在PDDL中,"forall with when condition in durative-action"可以翻译为"在durative-action中使用forall和when条件"。下面是一个包含代码示例的解决方法:
(define (domain my-domain)
(:requirements :durative-actions)
; Define the types, predicates, and functions
(:types object)
(:predicates
(my-predicate ?object)
)
(:functions
(my-function ?object - object)
)
; Define the durative action
(:durative-action my-durative-action
:parameters (?obj - object)
:duration (= ?duration 10)
:condition (and (forall (?o - object)
(when (my-predicate ?o)
(at start (my-function ?o) ?obj)
(at start (not (my-function ?o)) ?obj)
)
)
)
:effect (and (at end (my-function ?obj) ?obj)
(at end (not (my-function ?obj)) ?obj)
)
)
)
在这个示例中,我们定义了一个名为"my-domain"的领域,包含一个durative-action "my-durative-action"。在该durative-action中,我们使用"forall"关键字来遍历所有符合条件的对象,然后在"when"条件下执行相应的操作。在这个例子中,我们检查所有满足"my-predicate"谓词的对象,并在开始时对"my-function"函数应用相应的效果。
请注意,这只是一个示例,实际应用中的具体代码可能会有所不同。