initial commit

Author: marc-hanheide

README

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+About
+-----
+
+This directory contains the planner POPF2.  The original incarnation of POPF
+is described in the ICAPS 2010 paper "Forward-Chaining Partial-Order Planning."
+by Amanda Coles, Andrew Coles, Maria Fox and Derek Long.  This version
+extends POPF by introducing any-time search, allowing it to optimise solution
+quality.
+
+Compiling
+---------
+
+POPF2 requires:
+- cmake ( http://www.cmake.org/ )
+- the CBC mixed integer programming solver ( https://projects.coin-or.org/Cbc/ )
+- perl, bison and flex to build the parser
+
+These are packaged with most linux distributions - on Ubuntu/Debian, the
+following should suffice:
+
+sudo apt-get install cmake coinor-libcbc-dev coinor-libclp-dev \
+                     coinor-libcoinutils-dev bison flex
+
+
+After that, run ./build
+
+
+Running
+-------
+
+Run:
+
+./plan <domain> <problem> <solution filename>
+
+As POPF2 is an any-time planer, it will save sequentially numbered plans.

build

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+#!/bin/bash
+
+cd compile
+cmake ../src -DCMAKE_BUILD_TYPE=Release -DCMAKE_VERBOSE_MAKEFILE=TRUE 
+make popf3-clp

plan

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+#!/usr/bin/perl -w
+
+if ((scalar @ARGV) != 3) {
+	print "Usage: plan <domain> <problem> <solution>\n";
+	exit(1);
+}
+
+$dom = shift @ARGV;
+$prob = shift @ARGV;
+$soln = shift @ARGV;
+
+if (!(-e $dom)) {
+	print "Domain file $dom not found\n";
+	exit(1);
+}
+
+if (!(-e $prob)) {
+        print "Problem file $prob not found\n";
+        exit(1);
+}
+
+open IN, "./compile/popf2/popf3-clp -I -n $dom $prob |";
+
+$solnfile = 1;
+while (<IN>) {
+	if (m/; Plan found/) {
+		print "\n\n - Opening plan file $soln.$solnfile\n";
+		print;
+		open OUT, "> $soln.$solnfile";
+		print OUT;
+		while (<IN>) {
+			if (m/./) {
+				print;
+				print OUT;
+			} else {
+				print;
+				last;
+			}
+		}
+		close OUT;
+		++$solnfile;
+	} else {
+		print;
+	}
+
+}
+
+close IN;

src/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4)
+
+if(COMMAND cmake_policy)
+    cmake_policy(SET CMP0003 NEW)
+endif(COMMAND cmake_policy)
+
+project(colinroot)
+
+set(CMAKE_CXX_FLAGS_PROFILE "-pg -O -g")
+set(CMAKE_CXX_LINK_FLAGS_PROFILE "-pg -g")
+
+
+set( CMAKE_MODULE_PATH    ${CMAKE_MODULE_PATH}
+                          ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
+
+add_subdirectory(VALfiles)
+add_subdirectory(popf2)

src/VALfiles/.cvsignore

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+*.opto
+*.Oo