; This is modified from clean-dog.lap to make the dogs act more like sheep -- they flock with the sheep (but at a greater distance) 
; and with each other, so they spend less time on top of each other.  To make this really look smart though a) the sheep need to move away
; from the dogs more, and the dogs need to pick up strays
(
  (documentation "sheep-dog" "JJB Feb 08" "Make the dogs 'flock' with the sheep")
  (C c-rest (minutes 1) (goal ((s_fail)))
     (elements
      (
       (fidget (trigger ((has_rest_spot) (rest_spot_old))) set_rest_spot)
       )
      (
       (resting (trigger ((in_rest_spot))) rest)
       )
      (
       (has-rest-spot (trigger ((has_rest_spot))) move_to_rest_spot)
       )
      (
       (set-rest-spot (trigger ((succeed))) set_rest_spot)
       )
      ))

  (AP ap-flock (minutes 1) (dog_flock_with_sheep lose_target))

; is there a problem with goals?  deleted this: herd_too_wide false
  (C c-herd (minutes 1) (goal ((s_fail)))
     (elements
      (
       (herding (trigger ((sheep_close))) dog_flock_with_sheep)
       )
      (
       (has-sheep-target (trigger ((has_target))) move_to_sheep_target)
       )
      (
       (set-sheep-target (trigger ((succeed))) select_sheep_target)
       )
      ))

  (SDC life (goal ((s_fail)))
      (drives
       (
		(herd (trigger ((herd_too_wide))) c-herd)
		; (herd (trigger ((herd_too_wide))) dog_flock_with_sheep)
		)
       (
		(default-behavior (trigger ((succeed))) c-rest)
		)
       ))
)