Geoffrey: An Automated Schedule System on a Social Robot for the Intellectually Challenged

Sourcecode 1

Definition of connection rules.

(1)	%Directions
(2)	dir (north).
(3)	dir (south).
(4)	dir (east).
(5)	dir (west).
(6)	%Reversibility of orientations
(7)	revDir (east, west).
(8)	revDir (north, south).
(9)	%Revert orientations
(10)	isRevDir (X, Y):- revDir (X, Y).
(11)	isRevDir (X, Y):- revDir (Y, X).
(12)	% Look for direct connections
(13)	hasConnection (X, X, none, 0).
(14)	hasConnection (X, Y, Direction, Cost):- dir (Direction), connection (X, Y, Direction, Cost).
(15)	hasConnection (X, Y, Direction, Cost):- dir (Direction), isRevDir (Direction, Reversed),
(16)	connection (Y, X, Reversed, Cost).