| | 484 | For the Time domains, in the pddl file, replace the :duration value of navigate with |
| | 485 | |
| | 486 | {{{ |
| | 487 | :duration (= ?duration (/ (distance ?y ?z) 0.28)) |
| | 488 | }}} |
| | 489 | |
| | 490 | and add the function |
| | 491 | |
| | 492 | {{{ |
| | 493 | (distance ?x - waypoint ?y - waypoint) |
| | 494 | }}} |
| | 495 | |
| | 496 | Now add distance data to the pfile. Example: |
| | 497 | |
| | 498 | {{{ |
| | 499 | (= (distance waypoint0 waypoint0) 0) |
| | 500 | (= (distance waypoint0 waypoint11) 399) |
| | 501 | (= (distance waypoint0 waypoint10) 410) |
| | 502 | (= (distance waypoint0 waypoint9) 525) |
| | 503 | (= (distance waypoint0 waypoint7) 340) |
| | 504 | (= (distance waypoint0 waypoint8) 256) |
| | 505 | (= (distance waypoint0 waypoint5) 798) |
| | 506 | (= (distance waypoint0 waypoint6) 708) |
| | 507 | (= (distance waypoint0 waypoint2) 925) |
| | 508 | (= (distance waypoint0 waypoint1) 434) |
| | 509 | (= (distance waypoint0 waypoint4) 924) |
| | 510 | (= (distance waypoint0 waypoint3) 697) |
| | 511 | (= (distance waypoint11 waypoint0) 399) |
| | 512 | (= (distance waypoint11 waypoint11) 0) |
| | 513 | (= (distance waypoint11 waypoint10) 604) |
| | 514 | (= (distance waypoint11 waypoint9) 522) |
| | 515 | (= (distance waypoint11 waypoint7) 289) |
| | 516 | (= (distance waypoint11 waypoint8) 592) |
| | 517 | (= (distance waypoint11 waypoint5) 735) |
| | 518 | (= (distance waypoint11 waypoint6) 988) |
| | 519 | (= (distance waypoint11 waypoint2) 979) |
| | 520 | (= (distance waypoint11 waypoint1) 798) |
| | 521 | (= (distance waypoint11 waypoint4) 769) |
| | 522 | . |
| | 523 | . |
| | 524 | . |
| | 525 | }}} |
| | 526 | |
| | 527 | |
| | 528 | |
| | 529 | |