(Defdomain logistics
   (
     ;; basic operators

     (:operator (!load-truck ?obj ?truck ?loc)
                ((compatible ?obj ?truck)
                 (obj-at ?obj ?loc)
                 (truck-at ?truck ?loc))
                ((obj-at ?obj ?loc)) ;;delete list
                ((in-truck ?obj ?truck))) ;;add list
           
     (:operator (!unload-truck ?obj ?truck ?loc)
                ()
                ((in-truck ?obj ?truck))
                ((obj-at ?obj ?loc)))

     (:operator (!load-airplane ?obj ?airplane ?loc)
                ((compatible ?obj ?airplane))
                ((obj-at ?obj ?loc))
                ((in-airplane ?obj ?airplane))) ;;Ke: please fill this

     (:operator (!unload-airplane ?obj ?airplane ?loc)
                ()
                ((in-airplane ?obj ?airplane))
                ((obj-at ?obj ?loc)))
     
      (:operator (!drive-truck ?truck ?locfrom ?locto)
                ()
                ((truck-at ?truck ?locfrom))
                ((truck-at ?truck ?locto)))

     (:operator (!fly-airplane ?airplane ?airportfrom ?airportto)
                ()
                ((airplane-at ?airplane ?airportfrom))
                ((airplane-at ?airplane ?airportto)))
           

      (:operator (!do-nothing)
                ()
                ()
                ()
                0)
    
    
   
     (:method (achieve-goals (list ?goal . ?goals))
              ()
              ((achieve-single-goal ?goal)
               (achieve-goals ?goals)))

     (:method (achieve-goals nil)
              ()
              ((!do-nothing)))
              
      
              

              
     (:method (achieve-single-goal (obj-at ?package ?loc))
                                
		;;=============================================
		;;transmission in the same city, loctruck==loc1
		;;=============================================

            (
	      (obj-at ?package ?loc1)              
              (IN-CITY ?loc ?city)
              (IN-CITY ?loc1 ?city)
              (TRUCK ?truck ?city)
              (truck-at ?truck ?locTruck) 
              (same ?locTruck ?loc1)
	      (compatible ?package ?truck)
             )                          
   	     (
	      (!load-truck ?package ?truck ?loc1)
              (!drive-truck ?truck ?loc1 ?loc)
              (!unload-truck ?package ?truck ?loc)
             )

		
		;;============================================= 
		;;transmission in the same city, loctruck!=loc1
	        ;;=============================================
			
	    (
 	      (obj-at ?package ?loc1)
              (IN-CITY ?loc ?city)
              (IN-CITY ?loc1 ?city)
              (TRUCK ?truck ?city)
              (truck-at ?truck ?locTruck) 
              (different ?locTruck ?loc1)
	      (compatible ?package ?truck)	      
             )              
	     (
	      (!drive-truck ?truck ?locTruck ?loc1)
              (!load-truck ?package ?truck ?loc1)
              (!drive-truck ?truck ?loc1 ?loc)
              (!unload-truck ?package ?truck ?loc)
             ) 

		;;====================================
            	;;origin and destination are the same
		;;====================================
            (
            	(obj-at ?package ?loc1)
             	(same ?loc1 ?loc)
            )
            (
             	(!do-nothing)
            )


		;;=========================================
		;; transmission between two diffrent cities
		;;=========================================

		;;=========================================================
		;;#1 loctruck==loc1, airportI==airport, loctruck2==airport2
		;;=========================================================

	   (
              	(obj-at ?package ?loc1) 
	      	(IN-CITY ?loc ?city2)	
	      	(IN-CITY ?loc1 ?city) 	              
		(AIRPORT ?airport)
    		(AIRPORT ?airport2)	      
		(AIRPORT ?airportI)
		(IN-CITY ?airport ?city)	
        	(IN-CITY ?airport2 ?city2)
           	(TRUCK ?truck ?city)	
	      	(TRUCK ?truck2 ?city2)
	      	(truck-at ?truck ?locTruck)
            	(truck-at ?truck2 ?locTruck2)
	      	(airplane-at ?airplane ?airportI)
            	(same ?airportI ?airport)
            	(same ?locTruck ?loc1)
            	(same ?loctruck2 ?airport2)
            	(different ?city ?city2)
            	(compatible ?package ?truck)
            	(compatible ?package ?truck2)
            	(compatible ?package ?airplane)
          )               
	  (
              ;;(!drive-truck ?truck ?locTruck ?loc1)
	        (!load-truck ?package ?truck ?loc1)
	        (!drive-truck ?truck ?loc1 ?airport)
	        (!unload-truck ?package ?truck ?airport) 
              ;;(!fly-airplane ?airplane ?airportI ?airport)
	        (!load-airplane ?package ?airplane ?airport)		
  	        (!fly-airplane ?airplane ?airport ?airport2)
                (!unload-airplane ?package ?airplane ?airport2)
 	      ;;(!drive-truck ?truck2 ?locTruck2 ?airport2)
             	(!load-truck ?package ?truck2 ?airport2)
            	(!drive-truck ?truck2 ?airport2 ?loc)
             	(!unload-truck ?package ?truck2 ?loc)
           )	


		;;=========================================================
		;;#2 loctruck!=loc1, airportI==airport, loctruck2==airport2
		;;=========================================================

	(
        	(obj-at ?package ?loc1) 
	      	(IN-CITY ?loc ?city2)		
	      	(IN-CITY ?loc1 ?city) 	      
		(AIRPORT ?airport)
		(AIRPORT ?airport2)	      
		(AIRPORT ?airportI)
		(IN-CITY ?airport ?city)	
        	(IN-CITY ?airport2 ?city2)
            	(TRUCK ?truck ?city)	
	      	(TRUCK ?truck2 ?city2)
	      	(truck-at ?truck ?locTruck)
            	(truck-at ?truck2 ?locTruck2)
	      	(airplane-at ?airplane ?airportI)
            	(same ?airportI ?airport)
            	(different ?locTruck ?loc1)
            	(same ?loctruck2 ?airport2)
            	(different ?city ?city2)
            	(compatible ?package ?truck)
            	(compatible ?package ?truck2)
            	(compatible ?package ?airplane)	
       	)
	(
             	(!drive-truck ?truck ?locTruck ?loc1)
	       	(!load-truck ?package ?truck ?loc1)
	       	(!drive-truck ?truck ?loc1 ?airport)
	       	(!unload-truck ?package ?truck ?airport) 
	     	;;(!fly-airplane ?airplane ?airportI ?airport)
	       	(!load-airplane ?package ?airplane ?airport)		
  	       	(!fly-airplane ?airplane ?airport ?airport2)
             	(!unload-airplane ?package ?airplane ?airport2)
	    	;;(!drive-truck ?truck2 ?locTruck2 ?airport2)
             	(!load-truck ?package ?truck2 ?airport2)
             	(!drive-truck ?truck2 ?airport2 ?loc)
             	(!unload-truck ?package ?truck2 ?loc)
        )	


		;;=========================================================              
		;;#3 loctruck==loc1, airportI!=airport, loctruck2==airport2
		;;========================================================= 

	(
            	(obj-at ?package ?loc1) 
	      	(IN-CITY ?loc ?city2)	
	      	(IN-CITY ?loc1 ?city) 	              
		(AIRPORT ?airport)
		(AIRPORT ?airport2)	      
		(AIRPORT ?airportI)
		(IN-CITY ?airport ?city)	
        	(IN-CITY ?airport2 ?city2)
            	(TRUCK ?truck ?city)	
	      	(TRUCK ?truck2 ?city2)
	      	(truck-at ?truck ?locTruck)
            	(truck-at ?truck2 ?locTruck2)
	      	(airplane-at ?airplane ?airportI)
            	(different ?airportI ?airport)
            	(same ?locTruck ?loc1)
            	(same ?loctruck2 ?airport2)
            	(different ?city ?city2)
           	(compatible ?package ?truck)
            	(compatible ?package ?truck2)
            	(compatible ?package ?airplane)
       	)       
	(
          	;;(!drive-truck ?truck ?locTruck ?loc1)
	       	(!load-truck ?package ?truck ?loc1)
	       	(!drive-truck ?truck ?loc1 ?airport)
	       	(!unload-truck ?package ?truck ?airport) 
             	(!fly-airplane ?airplane ?airportI ?airport)
	       	(!load-airplane ?package ?airplane ?airport)		
  	       	(!fly-airplane ?airplane ?airport ?airport2)
             	(!unload-airplane ?package ?airplane ?airport2)
	    	;;(!drive-truck ?truck2 ?locTruck2 ?airport2)
             	(!load-truck ?package ?truck2 ?airport2)
             	(!drive-truck ?truck2 ?airport2 ?loc)
     	       	(!unload-truck ?package ?truck2 ?loc)
	)  

		
		;;=========================================================     
		;;#4 loctruck==loc1, airportI==airport, loctruck2!=airport2
		;;=========================================================

	(
            	(obj-at ?package ?loc1) 
	      	(IN-CITY ?loc ?city2)		
	      	(IN-CITY ?loc1 ?city) 
		(AIRPORT ?airport)
		(AIRPORT ?airport2)	      
		(AIRPORT ?airportI)
		(IN-CITY ?airport ?city)	
        	(IN-CITY ?airport2 ?city2)
            	(TRUCK ?truck ?city)	
	      	(TRUCK ?truck2 ?city2)
	      	(truck-at ?truck ?locTruck)
            	(truck-at ?truck2 ?locTruck2)
	      	(airplane-at ?airplane ?airportI)
            	(same ?airportI ?airport)
            	(same ?locTruck ?loc1)
            	(different ?loctruck2 ?airport2)
            	(different ?city ?city2)
		(compatible ?package ?truck)
            	(compatible ?package ?truck2)
            	(compatible ?package ?airplane)
 	) 
	(
           	;;(!drive-truck ?truck ?locTruck ?loc1)
	       	(!load-truck ?package ?truck ?loc1)
	       	(!drive-truck ?truck ?loc1 ?airport)
	       	(!unload-truck ?package ?truck ?airport) 
           	;;(!fly-airplane ?airplane ?airportI ?airport)
	       	(!load-airplane ?package ?airplane ?airport)		
  	       	(!fly-airplane ?airplane ?airport ?airport2)
             	(!unload-airplane ?package ?airplane ?airport2)
	       	(!drive-truck ?truck2 ?locTruck2 ?airport2)
             	(!load-truck ?package ?truck2 ?airport2)
             	(!drive-truck ?truck2 ?airport2 ?loc)
		(!unload-truck ?package ?truck2 ?loc)
     	)


		;;==========================================================     
		;;#5  locturck!=loc1, airportI!=airport, loctruck2==airport2
		;;==========================================================


	(
	      	(obj-at ?package ?loc1) 
	      	(IN-CITY ?loc ?city2)	
	      	(IN-CITY ?loc1 ?city) 	
		(AIRPORT ?airport)
		(AIRPORT ?airport2)	      
		(AIRPORT ?airportI)
		(IN-CITY ?airport ?city)	
        	(IN-CITY ?airport2 ?city2)
        	(TRUCK ?truck ?city)	
	      	(TRUCK ?truck2 ?city2)
	      	(truck-at ?truck ?locTruck)
            	(truck-at ?truck2 ?locTruck2)
	      	(airplane-at ?airplane ?airportI)
            	(different ?airportI ?airport)
            	(different ?locTruck ?loc1)
            	(same ?loctruck2 ?airport2)
            	(different ?city ?city2)
		(compatible ?package ?truck)
            	(compatible ?package ?truck2)
            	(compatible ?package ?airplane)
	)
	(
            	(!drive-truck ?truck ?locTruck ?loc1)
	      	(!load-truck ?package ?truck ?loc1)
	      	(!drive-truck ?truck ?loc1 ?airport)
	      	(!unload-truck ?package ?truck ?airport) 
            	(!fly-airplane ?airplane ?airportI ?airport)
	      	(!load-airplane ?package ?airplane ?airport)		
  	      	(!fly-airplane ?airplane ?airport ?airport2)
            	(!unload-airplane ?package ?airplane ?airport2)
	    	;;(!drive-truck ?truck2 ?locTruck2 ?airport2)
            	(!load-truck ?package ?truck2 ?airport2)
            	(!drive-truck ?truck2 ?airport2 ?loc)
     		(!unload-truck ?package ?truck2 ?loc)
	)


		;;==========================================================     
		;;#6	loctruck!=loc1, airportI==airport, loctruck2!=airport2
		;;==========================================================     

	(
	      	(obj-at ?package ?loc1) 
	      	(IN-CITY ?loc ?city2)	
	      	(IN-CITY ?loc1 ?city) 
	      	(different ?city ?city2)
		(AIRPORT ?airport)
		(AIRPORT ?airport2)	      
		(AIRPORT ?airportI)
		(IN-CITY ?airport ?city)	
        	(IN-CITY ?airport2 ?city2)
            	(TRUCK ?truck ?city)	
	      	(TRUCK ?truck2 ?city2)
	      	(truck-at ?truck ?locTruck)
            	(truck-at ?truck2 ?locTruck2)
	      	(airplane-at ?airplane ?airportI)
            	(same ?airportI ?airport)
            	(different ?locTruck ?loc1)
            	(different ?loctruck2 ?airport2)
            	(compatible ?package ?truck)
            	(compatible ?package ?truck2)
            	(compatible ?package ?airplane)
	)
        (
            	(!drive-truck ?truck ?locTruck ?loc1)
	      	(!load-truck ?package ?truck ?loc1)
	      	(!drive-truck ?truck ?loc1 ?airport)
	      	(!unload-truck ?package ?truck ?airport) 
          	;;(!fly-airplane ?airplane ?airportI ?airport)
	      	(!load-airplane ?package ?airplane ?airport)		
  	      	(!fly-airplane ?airplane ?airport ?airport2)
            	(!unload-airplane ?package ?airplane ?airport2)
	      	(!drive-truck ?truck2 ?locTruck2 ?airport2)
            	(!load-truck ?package ?truck2 ?airport2)
            	(!drive-truck ?truck2 ?airport2 ?loc)
 	      	(!unload-truck ?package ?truck2 ?loc)
	)     

