search.ujshop

(defdomain search (

  (:attachments (closest ?circle ?to ?out_circle ?in_dir ?out_dir ?goal))

  (:operator (!move ?agent ?from ?to)
    ()
    ((at ?agent ?from))
    ((at ?agent ?to))
  )

  (:operator (!!visit ?agent ?point)
    ()
    ()
    ((visited ?agent ?point))
  )

  (:operator (!!unvisit ?agent ?point)
    ()
    ((visited ?agent ?point))
    ()
  )

  (:method (forward ?agent ?goal)
    base
    ((at ?agent ?goal))
    ()

    search
    (
      (at ?agent ?start)
      (call search-circular ?agent ?start ?goal)
    )
    ((apply-plan ?agent ?start 0 (call plan-size)))
  )

  (:method (apply-plan ?agent ?from ?index ?size)
    index-equals-size
    ((call = ?index ?size))
    ()

    get-next-action
    ((assign ?to (call plan-position ?index)))
    (
      (!move ?agent ?from ?to)
      (apply-plan ?agent ?to (call + ?index 1) ?size)
    )
  )

  (:method (forward-attachments ?agent ?goal)
    clockwise
    ((at ?agent ?start))
    ((loop ?agent ?start ?start clock ?goal))
    
    counter-clockwise
    ((at ?agent ?start))
    ((loop ?agent ?start ?start counter ?goal))
  )

  (:method (loop ?agent ?from ?circle ?in_dir ?goal)
    base
    ((call visible ?from ?circle ?goal))
    ((!move ?agent ?from ?goal))

    recursion
    (
      (closest ?circle ?to ?out_circle ?in_dir ?out_dir ?goal)
      (not (visited ?agent ?to))
    )
    (
      (!move ?agent ?from ?to)
      (!!visit ?agent ?from)
      (loop ?agent ?to ?out_circle ?out_dir ?goal)
      (!!unvisit ?agent ?from)
    )
  )
))