popf 1 included and made work

Author: marc-hanheide

CMakeLists.txt

@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.6)
+project (popf) 
+
+add_subdirectory(src)

LICENCE

@@ -1,35 +1,70 @@
-About
------
+=== POPF1.1 ===
 
-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.
+This archive contains the source release of POPF, as described in the 2010 ICAPS paper, plus a few bug fixes.  The directory 'src/popf' contains the sources of the planner itself, and the directory 'src/VALfiles' contains PDDL parsing and action instantiation code, taken from VAL (the PDDL validator).  Contact details for the authors are available from the Strathclyde Planning Group Website:
 
-Compiling
----------
+http://planning.cis.strath.ac.uk/
 
-POPF2 requires:
+In the first instance, for bug reports or technical discussions, contact Andrew Coles ([email protected]).
+
+== Compiling POPF ==
+
+A precompiled, statically linked binary of POPF for Linux x86 is available to download.  For those wishing to compile POPF themselves, carry on reading, otherwise, skip to the 'Running POPF' section.
+
+Build prerequisites:
 - 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:
+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
+
+Once installed, open a terminal and type the following:
+
+cd <directory containing this file>
+cd <build>
+./buildscript
+make
+
+Assuming all goes well, the file 'build/popf/popf-clp' is then a the binary of popf.
+
+== Running POPF ==
+
+To run POPF (using the new heuristic described in the ICAPS paper), type:
+
+popf-clp domain.pddl problem.pddl
+
+To disable the new heuristic, add the -c option, i.e. type:
+
+popf-clp -c domain.pddl problem.pddl
+
+To read a solution plan in (to then lift a partial order from and print the resulting plan) run:
+
+popf-clp -r domain.pddl problem.pddl plan.soln
+
+If you are using POPF in a paper, to print the appropriate BibTeX reference run:
+
+popf-clp -citation
+
+For full details of the other command-line options, run popf without any arguments.
 
-sudo apt-get install cmake coinor-libcbc-dev coinor-libclp-dev \
-                     coinor-libcoinutils-dev bison flex
+== Known Issues ==
 
+There used to be some (known) bugs affecting the enhanced heuristic.  Those should be fixed now; but, if it crashes or exhibits other strange behaviour, try running with the -c option, as described above.  If you have a particularly small domain and problem file pair for which passing -c to POPF fixes the bug, then email Andrew Coles - such files are useful for debugging.
 
-After that, run ./build
+Otherwise, if -c doesn't fix the problem, and POPF crashes, then you may want to compile with debugging information.  Change build/buildscript, and follow the instructions given in the comments (instead of passing RelWithDebInfo to cmake, pass Debug).  Then, run the newly built popf binary, and send the output it produces along with your domain and problem file to Andrew Coles ([email protected]).
 
+== Licence ==
 
-Running
--------
+POPF is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 2 of the License, or
+(at your option) any later version.
 
-Run:
+POPF is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
 
-./plan <domain> <problem> <solution filename>
+For details of the license, see the file LICENCE in this directory.
 
-As POPF2 is an any-time planer, it will save sequentially numbered plans.

README

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Uncomment the following two lines if you have CBC/Clp installed in a non-standard
+# location.  This is useful if building a static binary: compile CBC and set its
+# install path to $PWD/../coin.
+#export CLPDIR="$PWD/../coin"
+#export CMAKE_PREFIX_PATH="$PWD/../coin"
+
+
+# Uncomment this line to make a static binary
+#cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSTATIC_POPF=1 ../src
+
+# Run CMake, specifying to build a release binary with debugging symbols enabled.
+# To exclude debugging symbols, change RelWithDebInfo to Release
+# To disable optimisation, change RelWithDebInfo to Debug
+cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ../src
+
+cd popf
+make

build

@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<package>
+  <name>popf</name>
+  <version>0.0.0</version>
+  <description>The POPF package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Marc Hanheide</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>flex</build_depend>
+  <build_depend>bison</build_depend>
+  <build_depend>coinor-solvers</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>flex</run_depend>
+  <run_depend>bison</run_depend>
+  <run_depend>coinor-solvers</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+    <build_type>cmake</build_type>
+
+  </export>
+</package>

build/buildscript

@@ -1,17 +1,9 @@
 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)
+project(root)
 
 add_subdirectory(VALfiles)
-add_subdirectory(popf2)
+add_subdirectory(popf)

package.xml

@@ -23,3 +23,31 @@ set(libInst_SRCS
 
 add_library(Inst STATIC ${libInst_SRCS})
 
+set(validate_SRCS
+     Action.cpp Proposition.cpp FuncExp.cpp typecheck.cpp main.cpp
+     Validator.cpp RepairAdvice.cpp LaTeXSupport.cpp State.cpp Plan.cpp Ownership.cpp
+     Environment.cpp Polynomial.cpp Utils.cpp
+     TrajectoryConstraints.cpp RobustAnalyse.cpp random.cpp Events.cpp PrettyPrinter.cpp)
+     
+add_executable(validate ${validate_SRCS})
+
+target_link_libraries(validate
+        ParsePDDL
+)
+
+set(parser_SRCS
+     parse.cpp
+)
+
+add_executable(parser ${parser_SRCS})
+
+target_link_libraries(parser
+        ParsePDDL
+)
+
+install(TARGETS validate parser
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+