Switch" + roomNum, "Room" + roomNum));
goalState.add(InProposition.initInProposition("Switch" + roomNum, "Room" + roomNum));
// One door in each room.
initialState.add(InProposition.initInProposition("Door" + roomNum, "Room" + roomNum));
goalState.add(InProposition.initInProposition("Door" + roomNum, "Room" + roomNum));
// Same door in corridor.
initialState.add(InProposition.initInProposition("Door" + roomNum, "Corridor"));
goalState.add(InProposition.initInProposition("Door" + roomNum, "Corridor"));
}
// Set up box states.
for (int boxNum = 1; boxNum <= 4; boxNum++) {
// Locations.
initialState.add(BoxProposition.initBoxProposition("Box" + boxNum));
goalState.add(BoxProposition.initBoxProposition("Box" + boxNum));
// Four boxes in room #1, initial state. Box #2 in room #2 goal state.
initialState.add(AtProposition.initAtProposition("Box" + boxNum, "Room1"));
// Four boxes in room #1, box #2 in room #2 goal state.
if (boxNum != 2) {
goalState.add(AtProposition.initAtProposition("Box" + boxNum, "Room1"));
} else {
goalState.add(AtProposition.initAtProposition("Box" + boxNum, "Room" + boxNum));
}
}
// Corridor is location.
initialState.add(RoomProposition.initRoomProposition("Corridor"));
goalState.add(RoomProposition.initRoomProposition("Corridor"));
// Shakey's initial location.
initialState.add(AtProposition.initAtProposition("Shakey", "Room3"));
// Shakey's goal location.
goalState.add(AtProposition.initAtProposition("Shakey", "Room2"));
// Actions.
List<Action> actions = new ArrayList<Action>();
actions.add(GoAction.initGoAction());
actions.add(PushAction.initPushAction());
return new ShakeysWorldPddl(initialState, goalState, actions);
}
