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%%% bridgecrossing
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%%% metadata
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role(robot)

base(location(X,left)) :- individual(X)
base(location(X,right)) :- individual(X)
base(torch(left))
base(torch(right))
base(current(M)) :- step(N)
base(control(robot))

action(left(X)) :- person(X)
action(right(X)) :- person(X)
action(left(X,Y)) :- person(X) & person(Y) & symless(X,Y)
action(right(X,Y)) :- person(X) & person(Y) & symless(X,Y)

person(a)
person(b)
person(c)
person(d)

pace(a,1)
pace(b,2)
pace(c,5)
pace(d,10)

step(1)
step(2)
step(3)
step(4)
step(5)
step(6)

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%%% init
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init(location(a,left))
init(location(b,left))
init(location(c,left))
init(location(d,left))
init(torch(left))
init(clock(0))
init(current(1))
init(control(robot))

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%%% legal
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legal(left(X)) :- torch(right) & location(X,right)
legal(right(X)) :- torch(left) & location(X,left)

legal(left(X,Y)) :- torch(right) & location(X,right) & location(Y,right) & symless(X,Y)
legal(right(X,Y)) :- torch(left) & location(X,left) & location(Y,left) & symless(X,Y)

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%%% operations
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left(X) :: 
  ~torch(right) & ~location(X,right) &
  torch(left) & location(X,left) & kerchunk & tick(X)

right(X) ::
  ~torch(left) & ~location(X,left) &
  torch(right) & location(X,right) & kerchunk & tick(X)

left(X,Y) ::
  ~torch(right) & ~location(X,right) & ~location(Y,right) &
  torch(left) & location(X,left) & location(Y,left) & kerchunk & ticket(X,Y)

right(X,Y) ::
  ~torch(left) & ~location(X,left) & ~location(Y,left) &
  torch(right) & location(X,right) & location(Y,right) & kerchunk & ticket(X,Y)

kerchunk :: current(M) & succ(M,N) ==> ~current(M) & current(N)

tick(X) :: clock(O) & pace(X,D) & evaluate(plus(O,D),N) ==> ~clock(O) & clock(N)

ticket(X,Y) :: clock(O) & pace(X,C) & pace(Y,D) & evaluate(plus(O,max(C,D)),N)
  ==>  ~clock(O) & clock(N)

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%%% goal
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goal(robot,100) :- countofall(X,location(X,right),4) & clock(C) & leq(C,17)

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%%% terminal
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terminal :- current(6)

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%%% Views
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%%% Facts
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succ(1,2)
succ(2,3)
succ(3,4)
succ(4,5)
succ(5,6)

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