#include <pddl.h>

Public Types
using	ObjectTypeMap = std::unordered_map< std::string, std::vector< Object > >

using	AxiomContextMap = std::unordered_map< std::string, std::vector< std::weak_ptr< Axiom > >>

Public Member Functions
	Pddl (const std::string &domain_pddl, const std::string &problem_pddl, bool apply_axioms=true)

	Pddl (const std::string &domain_pddl)

bool	IsValid (bool verbose=false, std::ostream &os=std::cout) const

State	NextState (const State &state, const std::string &action_call) const

State	ApplyActions (const State &state, const std::vector< std::string > &action_calls) const

State	DerivedState (const State &state) const

State	ConsistentState (const State &state) const

PartialState	ConsistentState (const PartialState &state) const

bool	IsValidAction (const State &state, const std::string &action) const

bool	IsValidState (const State &state) const

bool	IsValidState (const PartialState &state) const

bool	IsValidTuple (const State &state, const std::string &action_call, const State &next_state) const

bool	IsValidTuple (const std::set< std::string > &state, const std::string &action_call, const std::set< std::string > &next_state) const

bool	IsGoalSatisfied (const State &state) const

bool	IsGoalSatisfied (const std::set< std::string > &state) const

bool	IsValidPlan (const std::vector< std::string > &action_skeleton) const

std::vector< std::vector< Object > >	ListValidArguments (const State &state, const Action &action) const

std::vector< std::vector< std::string > >	ListValidArguments (const std::set< std::string > &state, const std::string &action_name) const

std::vector< std::string >	ListValidActions (const State &state) const

std::vector< std::string >	ListValidActions (const std::set< std::string > &state) const

void	AddObject (const std::string &name, const std::string &type)

void	RemoveObject (const std::string &name)

const VAL::analysis *	symbol () const

const std::string &	name () const

const std::string &	domain_pddl () const

const std::string &	problem_pddl () const

const State &	initial_state () const

void	set_initial_state (State &&state)

const ObjectTypeMap &	object_map () const

const std::vector< Object > &	constants () const

const std::vector< Object > &	objects () const

const std::vector< Action > &	actions () const

const std::vector< Predicate > &	predicates () const

const std::vector< std::shared_ptr< Axiom > > &	axioms () const

const AxiomContextMap &	axiom_map () const

const std::vector< DerivedPredicate > &	derived_predicates () const

const StateIndex &	state_index () const

const Formula &	goal () const

Detailed Description

Main class for manipulating the pddl specification.

Constructor & Destructor Documentation

◆ Pddl() [1/2]

symbolic::Pddl::Pddl	(	const std::string &	domain_pddl,
		const std::string &	problem_pddl,
		bool	apply_axioms = `true`
	)

Parse the pddl specification from the domain and problem files.

Parameters

domain_pddl	Path to the domain pddl.
problem_pddl	Pddl problem string or path to the problem pddl.
apply_axioms	Whether to apply axioms to the initial state.

See also: Python: symbolic.Pddl.__init__().

◆ Pddl() [2/2]

symbolic::Pddl::Pddl ( const std::string & domain_pddl )

explicit

Parse the pddl specification from the domain file without a problem.

Parameters

domain_pddl Path to the domain pddl.

See also: Python: symbolic.Pddl.__init__().

Member Function Documentation

◆ ApplyActions()

State symbolic::Pddl::ApplyActions	(	const State &	state,
		const std::vector< std::string > &	action_calls
	)		const

Execute a sequence of actions from the given state.

The action preconditionss are not checked. The resulting state includes derived predicates.

Parameters

state	Current state.
action_call	Action calls in the form of `"action(obj_a, obj_b)"`.

Returns: Final state.

@seepython{symbolic.Pddl.execute}

◆ axiom_map()

const AxiomContextMap& symbolic::Pddl::axiom_map ( ) const

inline

Map from context predicate name to vector of axioms.

◆ ConsistentState() [1/2]

PartialState symbolic::Pddl::ConsistentState ( const PartialState & state ) const

Applies the axioms to the given partial state.

Parameters

state Current partial state.

Returns: Partial state with axioms applied.

See also: Python: symbolic.Pddl.consistent_state().

◆ ConsistentState() [2/2]

State symbolic::Pddl::ConsistentState ( const State & state ) const

Applies the axioms to the given state.

Parameters

state Current state.

Returns: State with axioms applied.

