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air_cargo_problems.py
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air_cargo_problems.py
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from aimacode.planning import Action
from aimacode.utils import expr
from _utils import (
FluentState, encode_state, decode_state, create_expressions, make_relations
)
from planning_problem import BasePlanningProblem
class AirCargoProblem(BasePlanningProblem):
def __init__(self, cargos, planes, airports, initial, goal):
"""
Parameters
----------
cargos : list
A list of names for cargo entities in the problem domain
planes : list
A list of names for airplane entities in the problem domain
airports : list
A list of names for airport entities in the problem domain
initial : FluentState
A representation of the initial problem state as a collection
of positive and negative literals (each literal fluent should
be an `aimacode.utils.Expr` instance)
goal : iterable
A collection of literal fluents describing the goal state of
the problem (each fluent should be an instance of the
`aimacode.utils.Expr` class)
"""
super().__init__(initial, goal)
self.cargos = cargos
self.planes = planes
self.airports = airports
self.actions_list = self.get_actions()
def get_actions(self):
""" This method creates concrete actions (no variables) for all actions
in the problem domain action schema and turns them into complete Action
objects as defined in the aimacode.planning module. It is computationally
expensive to call this method directly; however, it is called in the
constructor and the results cached in the `actions_list` property.
Returns
-------
list of Action objects
"""
# TODO create concrete Action objects based on the domain action schema
# for: Load, Unload, and Fly concrete actions definition: specific
# literal action that does not include variables as with the schema for
# example, the action schema 'Load(c, p, a)' can represent the concrete
# actions 'Load(C1, P1, SFO)' or 'Load(C2, P2, JFK)'. The actions for
# the planning problem must be concrete because the problems in
# forward search and Planning Graphs must use Propositional Logic
def load_actions():
""" Create all concrete Load actions
Returns
-------
collection of Action objects
"""
loads = []
for c in self.cargos:
for p in self.planes:
for a in self.airports:
precond_pos = set([expr("At({}, {})".format(c, a)),
expr("At({}, {})".format(p, a))
])
precond_neg = set([])
effect_add = set([expr("In({}, {})".format(c, p))])
effect_rem = set([expr("At({}, {})".format(c, a))])
load = Action(expr("Load({}, {}, {})".format(c, p, a)),
[precond_pos, precond_neg],
[effect_add, effect_rem])
loads.append(load)
return loads
def unload_actions():
"""Create all concrete Unload actions
Returns
-------
collection of Action objects
"""
unloads = []
for c in self.cargos:
for p in self.planes:
for a in self.airports:
precond_pos = set([expr("In({}, {})".format(c, p)),
expr("At({}, {})".format(p, a)),
])
precond_neg = set([])
effect_add = set([expr("At({}, {})".format(c, a))])
effect_rem = set([expr("In({}, {})".format(c, p))])
unload = Action(expr("Unload({}, {}, {})".format(c, p, a)),
[precond_pos, precond_neg],
[effect_add, effect_rem])
unloads.append(unload)
return unloads
def fly_actions():
"""Create all concrete Fly actions
Returns
-------
collection of Action objects
"""
flys = []
for fr in self.airports:
for to in self.airports:
if fr != to:
for p in self.planes:
precond_pos = set([expr("At({}, {})".format(p, fr)),
])
precond_neg = set([])
effect_add = set([expr("At({}, {})".format(p, to))])
effect_rem = set([expr("At({}, {})".format(p, fr))])
fly = Action(expr("Fly({}, {}, {})".format(p, fr, to)),
[precond_pos, precond_neg],
[effect_add, effect_rem])
flys.append(fly)
return flys
return load_actions() + unload_actions() + fly_actions()
def air_cargo_p1():
cargos = ['C1', 'C2']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO']
at_relations = make_relations('At', cargos + planes, airports)
in_relations = make_relations('In', cargos, planes)
pos = create_expressions([
'At(C1, SFO)',
'At(C2, JFK)',
'At(P1, SFO)',
'At(P2, JFK)',
])
init = FluentState(pos, [r for r in at_relations + in_relations if r not in pos])
print(init.neg)
goal = create_expressions(['At(C1, JFK)', 'At(C2, SFO)'])
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p2():
cargos = ['C1', 'C2', 'C3']
planes = ['P1', 'P2', 'P3']
airports = ['JFK', 'SFO', 'ATL']
at_relations = make_relations('At', cargos + planes, airports)
in_relations = make_relations('In', cargos, planes)
pos = create_expressions([
'At(C1, SFO)',
'At(C2, JFK)',
'At(C3, ATL)',
'At(P1, SFO)',
'At(P2, JFK)',
'At(P3, ATL)',
])
init = FluentState(pos, [r for r in at_relations + in_relations if r not in pos])
goal = create_expressions(['At(C1, JFK)', 'At(C2, SFO)', 'At(C3, SFO)'])
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p3():
cargos = ['C1', 'C2', 'C3', 'C4']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO', 'ATL', 'ORD']
at_relations = make_relations('At', cargos + planes, airports)
in_relations = make_relations('In', cargos, planes)
pos = create_expressions([
'At(C1, SFO)',
'At(C2, JFK)',
'At(C3, ATL)',
'At(C4, ORD)',
'At(P1, SFO)',
'At(P2, JFK)',
])
init = FluentState(pos, [r for r in at_relations + in_relations if r not in pos])
goal = create_expressions(['At(C1, JFK)', 'At(C2, SFO)', 'At(C3, JFK)', 'At(C4, SFO)'])
return AirCargoProblem(cargos, planes, airports, init, goal)
def air_cargo_p4():
cargos = ['C1', 'C2', 'C3', 'C4', 'C5']
planes = ['P1', 'P2']
airports = ['JFK', 'SFO', 'ATL', 'ORD']
at_relations = make_relations('At', cargos + planes, airports)
in_relations = make_relations('In', cargos, planes)
pos = create_expressions([
'At(C1, SFO)',
'At(C2, JFK)',
'At(C3, ATL)',
'At(C4, ORD)',
'At(C5, ORD)',
'At(P1, SFO)',
'At(P2, JFK)',
])
init = FluentState(pos, [r for r in at_relations + in_relations if r not in pos])
goal = create_expressions(['At(C1, JFK)', 'At(C2, SFO)', 'At(C3, JFK)', 'At(C4, SFO)', 'At(C5, JFK)'])
return AirCargoProblem(cargos, planes, airports, init, goal)