USV_obstacle_nav_v2_Domain.rddl

domain USV_obstacle_nav_v2 {

    requirements = {
        concurrent,
        reward-deterministic,
        cpf-deterministic,
				constrained-state,
        multivalued,
        continuous
    };

    types {
      obs : object;
      USV : object;
    };

    pvariables {

        XG : {non-fluent, real, default = 50.0};
        YG : {non-fluent, real, default = 50.0};
        //testVariable : {non-fluent, bool, default = true};
        damaged(USV) : {state-fluent, bool, default = false};
        distance(USV) : {state-fluent, real, default = 0.0};
        time : {state-fluent, int, default = 0};

        xPos(USV) : {state-fluent, real, default = 0.0};
        yPos(USV) : {state-fluent, real, default = 0.0};

        xVel(USV) : {state-fluent, real, default = 0.0};
        yVel(USV) : {state-fluent, real, default = 0.0};

        heading(USV) : {action-fluent, real, default = 0.0};

        //headAdj : {action-fluent, real, default = 0.0};
        tVel(USV) : {action-fluent, real, default = 0.0};

        obsXp(obs) : {state-fluent, real, default = 0.0};
        obsYp(obs) : {state-fluent, real, default = 0.0};
        obsV(obs) : {state-fluent, real, default = 0.0};
        obsHead(obs) : {state-fluent, real, default = 0.0};

    };

    cpfs {

        //update position counters
        xPos'(?b) = xPos(?b) + xVel(?b)*0.5;
        yPos'(?b) = yPos(?b) + yVel(?b)*0.5;

        //update velocities
        xVel'(?b) = cos[heading(?b)]*tVel(?b);
        yVel'(?b) = sin[heading(?b)]*tVel(?b);


        distance'(?b) = hypot[(XG - xPos(?b)), (YG - yPos(?b))];

        damaged'(?b) = if (exists_{?o : obs}(hypot[(xPos(?b) - obsXp(?o)), (yPos(?b) - obsYp(?o))] <= 10))
                    then true
                 else
                    if (damaged(?b))
                      then true
                    else
                      false;

        //damaged'(?b) = false;

        obsHead'(?o) = obsHead(?o) + Normal(0,0.001);
        obsV'(?o) = obsV(?o) + 0;

        obsXp'(?o) = obsXp(?o) + cos[obsHead(?o)]*obsV(?o)*0.5;
        obsYp'(?o) = obsYp(?o) + sin[obsHead(?o)]*obsV(?o)*0.5;
        //obsXp'(?o) = obsXp(?o) + 0;
        //obsYp'(?o) = obsYp(?o) + 0;

        time' = time + 1;
    };

    action-preconditions {
		//Speed and heading change cap!
        forall_{?b : USV}[tVel(?b) <= 2];
        forall_{?b : USV}[tVel(?b) >= -0.5];
		};

    reward = -sum_{?b:USV}(distance(?b) + damaged(?b)*100000);
    //reward = -sum_{?b:USV}(distance(?b));
}