TORA example

.gitignore

@@ -23,3 +23,4 @@ planner.iml
 .idea/libraries/Maven__us_bpsm_edn_java_0_5_0.xml
 target/*
 
+*.fasl

snark-20120808r02/snark-interface.lisp

@@ -90,15 +90,15 @@
 (defun setup-snark (&key (time-limit 5) (verbose nil))
   (snark:initialize :verbose  verbose)
   (if (not verbose) (snark-deverbose) )
-  (temp-sorts)
+  (snark:run-time-limit 0.5)
-  (snark:run-time-limit 5)
   (snark:assert-supported t)
   (snark:assume-supported t)
   (snark:prove-supported t)
-  (snark:use-resolution t)
+  (snark:use-hyperresolution t)
   (snark:use-paramodulation t)
 
-  (snark:allow-skolem-symbols-in-answers t))
+  (snark::declare-code-for-lists)
+  (snark:allow-skolem-symbols-in-answers nil))
 
 (defun row-formula (name))
 

src/main/java/com/naveensundarg/planner/Action.java

@@ -132,7 +132,14 @@ public class Action {
 
     public List<Variable> openVars() {
 
-        return freeVariables;
+        Set<Variable> variables = Sets.newSet();
+
+        variables.addAll(freeVariables);
+
+        List<Variable> variablesList = CollectionUtils.newEmptyList();
+
+        variablesList.addAll(variables);
+        return variablesList;
 
     }
 

src/main/java/com/naveensundarg/planner/utils/Sandbox.java

@@ -42,15 +42,18 @@ public class Sandbox {
 
     public static void main(String[] args) throws com.naveensundarg.shadow.prover.utils.Reader.ParsingException {
 
-        List<PlanningProblem> planningProblemList = (PlanningProblem.readFromFile(Sandbox.class.getResourceAsStream("../problems/tora/sodacan.clj")));
+        List<PlanningProblem> planningProblemList = (PlanningProblem.readFromFile(Sandbox.class.getResourceAsStream("../problems/tora/attend.clj")));
 
         Planner depthFirstPlanner = new DepthFirstPlanner();
 
-        PlanningProblem planningProblem = planningProblemList.stream().filter(problem -> problem.getName().equals("soda can challenge")).findFirst().get();
+        PlanningProblem planningProblem = planningProblemList.stream().filter(problem -> problem.getName().equals("soda can challenge 2")).findFirst().get();
 
 
         depthFirstPlanner.plan(planningProblem.getBackground(), planningProblem.getActions(), planningProblem.getStart(), planningProblem.getGoal()).ifPresent(
-                System.out::println
+                y->{
+
+                    System.out.println(y);
+                }
         );
 
 

src/main/resources/com/naveensundarg/planner/problems/tora/attend.clj

@@ -0,0 +1,42 @@
+{:name       "soda can challenge 2"
+ :background [ ;; Membership in a list
+               (forall [?u ?l]
+                      (iff (member ?u ?l)
+                           (exists [?v ?rest]
+                                   (and (= ?l (cons ?v ?rest))
+                                        (or (= ?u ?v)
+                                            (member ?u ?rest))))))
+              ;; Empty list
+              (forall ?x (not (member ?x el)))
+              ;; Removal clause 1
+               (forall [?item] (= (remove ?item el) el))
+              ;; Removal clause 2
+               (forall [?item ?rest]
+                       (= (remove ?item (cons ?item ?rest))
+                          (remove ?item ?rest)))
+               ;; Remove clause 3
+               (forall [?item ?head ?rest]
+                       (if
+                         (not (= ?head ?item))
+                         (= (remove ?item (cons ?head ?rest))
+                            (cons ?head (remove ?item ?rest)))))]
+
+ :start      [(state (cons a (cons b (cons c el))))
+              (and (not (= a b))
+                   (not (= b c))
+                   (not (= c a))
+                   (not (= a el))
+                   (not (= b el))
+                   (not (= c el)))]
+
+ :goal       [(attend a)
+              (attend b)
+              (attend c)]
+
+ :actions    [;; checkbehind an object
+               (define-action attend [?item]
+                 {:preconditions [(member ?item ?list)
+                                  (state ?list)]
+                  :additions     [(attend ?item)
+                                  (state (remove ?item ?list))]
+                  :deletions     [(state ?list)]})]}

src/main/resources/com/naveensundarg/planner/problems/tora/trial2.clj

@@ -0,0 +1,27 @@
+{:name       "soda can challenge 2"
+ :background [;; Checks if something is an element of a list
+               (forall [?thing ?w ?list] (iff (Elem ?thing ?list) (Elem ?thing (Cons ?w ?list))))
+               (forall [?thing] (Elem ?thing (Cons ?thing el)))
+               ;; Removes an element from a list
+               (forall [?u ?l1 ?l2]
+                       (if
+                         (and
+                          (not (Elem ?u ?l2))
+                          (forall [?x]
+                                  (if
+                                    (Elem ?x ?l1)
+                                    (or (= ?x ?u) (Elem ?x ?l2)))))
+                         (Removed ?u ?l1 ?l2)))]
+
+ :start      [(Cons a (Cons b (Cons f el)))]
+
+ :goal       [(Cons a el)
+              (Cons b el)
+              (Cons f el)]
+
+ :actions    [;; Checkbehind an object
+               (define-action attend [?q ?l]
+                 {:preconditions [(Elem ?q ?l)
+                                  (Removed ?q ?l ?l2)]
+                  :additions     [(Cons ?q el)]
+                  :deletions    []})]}