See also: Python: symbolic.Pddl.consistent_state().

◆ DerivedState()

State symbolic::Pddl::DerivedState ( const State & state ) const

Apply the derived predicates to the given state.

◆ domain_pddl()

const std::string& symbolic::Pddl::domain_pddl ( ) const

inline

Domain filename.

◆ initial_state()

const State& symbolic::Pddl::initial_state ( ) const

inline

Initial state for planning.

◆ IsGoalSatisfied()

bool symbolic::Pddl::IsGoalSatisfied ( const State & state ) const

inline

Evaluate whether the goal is satisfied at the given state.

◆ IsValid()

bool symbolic::Pddl::IsValid	(	bool	verbose = `false`,
		std::ostream &	os = `std::cout`
	)		const

Evaluate whether the pddl specification is valid using VAL.

Parameters

verbose	Print diagnostic information.
os	Output stream where diagnostic information should be printed.

Returns: Whether the pddl specification is valid.

See also: Python: symbolic.Pddl.is_valid().

◆ IsValidAction()

bool symbolic::Pddl::IsValidAction	(	const State &	state,
		const std::string &	action
	)		const

Evaluate whether the action's preconditions are satisfied.

Parameters

state	Current state.
action	Action call in the form of `"action(obj_a, obj_b)"`.

Returns: Whether the action can be applied to the state.

See also: Python: symbolic.Pddl.is_valid_action().

◆ IsValidPlan()

bool symbolic::Pddl::IsValidPlan ( const std::vector< std::string > & action_skeleton ) const

Evaluate whether the given action skeleton is valid and satisfies the goal.

◆ IsValidState() [1/2]

bool symbolic::Pddl::IsValidState ( const PartialState & state ) const

Evaluates whether the partial state satisfies the axioms.

Returns false only if a partial state fully satisfies the pre-conditions of the axiom and explicitly does not satisfy the post-conditions. If a proposition in the partial state is unknown, the axiom is assumed to be satisfied.

Parameters

state Current partial state.

Returns: Whether the state is valid.

See also: Python: symbolic.Pddl.is_valid_state().

◆ IsValidState() [2/2]

bool symbolic::Pddl::IsValidState ( const State & state ) const

Evaluates whether the state satisfies the axioms.

Parameters

state Current state.

Returns: Whether the state is valid.

See also: Python: symbolic.Pddl.is_valid_state().

◆ IsValidTuple()

bool symbolic::Pddl::IsValidTuple	(	const State &	state,
		const std::string &	action_call,
		const State &	next_state
	)		const

Evaluate whether the (s, a, s') tuple is valid.

◆ ListValidActions()

std::vector< std::string > symbolic::Pddl::ListValidActions ( const State & state ) const

List the valid actions from the given state.

◆ ListValidArguments()

std::vector< std::vector< Object > > symbolic::Pddl::ListValidArguments	(	const State &	state,
		const Action &	action
	)		const

List the valid arguments for an action from the given state.

◆ name()

const std::string & symbolic::Pddl::name ( ) const

Pddl domain name.

◆ NextState()

State symbolic::Pddl::NextState	(	const State &	state,
		const std::string &	action_call
	)		const

Apply an action to the given state.

The action's preconditions are not checked. The resulting state includes derived predicates.

Parameters

state	Current state.
action_call	Action call in the form of `"action(obj_a, obj_b)"`.

Returns: Next state.

See also: Python: symbolic.Pddl.next_state().

◆ problem_pddl()

const std::string& symbolic::Pddl::problem_pddl ( ) const

inline

Problem filename.

The documentation for this class was generated from the following files:

/home/runner/work/symbolic/symbolic/include/symbolic/pddl.h
/home/runner/work/symbolic/symbolic/src/pddl.cc

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Pddl() [1/2]

◆ Pddl() [2/2]

Member Function Documentation

◆ ApplyActions()

◆ axiom_map()

◆ ConsistentState() [1/2]

◆ ConsistentState() [2/2]

◆ DerivedState()

◆ domain_pddl()

◆ initial_state()

◆ IsGoalSatisfied()

◆ IsValid()

◆ IsValidAction()

◆ IsValidPlan()

◆ IsValidState() [1/2]

◆ IsValidState() [2/2]

◆ IsValidTuple()

◆ ListValidActions()

◆ ListValidArguments()

◆ name()

◆ NextState()

◆ problem_pddl()