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pddl_planner
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This library provides a somewhat generalized interface for planning and allow to embed a selection of PDDL planners.
While by default it includes integration for the LAMA planner and the FDSS planners, additional planners can be added dynamically using the pddl_planner::Planning::registerPlanner function.
#include <pddl_planner/Planning.hpp>
...
using namespace pddl_planner;
Planning planning;
// Option 1 -- directly adding the domain and problem description
std::string domainDescription = "(define (domain rimres)\n(:requirements :strips :equality :typing :conditional-effects)\n(:types location physob_id physob_type)\n(:constants sherpa crex payload - physob_type)\n(:predicates ( at ?x - physob_id ?l - location)\n( is_a ?x - physob_id ?r - physob_type)\n( connected ?x ?y - physob_id)\n( cannot_move ?x - physob_id)\n)\n\n(:action move\n :parameters (?obj - physob_id ?m ?l - location)\n:precondition ( and (at ?obj ?m) (not (= ?m ?l)) (not (cannot_move ?obj) ))\n :effect (and (at ?obj ?l) (not (at ?obj ?m))\n (forall (?z)\n (when (and (connected ?z ?obj) (not (= ?z ?obj)))\n (and (at ?z ?l) (not (at ?z ?m)))\n)))\n)\n (:action move_into_range\n :parameters (?x ?y - physob_id ?m ?l - location)\n :precondition (and (not (cannot_move ?x)) (at ?x ?m) (at ?y ?l) )\n :effect (and (at ?x ?l) (at ?y ?l) (not (at ?x ?m)))\n)\n (:action connect\n :parameters (?x ?y - physob_id ?l - location)\n :precondition (and (at ?x ?l) (at ?y ?l))\n :effect (and (connected ?x ?y) (cannot_move ?y))\n)\n(:action disconnect\n :parameters (?x ?y - physob_id)\n :precondition (and (not (= ?x ?y)) (connected ?x ?y)) \n :effect (and (not (connected ?x ?y)) (not (cannot_move ?y)))\n)\n)\n";
std::string problemDescription = "(define (problem rimres-1)\n (:domain rimres)\n (:objects\n sherpa_0 crex_0 pl_0 - physob_id\n location_s0 location_c0 location_p0 - location\n mission1 - location\n)\n (:init \n (is_a sherpa_0 sherpa)\n (is_a crex_0 crex)\n (is_a pl_0 payload)\n (at sherpa_0 location_s0)\n (at crex_0 location_c0)\n (at pl_0 location_p0)\n (cannot_move pl_0)\n)\n (:goal (and \n (connected sherpa_0 crex_0) \n (connected sherpa_0 pl_0)\n (at sherpa_0 mission1)\n)\n)\n)\n";
planning.setDomainDescription("rimres",domainDescription);
PlanCandidates planCandidates = planning.plan(problemDescription);
// Option 2 -- using a programmatic approach to create the domain and problem description
using namespace pddl_planner;
Domain domain("rimres");
domain.addRequirement("strips");
domain.addRequirement("equality");
domain.addRequirement("typing");
domain.addRequirement("conditional-effects");
domain.addType("location");
domain.addType("physob_id");
domain.addType("physob_type");
domain.addConstant( Constant("sherpa","physob_type") );
domain.addConstant( Constant("crex","physob_type") );
domain.addConstant( Constant("payload","physob_type") );
domain.addPredicate( Predicate("at", TypedItem("?x","physob_id"),TypedItem("?l","physob_id")) );
domain.addPredicate( Predicate("is_a", TypedItem("?x","physob_id"),TypedItem("?r","physob_type")) );
domain.addPredicate( Predicate("connected", TypedItem("?x","physob_id"),TypedItem("?y","physob_id")) ) ;
domain.addPredicate( Predicate("cannot_move", TypedItem("?x","physob_id")) );
// Action move
representation::Action move("move", TypedItem("?obj","physob_id"), TypedItem("?m","location"), TypedItem("?l","location"));
Expression precondition("and", Expression("at", "?obj", "?m"), Expression("not", Expression("=", "?m", "?l")), Expression("not", Expression("cannot_move","?obj")));
