public PutDownAction(Table table)
{
_table = table;
var block = new STRIPS.NamedParameter("param1");
var goal1 = new STRIPS.Fact(Definitions.ArmHolds, block);
Preconditions.Add(goal1);
AddList.Add(new STRIPS.Fact(Definitions.ArmHolds, new STRIPS.ValueParameter(null)));
AddList.Add(new STRIPS.Fact(Definitions.On, block, new STRIPS.ValueParameter(table)));
AddList.Add(new STRIPS.Fact(Definitions.Clear, block));
DeleteList.Add(goal1);
Constraints.Add(TypeCheck(typeof(Block), block));
}
public StackAction()
{
var param1 = new STRIPS.NamedParameter("param1");
var param2 = new STRIPS.NamedParameter("param2");
var goal1 = new STRIPS.Fact(Definitions.ArmHolds, param1);
var goal2 = new STRIPS.Fact(Definitions.Clear, param2);
Preconditions.Add(goal1);
Preconditions.Add(goal2);
AddList.Add(new STRIPS.Fact(Definitions.ArmHolds, new STRIPS.ValueParameter(null)));
AddList.Add(new STRIPS.Fact(Definitions.On, param1, param2));
AddList.Add(new STRIPS.Fact(Definitions.Clear, param1));
DeleteList.Add(goal1);
DeleteList.Add(goal2);
Constraints.Add(TypeCheck(typeof(Block), param1));
Constraints.Add(TypeCheck(typeof(Block), param2));
Constraints.Add(NotEqualsCheck(param1, param2));
}
public void Setup()
{
_result = new STRIPS.NamedParameter("name");
}