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

[macro_use] extern crate graphplan;

use graphplan::GraphPlan; use graphplan::solver::SimpleSolver; use graphplan::plangraph::PlanGraph;

fn main() -> () { let path = String::from("resources/rocketdomain.toml"); let mut pg: GraphPlan = GraphPlan::fromtoml(path); println!("Result: {:?}", PlanGraph::format_plan(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;

fn main() -> () { let p1 = Proposition::fromstr("tired"); let notp1 = p1.negate();

let p2 = Proposition::from_str("dog needs to pee");
let not_p2 = p2.negate();

let p3 = Proposition::from_str("caffeinated");

let a1 = Action::new(
    String::from("coffee"),
    hashset!{&p1},
    hashset!{&p3, &not_p1}
);

let a2 = Action::new(
    String::from("walk dog"),
    hashset!{&p2, &p3},
    hashset!{&not_p2},
);

let mut pg = GraphPlan::new(
    hashset!{&p1, &p2},
    hashset!{&not_p1, &not_p2, &p3},
    hashset!{&a1, &a2},
    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

Running the wasm demo

This crate ships with a demo of running graphplan in the browser via wasm. To run it you will need to install the cargo-web plugin.

cargo web --features="demo" open localhost:8000 Then in the js console, the method graphplan.run will take a toml formatted string (see resources/example.toml) and return a plan if there is one.

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.