cell((0..18, 0..8)). % (X+1,Y) is right next to (X,Y) adjacent(right, (X+1,Y),(X,Y)) :- cell((X,Y)), cell((X+1,Y)). adjacent(left,(X,Y), (X+1,Y)) :- cell((X,Y)), cell((X+1,Y)). % (X,Y+1) is above next to (X,Y) adjacent(down, (X,Y+1),(X,Y)) :- cell((X,Y)), cell((X,Y+1)). adjacent(up, (X,Y), (X,Y+1)) :- cell((X,Y)), cell((X,Y+1)). #modeh(state_after(var(cell))). #modeb(1, adjacent(const(action), var(cell), var(cell)), (positive)). #modeb(1, state_before(var(cell)), (positive)). #modeb(1, action(const(action)), (positive)). #modeb(1, wall(var(cell))). #max_penalty(50). #constant(action, right). #constant(action, left). #constant(action, down). #constant(action, up). #pos({state_after((2,5))}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(left).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(down).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(right).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, {state_before((2,5)).action(up).}). #pos({}, {state_after((3,5)),state_after((2,6)),state_after((1,5)),state_after((2,4))}, 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