TIM: Type Inference Mechanism - support for STAN: State Analysis Planner
D. Long and M. Fox, University of Durham
Reading domain file: domain05.pddl
Reading problem file: prob12.pddl
TIM: Domain analysis complete for simple-blocks
TIM: TYPES:
Type T0 = {table}
Type T1 = {a,b,c}
TIM: STATE INVARIANTS:
FORALL x:T1. FORALL y1. FORALL z1. on(x,y1) AND on(x,z1) => y1 = z1
FORALL x:T1. (Exists y1:T0 U T1. on(x,y1))
TIM: DOMAIN INVARIANTS:
|{(x0,x1): on(x0,x1)}| = 3
|{x0: table(x0)}| = 1
TIM: ATTRIBUTE SPACES:
Objects, x, in T0 U T1 can have property:
clear(x);
Exists y1:T1. on(y1,x);
Objects, x, in T0 all have property:
table(x);
TIM: OPERATOR PARAMETER RESTRICTIONS:
put(x1:T1,x2:T0 U T1,x3:T0 U T1,x4:T0)
puttable(x1:T1,x2:T0 U T1,x3:T0)
TIM: ADDITIONAL STATE INVARIANTS, USING SUB-STATE ANALYSIS:
FORALL x:T1. FORALL y1. FORALL z1. on(y1,x) AND on(z1,x) => y1 = z1
FORALL x:T1. (clear(x) OR Exists y1:T1. on(y1,x))
FORALL x:T1. NOT (clear(x) AND Exists y1:T1. on(y1,x))