Package edu.tufts.hrilab.action.planner

Class Planner

java.lang.Object

edu.tufts.hrilab.action.planner.Planner

Direct Known Subclasses:

FFPlanner, Pddl4jPlanner

public abstract class Planner
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Planner.Type

Field Summary

Fields

Modifier and Type	Field	Description
protected final org.slf4j.Logger	log
protected Pddl	pddl	Last instantiated Pddl.

Constructor Summary

Constructors

Constructor	Description
Planner()

Method Summary

Modifier and Type	Method	Description
Domain	getCurrentDomain()	Return the last generated pddl Domain.
String	getCurrentPlan()	Return the last generated plan.
Domain	getPddlDomain()	Return the last PDDL Domain.
Problem	getPddlProblem()	Return the last PDDL Problem.
final ParameterizedAction	plan(Goal goal, ActionConstraints constraints, StateMachine stateMachine)	Main access point to use any planner that extends the base Planner class.
protected abstract String	plan(File domain, File problem)	Only method that needs to be implemented by a class extending the Planner class.
void	registerWithTRADE()	Register to make services available (e.g., getCurrentPlan, getDomain)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

log

protected final org.slf4j.Logger log

pddl

protected Pddl pddl

Last instantiated Pddl. Cached so that the Domain and Problem can be retrieved.

Constructor Details

Planner

public Planner()

Method Details

registerWithTRADE

public void registerWithTRADE()

Register to make services available (e.g., getCurrentPlan, getDomain)

plan

protected abstract String plan(File domain,
 File problem)

Only method that needs to be implemented by a class extending the Planner class.

Returns:

plan

public final ParameterizedAction plan(Goal goal,
 ActionConstraints constraints,
 StateMachine stateMachine)

Main access point to use any planner that extends the base Planner class. Serves as both a factory method and execution method, where only the resulting plan is returned.

Parameters:

goal -

stateMachine -

Returns:

getPddlDomain

public Domain getPddlDomain()

Return the last PDDL Domain. Can be null.

Returns:

getPddlProblem

public Problem getPddlProblem()

Return the last PDDL Problem. Can be null.

Returns:

getCurrentPlan

public String getCurrentPlan()

Return the last generated plan. This is currently only for RapidLearn integration. This should really be exposed in relation to the goal that the plan is for, since in general concurrent goals can be running.

Returns:

getCurrentDomain

public Domain getCurrentDomain()

Return the last generated pddl Domain. This is currently only for RapidLearn integration. This should really be exposed in relation to the goal that the plan is for, since in general concurrent goals can be running.

Returns: