diff --git a/README.md b/README.md
index 08e5e23fd..7cb796b02 100644
--- a/README.md
+++ b/README.md
@@ -76,16 +76,16 @@ Here is a table of algorithms, the figure, name of the code in the book and in t
| 9.3 | FOL-FC-Ask | `fol_fc_ask` | [`logic.py`][logic] |
| 9.6 | FOL-BC-Ask | `fol_bc_ask` | [`logic.py`][logic] |
| 9.8 | Append | | |
-| 10.1 | Air-Cargo-problem | |
-| 10.2 | Spare-Tire-Problem | |
-| 10.3 | Three-Block-Tower | |
-| 10.7 | Cake-Problem | |
-| 10.9 | Graphplan | |
+| 10.1 | Air-Cargo-problem |`air_cargo` |[`planning.py`][planning]|
+| 10.2 | Spare-Tire-Problem | `spare_tire` |[`planning.py`][planning]|
+| 10.3 | Three-Block-Tower | `three_block_tower` |[`planning.py`][planning]|
+| 10.7 | Cake-Problem | `have_cake_and_eat_cake_too` |[`planning.py`][planning]|
+| 10.9 | Graphplan | `GraphPlan` |[`planning.py`][planning]|
| 10.13 | Partial-Order-Planner | |
| 11.1 | Job-Shop-Problem-With-Resources | |
| 11.5 | Hierarchical-Search | |
| 11.8 | Angelic-Search | |
-| 11.10 | Doubles-tennis | |
+| 11.10 | Doubles-tennis | `double_tennis_problem` |[`planning.py`][planning]|
| 13 | Discrete Probability Distribution | `ProbDist` | [`probability.py`][probability] |
| 13.1 | DT-Agent | `DTAgent` | [`probability.py`][probability] |
| 14.9 | Enumeration-Ask | `enumeration_ask` | [`probability.py`][probability] |
diff --git a/logic.py b/logic.py
index 9054cdfc7..bd9c92334 100644
--- a/logic.py
+++ b/logic.py
@@ -842,7 +842,22 @@ def subst(s, x):
def fol_fc_ask(KB, alpha):
- raise NotImplementedError
+ """A simple forward-chaining algorithm. [Figure 9.3]"""
+ while new is not None:
+ new = []
+ for rule in KB:
+ p, q = parse_definite_clause(standardize_variables(rule))
+ for p_ in random.KB.clauses:
+ if p != p_:
+ for theta in (subst(theta, p) == subst(theta, p_)):
+ q_ = subst(theta, q)
+ if not unify(q_,KB.sentence in KB) or not unify(q_, new):
+ new.append(q_)
+ phi = unify(q_,alpha)
+ if phi is not None:
+ return phi
+ KB.tell(new)
+ return None
def standardize_variables(sentence, dic=None):
diff --git a/planning.py b/planning.py
index 17028e4c6..47eae77da 100644
--- a/planning.py
+++ b/planning.py
@@ -237,6 +237,7 @@ def goal_test(kb):
return PDLL(init, [eat_cake, bake_cake], goal_test)
+
class Level():
"""
Contains the state of the planning problem
@@ -531,8 +532,8 @@ def double_tennis_problem():
init = [expr('At(A, LeftBaseLine)'),
expr('At(B, RightNet)'),
expr('Approaching(Ball, RightBaseLine)'),
- expr('Partner(A,B)'),
- expr('Partner(A,B)')]
+ expr('Partner(A, B)'),
+ expr('Partner(B, A)')]
def goal_test(kb):
required = [expr('Goal(Returned(Ball))'), expr('At(a, RightNet)'), expr('At(a, LeftNet)')]
@@ -543,17 +544,17 @@ def goal_test(kb):
##actions
#hit
- precond_pos=[expr("Approaching(Ball,loc)"), expr("At(actor,loc)")]
+ precond_pos=[expr("Approaching(Ball, loc)"), expr("At(actor, loc)")]
precond_neg=[]
effect_add=[expr("Returned(Ball)")]
effect_rem = []
- hit = Action(expr("Hit(actor,Ball)"), [precond_pos, precond_neg], [effect_add, effect_rem])
+ hit = Action(expr("Hit(actor, Ball)"), [precond_pos, precond_neg], [effect_add, effect_rem])
#go
- precond_pos = [ expr("At(actor,loc)")]
+ precond_pos = [expr("At(actor, loc)")]
precond_neg = []
- effect_add = [expr("At(actor,to)")]
- effect_rem = [expr("At(actor,loc)")]
- go = Action(expr("Go(actor,to)"), [precond_pos, precond_neg], [effect_add, effect_rem])
+ effect_add = [expr("At(actor, to)")]
+ effect_rem = [expr("At(actor, loc)")]
+ go = Action(expr("Go(actor, to)"), [precond_pos, precond_neg], [effect_add, effect_rem])
return PDLL(init, [hit, go], goal_test)
diff --git a/probability.py b/probability.py
index 1d7992e6d..a5699b7f4 100644
--- a/probability.py
+++ b/probability.py
@@ -643,5 +643,7 @@ def particle_filtering(e, N, HMM):
w[i] = float("{0:.4f}".format(w[i]))
# STEP 2
+
s = weighted_sample_with_replacement(N, s, w)
+
return s
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