%%%%%%%%%%%%Begin auxiliary predicates

time(1..length).
path(1..level).
literal(F):- fluent(F).
literal(neg(F)):- fluent(F).
contrary(F, neg(F)):- fluent(F).
contrary(neg(F), F):- fluent(F).

new_branch(L, L1):-
    path(L), path(L1), L < L1.
h(F, T+1, P1):-
  	path(P), time(T), path(P1), P <= P1, sense(F),
	branch(F, T, P, P1).

used(T+1, P1):- 
  	path(P), time(T), path(P1), P <= P1, sense(F),
	branch(F, T, P, P1).

:- path(L), time(T), fluent(F), action(A),
   determines(A, F), occ(A, T, L),
   known(F, T, L).

h(G, T+1, L1):-
    time(T), path(L1), path(L), 
    literal(G),
    sense(F), L <= L1,
    branch(F, T, L, L1),
    h(G, T, L).

unknown(F, T, L):-
    path(L), time(T), fluent(F),
    not known(F, T, L).

known(F, T, L):-
    path(L), time(T), fluent(F),
    h(F, T, L).

known(F, T, L):-
    path(L), time(T), fluent(F), contrary(F, G),
    h(G, T, L).

used(1, 1).
used(T+1, L):- time(T), path(L), used(T, L).

1{occ(A, T, P) : action(A)}1:-
    time(T),
    path(P),
    used(T, P),
    not goal(T, P).

:-  time(T),  path(P),
     used(T, P),  action(A),
     occ(A,T,P), not possible(A, T, P).
%%%%% End auxiliary section

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%    Domain Description               %%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%% Fluents %%%%

fluent(infected(1)).
fluent(infected(2)).
fluent(infected(3)).
fluent(infected(4)).
fluent(infected(5)).
fluent(infected(none)).
fluent(tcd).
fluent(bsd).
fluent(hc).
fluent(dead).
fluent(is_color(red)).
fluent(is_color(blue)).
fluent(is_color(white)).

%%% End of Fluents %%%


% non-inertial literals
noninertial(armed).
noninertial(neg(armed)).



%%% Actions %%%%

action(inspect).
action(stain).
action(blood_sample).
action(analyze_blood).
action(medicate(1)).
action(medicate(2)).
action(medicate(3)).
action(medicate(4)).
action(medicate(5)).

