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gps-v3-maze-ops.lisp
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;;; This file AUTOGENERATED
;;; THIS FILE AUTOGENERATED
;;; It has a dependency on #'mappend
(defun make-maze-op (here there)
"Make an operator to move between two places."
(op `(move from ,here to ,there)
:preconds `((at ,here))
:add-list `((at ,there))
:del-list `((at ,here))))
(defun make-maze-ops (pair)
"Make maze ops in both directions."
(list (make-maze-op (first pair) (second pair))
(make-maze-op (second pair) (first pair))))
(defparameter *maze-ops*
(mapcar #'convert-op
(mappend
#'make-maze-ops
'((1 2) (2 3) (3 4) (4 9) (9 14) (9 8) (8 7) (7 12) (12 13)
(12 11) (11 6) (11 16) (16 17) (17 22) (21 22) (22 23)
(23 18) (23 24) (24 19) (19 20) (20 15) (15 10) (10 5) (20 25)))))
(defun find-path (start end)
"Search a maze for a path from start to end."
(let ((results (gps `((at ,start))
`((at ,end)))))
(unless (null results)
(cons start
(mapcar #'destination
(remove '(start)
results
:test #'equal))))))
(defun destination (action)
"Find the Y in '(executing (move from X to Y))"
(fifth (second action)))
;; This file was auto generated from
;; general-problem-solver.org
(load "gps-debugger.lisp")
(defun action-p (x)
"Is x something that is (start) or (executing...)?"
(or (equal x '(start))
(executing-p x)))
(defun gps (state goals &optional (*ops* *ops*))
"General Problem Solver: from state, achieve goals using *ops*."
(find-all-if #'action-p
(achieve-all (cons '(start) state) goals nil)))
(defvar *ops* nil "A list of available operators.")
(defstruct op
"An operation."
(action nil)
(preconds nil)
(add-list nil)
(del-list nil))
;;; Major Functions
(defun achieve-all (state goals goal-stack)
"Try to achieve each goal and make sure each still holds at the end."
(let ((current-state state))
(if (and (every #'(lambda (g)
(setf current-state
(achieve current-state g goal-stack)))
goals)
(subsetp goals current-state :test #'equal))
current-state)))
(defun achieve (state goal goal-stack)
"A goal is achieved if:\n It already holds\n Or\n There is an applicable appropriate op."
(dbg-indent :gps (length goal-stack) "Goal: ~a" goal)
(cond ((member-equal goal state) state)
((member-equal goal goal-stack) nil)
(t (some #'(lambda (op)
(apply-op state goal op goal-stack))
(find-all goal *ops* :test #'appropriate-p)))))
(defun appropriate-p (goal op)
"An op is approriate to a goal if the goal is in the op's add list."
(member-equal goal (op-add-list op)))
(defun apply-op (state goal op goal-stack)
"Return a new state that is a transformation of the input state when op is applicable."
(dbg-indent :gps (length goal-stack) "Consider: ~a" (op-action op))
(let ((state2 (achieve-all state
(op-preconds op)
(cons goal goal-stack))))
(unless (null state2)
;; return an updated state
(dbg-indent :gps (length goal-stack) "Action: ~a" (op-action op))
(append (remove-if #'(lambda (x)
(member-equal x (op-del-list op)))
state2)
(op-add-list op)))))
(defun executing-p (x)
"Is the form: (executing...)?"
(starts-with x 'executing))
(defun starts-with (list x)
"Is this a list whose first element is x?"
(and (consp list)
(eql (first list) x)))
(defun convert-op (op)
"Make op conform to the (EXECUTING op) convention."
(unless (some #'executing-p (op-add-list op))
(push (list 'executing (op-action op))
(op-add-list op)))
op)
(defun op (action &key preconds add-list del-list)
"Make a new operator that obeys the (EXECUTING op) convention."
(make-op :action action
:preconds preconds
:add-list add-list
:del-list del-list))
(defun member-equal (item list)
"Test for membership in a list as set using equal."
(member item list :test #'equal))
(defun use (oplist)
"Use oplist as the default set of operators by setting the dynamic variable *ops* to its value."
