Add HDDL output for ESS SHOP. #152
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rpgoldman
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This is still imperfect: the Classic SHOP trees still have issues. But ESS-SHOP output to HDDL plans works properly. |
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@ukuter Please have a look at this. I'm not happy with the way the classic SHOP plan trees are (not) working, but the ESS ones are, and the HDDL output seems pretty solid now. The problem with classic SHOP plan trees is that it seems that somehow primitive actions that were tried, but rejected and backtracked over, can appear in the plan tree. I have not been able to figure out what causes this problem, or even in what cases it happens. But I would like to get this merged for our experiments. I suppose we could simply keep using this branch until we can clean up the SHOP plan trees. |
In order to support exporting plans as HDDL, we need to have information in the plan trees to specify what methods are used to perform what decompositions. This patch makes that change.
Translate SHOP plans into HDDL plans in IPC format. Translate HDDL problems into SHOP problems.
Also fix bug that came from two different meanings for `t` as a stream argument: `*standard-output*` versus `*terminal-io*`.
- Better print-object method for `complex-tree-node` - Add `all-primitive-nodes`
Dropping the rewrite function.
Simplify the process of indexing the nodes in the plan tree at the expense of making it a 2-pass process.
Replace `*reduction-labels*` alist with more efficient hash-table implementation. Update the tests.
These are still messed up, and not critical.
Add command-line applications and HDDL support to the manual.
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There was an over-complicated method that hid an off-by-one error.
This version uses Shirakumo's (Nicholas Hafner's) random-state library to give repeatable random sequences that are implementation independent.
Fix the loading, which didn't always load RANDOM-STATE soon enough. Add a test for repeatability of random sequences.
There are 4 more theorem-prover tests to check the new random function in SHOP.
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This makes it available for use in type declarations.
This allows us to have orphaned action nodes in plan repair trees. Otherwise it will error if there are orphans, which are prohibited in standard HDDL plans.
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Add the ability to translate an ESS enhanced plan tree into an HDDL format plan. To date, it has been too difficult to add this capability to the classic SHOP planning tree.