%%% End of Actions %%%


%%% Section: static causal laws %%%%
h(neg(infected(1)), T, P):-  time(T), path(P),
        h(is_color(blue), T, P), 
        h(tcd, T, P).
h(neg(infected(2)), T, P):-  time(T), path(P),
        h(is_color(blue), T, P), 
        h(tcd, T, P).
h(neg(infected(5)), T, P):-  time(T), path(P),
        h(is_color(blue), T, P), 
        h(tcd, T, P).
h(neg(infected(5)), T, P):-  time(T), path(P),
        h(is_color(red), T, P), 
        h(tcd, T, P).
h(neg(infected(3)), T, P):-  time(T), path(P),
        h(is_color(red), T, P), 
        h(tcd, T, P).
h(neg(infected(4)), T, P):-  time(T), path(P),
        h(is_color(red), T, P), 
        h(tcd, T, P).
h(neg(infected(1)), T, P):-  time(T), path(P),
        h(is_color(white), T, P), 
        h(tcd, T, P).
h(neg(infected(2)), T, P):-  time(T), path(P),
        h(is_color(white), T, P), 
        h(tcd, T, P).
h(neg(infected(3)), T, P):-  time(T), path(P),
        h(is_color(white), T, P), 
        h(tcd, T, P).
h(neg(infected(4)), T, P):-  time(T), path(P),
        h(is_color(white), T, P), 
        h(tcd, T, P).
h(neg(infected(4)), T, P):-  time(T), path(P),
        h(hc, T, P), 
        h(bsd, T, P).
h(neg(infected(2)), T, P):-  time(T), path(P),
        h(hc, T, P), 
        h(bsd, T, P).
h(neg(infected(1)), T, P):-  time(T), path(P),
        h(neg(hc), T, P), 
        h(bsd, T, P).
h(neg(infected(3)), T, P):-  time(T), path(P),
        h(neg(hc), T, P), 
        h(bsd, T, P).
h(neg(infected(5)), T, P):-  time(T), path(P),
        h(neg(hc), T, P), 
        h(bsd, T, P).
h(infected(1), T, P):-  time(T), path(P),
        h(neg(infected(2)), T, P), 
        h(neg(infected(3)), T, P), 
        h(neg(infected(4)), T, P), 
        h(neg(infected(5)), T, P), 
        h(neg(infected(none)), T, P).
h(infected(2), T, P):-  time(T), path(P),
        h(neg(infected(1)), T, P), 
        h(neg(infected(3)), T, P), 
        h(neg(infected(4)), T, P), 
        h(neg(infected(5)), T, P), 
        h(neg(infected(none)), T, P).
h(infected(3), T, P):-  time(T), path(P),
        h(neg(infected(1)), T, P), 
        h(neg(infected(2)), T, P), 
        h(neg(infected(4)), T, P), 
        h(neg(infected(5)), T, P), 
        h(neg(infected(none)), T, P).
h(infected(4), T, P):-  time(T), path(P),
        h(neg(infected(1)), T, P), 
        h(neg(infected(2)), T, P), 
        h(neg(infected(3)), T, P), 
        h(neg(infected(5)), T, P), 
        h(neg(infected(none)), T, P).
h(infected(5), T, P):-  time(T), path(P),
        h(neg(infected(1)), T, P), 
        h(neg(infected(2)), T, P), 
        h(neg(infected(3)), T, P), 
        h(neg(infected(4)), T, P), 
        h(neg(infected(none)), T, P).
h(infected(none), T, P):-  time(T), path(P),
        h(neg(infected(1)), T, P), 
        h(neg(infected(2)), T, P), 
        h(neg(infected(3)), T, P), 
        h(neg(infected(4)), T, P), 
        h(neg(infected(5)), T, P).
h(illness(3), T, P):-  time(T), path(P),
        h(neg(illness(1)), T, P), 
        h(neg(illness(2)), T, P).
h(illness(2), T, P):-  time(T), path(P),
        h(neg(illness(1)), T, P), 
        h(neg(illness(3)), T, P).
h(illness(1), T, P):-  time(T), path(P),
        h(neg(illness(3)), T, P), 
        h(neg(illness(2)), T, P).

%%% End section: static causal laws %%%%

%%% Section: dynamic causal laws %%%%
h(tcd, T+1, P):- time(T), path(P), 
        possible(stain, T, P),
        occ(stain,T,P).
h(infected(none), T+1, P):- time(T), path(P), 
        possible(medicate(1), T, P),
        occ(medicate(1),T,P), 
        h(infected(1), T, P).
h(infected(none), T+1, P):- time(T), path(P), 
        possible(medicate(2), T, P),
        occ(medicate(2),T,P), 
        h(infected(2), T, P).
h(infected(none), T+1, P):- time(T), path(P), 
        possible(medicate(3), T, P),
        occ(medicate(3),T,P), 
        h(infected(3), T, P).
h(infected(none), T+1, P):- time(T), path(P), 
        possible(medicate(4), T, P),
        occ(medicate(4),T,P), 
        h(infected(4), T, P).
h(infected(none), T+1, P):- time(T), path(P), 
        possible(medicate(5), T, P),
        occ(medicate(5),T,P), 
        h(infected(5), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(1), T, P),
        occ(medicate(1),T,P), 
        h(infected(2), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(1), T, P),
        occ(medicate(1),T,P), 
        h(infected(3), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(1), T, P),
        occ(medicate(1),T,P), 
        h(infected(4), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(1), T, P),
        occ(medicate(1),T,P), 
        h(infected(5), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(1), T, P),
        occ(medicate(1),T,P), 
        h(infected(none), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(2), T, P),
        occ(medicate(2),T,P), 
        h(infected(1), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(2), T, P),
        occ(medicate(2),T,P), 
        h(infected(3), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(2), T, P),
        occ(medicate(2),T,P), 
        h(infected(4), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(2), T, P),
        occ(medicate(2),T,P), 
        h(infected(5), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(2), T, P),
        occ(medicate(2),T,P), 
        h(infected(none), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(3), T, P),
        occ(medicate(3),T,P), 
        h(infected(1), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(3), T, P),
        occ(medicate(3),T,P), 
        h(infected(2), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(3), T, P),
        occ(medicate(3),T,P), 
        h(infected(4), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(3), T, P),
        occ(medicate(3),T,P), 
        h(infected(5), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(3), T, P),
        occ(medicate(3),T,P), 
        h(infected(none), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(4), T, P),
        occ(medicate(4),T,P), 
        h(infected(1), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(4), T, P),
        occ(medicate(4),T,P), 
        h(infected(2), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(4), T, P),
        occ(medicate(4),T,P), 
        h(infected(3), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(4), T, P),
        occ(medicate(4),T,P), 
        h(infected(5), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(4), T, P),
        occ(medicate(4),T,P), 
        h(infected(none), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(5), T, P),
        occ(medicate(5),T,P), 
        h(infected(1), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(5), T, P),
        occ(medicate(5),T,P), 
        h(infected(2), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(5), T, P),
        occ(medicate(5),T,P), 
        h(infected(3), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(5), T, P),
        occ(medicate(5),T,P), 
        h(infected(4), T, P).
h(dead, T+1, P):- time(T), path(P), 
        possible(medicate(5), T, P),
        occ(medicate(5),T,P), 
        h(infected(none), T, P).
h(bsd, T+1, P):- time(T), path(P), 
        possible(blood_sample, T, P),
        occ(blood_sample,T,P).

