Graphplan

Implementation of the Graphplan planning algorithm and Plangraph data structure written in Rust.

Original paper: Fast Planning Through Planning Graph Analysis by Avrim L. Blum and Merrick L. Furst

Usage

You can load a domain from a toml file (see the resources/example.toml directory for expected format) and instantiate a GraphPlan.

Example:

rust let path = String::from("resources/rocket_domain.toml"); let mut pg: GraphPlan<SimpleSolver> = GraphPlan::from_toml(path); pg.search();

The lower level API allows you to constructing your own problem domain programmatically. You can also implement your own solver by implementing the GraphPlanSolver trait.

Example:

```rust

[macro_use] extern crate graphplan;

use graphplan::GraphPlan; use graphplan::proposition::Proposition; use graphplan::action::Action; use graphplan::solver::SimpleSolver;

[test]

fn integration() { let p1 = Proposition::fromstr("tired"); let p2 = Proposition::fromstr("dog needs to pee"); let p3 = Proposition::from_str("caffeinated");

let a1 = Action::new(
    String::from("coffee"),
    hashset!{p1.clone()},
    hashset!{p3.clone(), p1.clone().negate()}
);

let a2 = Action::new(
    String::from("walk dog"),
    hashset!{p2.clone(), p3.clone()},
    hashset!{p2.clone().negate()},
);

let mut pg = GraphPlan::new(
    hashset!{p1.clone(), p2.clone()},
    hashset!{p1.clone().negate(),
             p2.clone().negate(),
             p3.clone()},
    hashset!{a1.clone(), a2.clone()},
    SimpleSolver::new()
);
println!("Result: {:?}", PlanGraph::format_plan(pg.search());

} ```

Running benchmarks

Benchmarks using criterion can be found in the benches directory. To run them:

cargo bench open target/criterion/report/index.html

License

Copyright (c) Alex Kehayias. All rights reserved. The use and distribution terms for this software are covered by the Eclipse Public License 1.0 (http://opensource.org/licenses/eclipse-1.0.php). By using this software in any fashion, you are agreeing to be bound by the terms of this license. You must not remove this notice, or any other, from this software.