Expression effect("and", Expression("at","?obj","?l"), Expression("not", Expression("at","?obj","?m")), Expression("forall", Expression("?z"), Expression("when", Expression("and", Expression("connected","?z","?obj"), Expression("not", Expression("=","?z","?obj"))), Expression("and", Expression("at","?z","?l"), Expression("not", Expression("at","?z","?m"))))));
move.addPrecondition(precondition);
move.addEffect(effect);
domain.addAction(move);
// Action move
representation::Action move("move", TypedItem("?obj","physob_id"), TypedItem("?m","location"), TypedItem("?l","location"));
{
Expression precondition("and", Expression("at", "?obj", "?m"), Expression("not", Expression("=", "?m", "?l")), Expression("not", Expression("cannot_move","?obj")));
Expression effect("and", Expression("at","?obj","?l"), Expression("not", Expression("at","?obj","?m")), Expression("forall", Expression("?z"), Expression("when", Expression("and", Expression("connected","?z","?obj"), Expression("not", Expression("=","?z","?obj"))), Expression("and", Expression("at","?z","?l"), Expression("not", Expression("at","?z","?m"))))));
move.addPrecondition(precondition);
move.addEffect(effect);
domain.addAction(move);
}
// Action move_into_range
representation::Action move_into_range("move_into_range", TypedItem("?x","physob_id"), TypedItem("?y","physob_id"), TypedItem("?m","location"), TypedItem("?l","location"));
{
Expression precondition("and", Expression("not", Expression("cannot_move","?x")), Expression("at","?x","?m"), Expression("at","?y","?l"));
Expression effect("and", Expression("at","?x","?l"), Expression("at","?y","?l"), Expression("not", Expression("at","?x","?m")));
move_into_range.addPrecondition(precondition);
move_into_range.addEffect(effect);
domain.addAction(move_into_range);
}
// Action connect
representation::Action connect("connect", TypedItem("?x","physob_id"), TypedItem("?y","physob_id"), TypedItem("?l","location"));
{
Expression precondition("and", Expression("at","?x","?l"), Expression("at","?y","?l"));
Expression effect("and", Expression("connected","?x","?y"), Expression("cannot_move","?y"));
connect.addPrecondition(precondition);
connect.addEffect(effect);
domain.addAction(connect);
}
// Action connect
representation::Action disconnect("disconnect", TypedItem("?x","physob_id"), TypedItem("?y","physob_id"));
{
Expression precondition("and", Expression("not", Expression("=","?x","?y")), Expression("connected","?x","?y"));
Expression effect("and", Expression("not", Expression("connected","?x","?y")), Expression("not", Expression("cannot_move","?x")));
disconnect.addPrecondition(precondition);
disconnect.addEffect(effect);
domain.addAction(disconnect);
}
representation::Problem problem("rimres-1",domain);
problem.addObject( Constant("sherpa_0","physob_id"));
problem.addObject( Constant("crex_0","physob_id"));
problem.addObject( Constant("pl_0","physob_id"));
problem.addObject( Constant("location_s0","location"));
problem.addObject( Constant("location_c0","location"));
problem.addObject( Constant("location_p0","location"));
problem.addObject( Constant("mission1","location"));
problem.addInitialStatus( Expression("is_a","sherpa_0","sherpa") );
problem.addInitialStatus( Expression("is_a","crex_0","crex") );
problem.addInitialStatus( Expression("is_a","pl_0","payload") );
problem.addInitialStatus( Expression("at","sherpa_0","location_s0") );
problem.addInitialStatus( Expression("at","crex_0","location_c0") );
problem.addInitialStatus( Expression("at","pl_0","location_p0") );
problem.addInitialStatus( Expression("cannot_move", "pl_0") );
Expression subgoal0("connected","sherpa_0","crex_0");
Expression subgoal1("connected","sherpa_0","pl_0");
Expression subgoal2("at","sherpa_0","mission1");
problem.setGoal(Expression("and", subgoal0, subgoal1, subgoal2));
Planning planning;
PlanCandidates planCandidates = planning.plan(problem);
Further information available at:
1.8.13