%%% End section: dynamic causal laws %%%%


%%% Section: Executability Conditions %%

possible(inspect, T, P):- time(T),path(P), 
        h(tcd, T, P), 
        h(neg(dead), T, P).
possible(stain, T, P):- time(T),path(P), 
        h(neg(dead), T, P).
possible(blood_sample, T, P):- time(T),path(P), 
        h(neg(dead), T, P).
possible(analyze_blood, T, P):- time(T),path(P), 
        h(bsd, T, P), 
        h(neg(dead), T, P).
possible(medicate(1), T, P):- time(T),path(P), 
        h(neg(dead), T, P).
possible(medicate(2), T, P):- time(T),path(P), 
        h(neg(dead), T, P).
possible(medicate(3), T, P):- time(T),path(P), 
        h(neg(dead), T, P).
possible(medicate(4), T, P):- time(T),path(P), 
        h(neg(dead), T, P).
possible(medicate(5), T, P):- time(T),path(P), 
        h(neg(dead), T, P).

%%% End of section: Executability Conditions %%%%


%%% Section: Abnormality of fluent %%

possibly_h(F, T, P):-
              literal(F), literal(G),
              contrary(F, G),
              time(T), path(P),
              not h(G, T, P).



ab(neg(infected(none)), T, P):- time(T),path(P),
          occ(medicate(1), T, P), 
          possibly_h(infected(1), T, P).

ab(neg(infected(none)), T, P):- time(T),path(P),
          occ(medicate(2), T, P), 
          possibly_h(infected(2), T, P).

ab(neg(infected(none)), T, P):- time(T),path(P),
          occ(medicate(3), T, P), 
          possibly_h(infected(3), T, P).

ab(neg(infected(none)), T, P):- time(T),path(P),
          occ(medicate(4), T, P), 
          possibly_h(infected(4), T, P).

ab(neg(infected(none)), T, P):- time(T),path(P),
          occ(medicate(5), T, P), 
          possibly_h(infected(5), T, P).

ab(neg(tcd), T, P):- time(T),path(P),
          occ(stain, T, P).

