crane domain

(define (domain CRANE)
	(:requirements :strips :typing)
	(:types crane box location)

	(:predicates
		(atB ?x - box ?y - location)	;; box at location
		(atC ?x - crane ?y - location)	;; crane at location
		(clearL ?l - location)			;; location clear
		(clearC ?c - crane)				;; crane empty
		(holding ?c - crane ?b - box)	;; crane holding a box
	)

	;; zvedni kostku
	(:action LIFT
		:parameters (?c - crane ?l - location ?b - box)

		:precondition (and
			(atC ?c ?l)
			(atB ?b ?l)
			(clearC ?c)
		)

		:effect (and
			(holding ?c ?b)
			(not (clearC ?c))
			(not (atB ?b ?l))
			(clearL ?l)
		)
	)

	;; poloz kostku
	(:action PUT
		:parameters (?c - crane ?l - location ?b - box)

		:precondition (and
			(atC ?c ?l)
			(holding ?c ?b)
			(clearL ?l)
		)

		:effect (and
			(not (holding ?c ?b))
			(clearC ?c)
			(atB ?b ?l)
			(not (clearL ?l))
		)
	)

	;; presun jerab z lokace 1 do lokace 2
	(:action MOVE
		:parameters (?c - crane ?loc1 ?loc2 - location)
		:precondition (atC ?c ?loc1)

		:effect (and
			(atC ?c ?loc2)
			(not (atC ?c ?loc1))
		)
	)
)