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. |
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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.
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SHOP3-PDDL-HELPERS was getting conflicts for the symbol PROBLEM.
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`
Replace `*reduction-labels*` alist with more efficient hash-table implementation. Update the tests.
These are still messed up, and not critical.
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. Add a test for repeatability of random sequences.
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.
As far as I can tell, this could never have worked, because it puts objects of the wrong type into the plan tree. Also AFACIT, no one has ever used it. Removing.
I was using `check-type` because it was a handy shorthand, but it turns out to mess up SBCL's type checking, because it's got a restart where the user can reset the checked place. Instead, replace with a macro that just checks the type and raises a type error if the object is not correctly typed.
Make it possible to do TEST-SYSTEM more quietly.
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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.