ab(neg(bsd), T, P):- time(T),path(P),
          occ(blood_sample, T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(1), T, P), 
          possibly_h(infected(2), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(1), T, P), 
          possibly_h(infected(3), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(1), T, P), 
          possibly_h(infected(4), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(1), T, P), 
          possibly_h(infected(5), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(1), T, P), 
          possibly_h(infected(none), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(2), T, P), 
          possibly_h(infected(1), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(2), T, P), 
          possibly_h(infected(3), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(2), T, P), 
          possibly_h(infected(4), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(2), T, P), 
          possibly_h(infected(5), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(2), T, P), 
          possibly_h(infected(none), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(3), T, P), 
          possibly_h(infected(1), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(3), T, P), 
          possibly_h(infected(2), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(3), T, P), 
          possibly_h(infected(4), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(3), T, P), 
          possibly_h(infected(5), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(3), T, P), 
          possibly_h(infected(none), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(4), T, P), 
          possibly_h(infected(1), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(4), T, P), 
          possibly_h(infected(2), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(4), T, P), 
          possibly_h(infected(3), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(4), T, P), 
          possibly_h(infected(5), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(4), T, P), 
          possibly_h(infected(none), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(5), T, P), 
          possibly_h(infected(1), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(5), T, P), 
          possibly_h(infected(2), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(5), T, P), 
          possibly_h(infected(3), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(5), T, P), 
          possibly_h(infected(4), T, P).

ab(neg(dead), T, P):- time(T),path(P),
          occ(medicate(5), T, P), 
          possibly_h(infected(none), T, P).

h(F, T+1, P):-
              literal(F), 
              time(T), path(P),
              h(F, T, P),
              not noninertial(F),
              literal(G), contrary(F, G),
              not h(G, T+1, P),
              not ab(F, T, P).

%%% End Section: Abnormality of fluent %%



%%% Section: Sensing Actions %%
sense(is_color(red)).
sense(is_color(blue)).
sense(is_color(white)).
branch(is_color(red), T, P, P):-
        time(T), path(P), possible(inspect, T, P), occ(inspect, T, P).

1{branch(is_color(blue), T, P, P1):new_branch(P, P1)}1:-
        time(T), path(P), possible(inspect, T, P), occ(inspect, T, P).
1{branch(is_color(white), T, P, P1):new_branch(P, P1)}1:-
        time(T), path(P), possible(inspect, T, P), occ(inspect, T, P).
sense(hc).
sense(neg(hc)).
branch(hc, T, P, P):-
        time(T), path(P), possible(analyze_blood, T, P), occ(analyze_blood, T, P).

1{branch(neg(hc), T, P, P1):new_branch(P, P1)}1:-
        time(T), path(P), possible(analyze_blood, T, P), occ(analyze_blood, T, P).

:- time(T), path(P1), path(P2),
    path(L1), P1 <= P2, L1 <= P2,
    sense(F), sense(G), neq(F,G),
    domain(F,V), domain(G,V1),
    branch(F,V,T,P1,P2),
    branch(G,V,T,L1,P2).

:- time(T), T > 1,
    path(P1), path(P2), P1 < P2,
    sense(F), domain(F,V),
    branch(F,V,T,P1,P2), used(T,P2).



determines(inspect, is_color(red)).
determines(inspect, is_color(blue)).
determines(inspect, is_color(white)).
determines(analyze_blood, hc).
determines(analyze_blood, neg(hc)).

%%% End of section: Sensing Actions %%%%


%%% Section: Initial %%

h(neg(infected(4)), 1, 1).
h(neg(infected(5)), 1, 1).
h(neg(infected(none)), 1, 1).
h(neg(tcd), 1, 1).
h(neg(bsd), 1, 1).
h(neg(dead), 1, 1).

%%% End of section: Initial %%%%


%%% Section: Goal %%

goal(T, P):-
         time(T), path(P),
         h(infected(none), T, P),
         h(neg(dead), T, P).
goal(T+1, P):-
    time(T), path(P),
    goal(T, P).

ggoal(P):- path(P), time(T), used(T, P), goal(length, P).
:- path(P), used(length, P), not ggoal(P).

%%% End of section: Goal %%%%

:-  time(T),  path(P),
    literal (P),  literal(G),
    contrary(F,G), h(F, T, P), h(G, T, P).

hide time(T).
hide path(L).
hide action(A).
hide determines(A,F).
hide contrary(F,G).
hide fluent(F).
hide literal(L).
hide unknown(F, T, L).
hide known(F, T, L).
hide used(T, L).
hide sense(F).
%hide ggoal(L).
hide goal(T,L).
hide new_branch(L, L1).
hide executable(A,S).
hide possible(A, T, L).
hide ab(F, T, L).
hide h(F, T, L).
hide noninertial(F).
hide possibly_h(F, T, L).