     
		;;==========================================================     
		;;#7	loctruck==loc1, airportI!=airport, loctruck2!=airport2
		;;==========================================================     

	(
	      	(obj-at ?package ?loc1) 
	      	(IN-CITY ?loc ?city2)	
	      	(IN-CITY ?loc1 ?city) 
	      	(different ?city ?city2)
		(AIRPORT ?airport)
		(AIRPORT ?airport2)	      
		(AIRPORT ?airportI)
		(IN-CITY ?airport ?city)	
        	(IN-CITY ?airport2 ?city2)
            	(TRUCK ?truck ?city)	
	      	(TRUCK ?truck2 ?city2)
	      	(truck-at ?truck ?locTruck)
            	(truck-at ?truck2 ?locTruck2)
	      	(airplane-at ?airplane ?airportI)
            	(different ?airportI ?airport)
            	(same ?locTruck ?loc1)
            	(different ?loctruck2 ?airport2)
		(compatible ?package ?truck)
            	(compatible ?package ?truck2)
            	(compatible ?package ?airplane)
	)       
	(
           	;;(!drive-truck ?truck ?locTruck ?loc1)
	       	(!load-truck ?package ?truck ?loc1)
	       	(!drive-truck ?truck ?loc1 ?airport)
	       	(!unload-truck ?package ?truck ?airport) 
             	(!fly-airplane ?airplane ?airportI ?airport)
	       	(!load-airplane ?package ?airplane ?airport)		
  	       	(!fly-airplane ?airplane ?airport ?airport2)
             	(!unload-airplane ?package ?airplane ?airport2)
	       	(!drive-truck ?truck2 ?locTruck2 ?airport2)
             	(!load-truck ?package ?truck2 ?airport2)
             	(!drive-truck ?truck2 ?airport2 ?loc)
 		(!unload-truck ?package ?truck2 ?loc)
	)     


		;;=========================================================     
		;;#8 loctruck!=loc1, airportI!=airport, loctruck2!=airport2
		;;=========================================================     

	(
	      	(obj-at ?package ?loc1) 
	      	(IN-CITY ?loc ?city2)		
	      	(IN-CITY ?loc1 ?city) 
	      	(different ?city ?city2)
		(AIRPORT ?airport)
		(AIRPORT ?airport2)	      
		(AIRPORT ?airportI)
		(IN-CITY ?airport ?city)	
        	(IN-CITY ?airport2 ?city2)
        	(TRUCK ?truck ?city)	
	      	(TRUCK ?truck2 ?city2)
	      	(truck-at ?truck ?locTruck)
            	(truck-at ?truck2 ?locTruck2)
	      	(airplane-at ?airplane ?airportI)
            	(different ?airportI ?airport)
            	(different ?locTruck ?loc1)
            	(different ?loctruck2 ?airport2)
            	(compatible ?package ?truck)
            	(compatible ?package ?truck2)
            	(compatible ?package ?airplane)		
       	)
        (
             	(!drive-truck ?truck ?locTruck ?loc1)
	       	(!load-truck ?package ?truck ?loc1)
	       	(!drive-truck ?truck ?loc1 ?airport)
	       	(!unload-truck ?package ?truck ?airport) 
             	(!fly-airplane ?airplane ?airportI ?airport)
	       	(!load-airplane ?package ?airplane ?airport)		
  	       	(!fly-airplane ?airplane ?airport ?airport2)
             	(!unload-airplane ?package ?airplane ?airport2)
	       	(!drive-truck ?truck2 ?locTruck2 ?airport2)
             	(!load-truck ?package ?truck2 ?airport2)
             	(!drive-truck ?truck2 ?airport2 ?loc)
 		(!unload-truck ?package ?truck2 ?loc)
	)     
        
       
     )
     