;; Return something useful
;; but not verbose
(length (setf *ops* oplist)))
(defun find-all (item sequence &rest keyword-args
&key (test #'eql)
test-not
&allow-other-keys)
"Find all those elements of sequence that match item.
according to the keywords. Does not alter sequence"
(if test-not
(apply #'remove item sequence
:test-not (complement test-not) keyword-args)
(apply #'remove item sequence
:test (complement test) keyword-args)))
(setf (symbol-function 'find-all-if) #'remove-if-not)
(defun mappend (fn the-list)
"Apply function to each element of the list and append the results."
(apply #'append (mapcar fn the-list)))
;; This file was auto generated from
;; general-problem-solver.org
(load "gps-debugger.lisp")
(defun action-p (x)
"Is x something that is (start) or (executing...)?"
(or (equal x '(start))
(executing-p x)))
(defun gps (state goals &optional (*ops* *ops*))
"General Problem Solver: from state, achieve goals using *ops*."
(find-all-if #'action-p
(achieve-all (cons '(start) state) goals nil)))
(defvar *ops* nil "A list of available operators.")
(defstruct op
"An operation."
(action nil)
(preconds nil)
(add-list nil)
(del-list nil))
;;; Major Functions
(defun achieve-all (state goals goal-stack)
"Try to achieve each goal and make sure each still holds at the end."
(let ((current-state state))
(if (and (every #'(lambda (g)
(setf current-state
(achieve current-state g goal-stack)))
goals)
(subsetp goals current-state :test #'equal))
current-state)))
(defun achieve (state goal goal-stack)
"A goal is achieved if:\n It already holds\n Or\n There is an applicable appropriate op."
(dbg-indent :gps (length goal-stack) "Goal: ~a" goal)
(cond ((member-equal goal state) state)
((member-equal goal goal-stack) nil)
(t (some #'(lambda (op)
(apply-op state goal op goal-stack))
(find-all goal *ops* :test #'appropriate-p)))))
(defun appropriate-p (goal op)
"An op is approriate to a goal if the goal is in the op's add list."
(member-equal goal (op-add-list op)))
(defun apply-op (state goal op goal-stack)
"Return a new state that is a transformation of the input state when op is applicable."
(dbg-indent :gps (length goal-stack) "Consider: ~a" (op-action op))
(let ((state2 (achieve-all state
(op-preconds op)
(cons goal goal-stack))))
(unless (null state2)
;; return an updated state
(dbg-indent :gps (length goal-stack) "Action: ~a" (op-action op))
(append (remove-if #'(lambda (x)
(member-equal x (op-del-list op)))
state2)
(op-add-list op)))))
(defun executing-p (x)
"Is the form: (executing...)?"
(starts-with x 'executing))
(defun starts-with (list x)
"Is this a list whose first element is x?"
(and (consp list)
(eql (first list) x)))
(defun convert-op (op)
"Make op conform to the (EXECUTING op) convention."
(unless (some #'executing-p (op-add-list op))
(push (list 'executing (op-action op))
(op-add-list op)))
op)
(defun op (action &key preconds add-list del-list)
"Make a new operator that obeys the (EXECUTING op) convention."
(make-op :action action
:preconds preconds
:add-list add-list
:del-list del-list))
(defun member-equal (item list)
"Test for membership in a list as set using equal."
(member item list :test #'equal))
(defun use (oplist)
"Use oplist as the default set of operators by setting the dynamic variable *ops* to its value."
;; Return something useful
;; but not verbose
(length (setf *ops* oplist)))
(defun find-all (item sequence &rest keyword-args
&key (test #'eql)
test-not
&allow-other-keys)
"Find all those elements of sequence that match item.
according to the keywords. Does not alter sequence"
(if test-not
(apply #'remove item sequence
:test-not (complement test-not) keyword-args)
(apply #'remove item sequence
:test (complement test) keyword-args)))
(setf (symbol-function 'find-all-if) #'remove-if-not)
(defun mappend (fn the-list)
"Apply function to each element of the list and append the results."
(apply #'append (mapcar fn the-list)))
(defun find-path (start end)
"Search a maze for a path from start to end."
(let ((results (gps `((at ,start))
`((at ,end)))))
(unless (null results)
(cons start
(mapcar #'destination
(remove '(start)
results
:test #'equal))))))
(defun destination (action)
"Find the Y in '(executing (move from X to Y))"
(fifth (second action)))