The type declaration section

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The type declaration section

is a collection of fluent declarations, non-sensing action declarations and sensing action declarations. Declarations restrict the kind of fluents and actions that are allowed in the domain by typing the kind of objects that can be arguments of the terms.

A fluent declaration is an expression of the form:

fluent(f(X₁ ,..., X_n)) : -t₁(X₁) ,..., t_n(X_n)

where f is a fluent symbol of arity n, the X_i s are variables and the t_i s type symbols.

A non-sensing action declaration is an expression of the form:

action(a(X₁ ,..., X_n)) : -t₁(X₁) ,..., t_n(X_n)

where a is a non-sensing action symbol of arity n, the X_i s are variables and the t_i s type symbols.

A sensing action declaration is an expression of the form:

sensing(a(X₁ ,..., X_n)) : -t₁(X₁) ,..., t_n(X_n)

where a is a sensing action symbol of arity n, the X_i s are variables and the t_i s type symbols.

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