;;****************************************
;;*		axioms statements	 *
;;****************************************
	
;;(1)
    (:- (same ?x ?x) ())

;;(2)
    (:- (sameCity ?a ?b) 
    ((IN-CITY ?a ?c) (IN-CITY ?b ?c))
    )

;;(3)
    (:- (differentCity ?a ?b) 
    ((IN-CITY ?a ?c) (IN-CITY ?b ?d) (different ?c ?d))
    )

;;(4)
    (:- (different ?x ?y) ((not (same ?x ?y))))

;;(5)
    (:- (type ?v Truck) ((type ?v smallTruck)))
    (:- (type ?v Truck) ((type ?v mediumTruck)))
    (:- (type ?v Truck) ((type ?v bigTruck)))
    (:- (type ?o Package) ((type ?o smallPackage)))
    (:- (type ?o Package) ((type ?o mediumPackage)))
    (:- (type ?o Package) ((type ?o bigPackage)))
    (:- (type ?a Airplane) ((type ?a smallPlane)))
    (:- (type ?a Airplane) ((type ?a mediumPlane)))
    (:- (type ?a Airplane) ((type ?a bigPlane)))

;;(6)
    (:- (compatible ?o ?v) ((type ?o smallPackage)))	
    (:- (compatible ?o ?v) ((type ?o mediumPackage) (type ?v mediumTruck)))
    (:- (compatible ?o ?v) ((type ?v bigTruck)))
    (:- (compatible ?o ?a) ((type ?o mediumPackage) (type ?a mediumPlane)))
    (:- (compatible ?o ?a) ((type ?a bigPlane)))
  
    (:- (compatible ?o ?v) ( (trulyGenericPackage ?o) (trulyGenericTruck ?v)))
    (:- (compatible ?o ?a) ( (trulyGenericPackage ?o) (trulyGenericAirplane ?a)))
   
    (:- (trulyGenericPackage ?o) ((type ?o Package)
                                  (not (type ?o bigPackage)) 
                                  (not (type ?o mediumPackage)) 
                                  (not (type ?o smallPackage))))
     
    (:- (trulyGenericTruck ?v)   ((type ?v Truck)
                                  (not (type ?v bigTruck)) 
                                  (not (type ?v mediumTruck)) 
                                  (not (type ?v smallTruck))))
                                   
    (:- (trulyGenericAirplane ?a) ((type ?a Airplane)
                                   (not (type ?a bigPlane)) 
                                   (not (type ?a mediumPlane)) 
                                   (not (type ?a smallPlane))))
    
;;	(:- (compatible ?o ?v) ((type ?o Package) (not (type ?o bigPackage)) (not (type ?o mediumPackage))))
;;	(:- (compatible ?o ?a) ((type ?a Airplane) (not (type ?a smallPlane)) (not (type ?a mediumPlane))))
;;	(:- (compatible ?o ?v) ((type ?v Truck) (not (type ?v smallTruck)) (not (type ?v mediumTruck))))

;;    (:- (type ?v Truck) ((type ?v smallTruck)))
;;    (:- (type ?v Truck) ((type ?v mediumTruck)))
;;    (:- (type ?v Truck) ((type ?v bigTruck)))
;;    (:- (type ?o Package) ((type ?o smallPackage)))
;;    (:- (type ?o Package) ((type ?o mediumPackage)))
;;    (:- (type ?o Package) ((type ?o bigPackage)))
;;    (:- (type ?a Airplane) ((type ?a smallPlane)))
;;    (:- (type ?a Airplane) ((type ?a mediumPlane)))
;;    (:- (type ?a Airplane) ((type ?a bigPlane)))

    
;;(6)
;;    (:- (type ?v smallTruck) ((not (type ?v mediumTruck)) (not(type ?v bigTruck)) (type ?v truck))
;;    (:- (type ?v mediumTruck) ((not (type ?v smallTruck)) (not(type ?v bigTruck)) (type ?v truck))
;;    (:- (type ?v bigTruck) ((not (type ?v smallTruck)) (not(type ?v mediumTruck)) (type ?V truck))
;;    (:- (type ?p smallPackage) ((not (type ?p mediumPackage)) (not(type ?p bigPackage)) (type ?p package))
;;    (:- (type ?p mediumPackage) ((not (type ?p smallPackage)) (not(type ?p bigPackage)) (type ?p package))
;;    (:- (type ?p bigPackage) ((not (type ?p smallPackage)) (not(type ?p mediumPackage)) (type ?p package))


;;    (:- (transport ?x) ((vehicle ?x)))


)
)