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ff.h
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ff.h
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/*********************************************************************
* (C) Copyright 2001 Albert Ludwigs University Freiburg
* Institute of Computer Science
*
* This program 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.
*
* This program 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.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
*********************************************************************/
/*
* THIS SOURCE CODE IS SUPPLIED ``AS IS'' WITHOUT WARRANTY OF ANY KIND,
* AND ITS AUTHOR AND THE JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH
* (JAIR) AND JAIR'S PUBLISHERS AND DISTRIBUTORS, DISCLAIM ANY AND ALL
* WARRANTIES, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, AND
* ANY WARRANTIES OR NON INFRINGEMENT. THE USER ASSUMES ALL LIABILITY AND
* RESPONSIBILITY FOR USE OF THIS SOURCE CODE, AND NEITHER THE AUTHOR NOR
* JAIR, NOR JAIR'S PUBLISHERS AND DISTRIBUTORS, WILL BE LIABLE FOR
* DAMAGES OF ANY KIND RESULTING FROM ITS USE. Without limiting the
* generality of the foregoing, neither the author, nor JAIR, nor JAIR's
* publishers and distributors, warrant that the Source Code will be
* error-free, will operate without interruption, or will meet the needs
* of the user.
*/
/*********************************************************************
* File: ff.h
* Description: Types and structures for the FastForward planner.
*
* --------- ADL VERSION v 1.0 --------------
*
* Author: Joerg Hoffmann 2000
* Contact: hoffmann@informatik.uni-freiburg.de
*
*********************************************************************/
#ifndef __FF_H
#define __FF_H
#include <stdlib.h>
#include <stdio.h>
#include <strings.h>
#include <string.h>
#include <ctype.h>
#include <sys/types.h>
#include <sys/timeb.h>
#include <sys/times.h>
/*
* ------------------------------------ DEFINES ----------------------------
*/
/***********************
* MEANINGLESS HELPERS *
***********************/
/* strcmp returns 0 if two strings are equal, which is not nice */
#define SAME 0
/****************
* PARSING ETC. *
****************/
/* various defines used in parsing
*/
#define HIDDEN_STR "#"
#define AXIOM_STR "AXIOM"
#define NAME_STR "name\0"
#define VARIABLE_STR "variable\0"
#define STANDARD_TYPE "OBJECT\0"
#define EITHER_STR "EITHER"
/***************************
* SOME ARBITRARY SETTINGS *
***************************/
/* maximal string length
*/
#define MAX_LENGTH 256
/* marks border between connected items
*/
#define CONNECTOR "~"
/* first size of goals_at array in 1P extraction
*/
#define RELAXED_STEPS_DEFAULT 25
/* size of hash table for repeated states checking
* during EHC breadth first search
*/
#define EHC_HASH_SIZE 8192
#define EHC_HASH_BITS 8191
/* size of hash table for repeated states checking
* in plan construction
*/
#define PLAN_HASH_SIZE 1024
#define PLAN_HASH_BITS 1023
/* size of hash table for repeated states checking
* during BFS search
*/
#define BFS_HASH_SIZE 65536
#define BFS_HASH_BITS 65535
/* cut random values of facts off modulo this value,
* to make state sums fit into a single integer
*/
#define BIG_INT 1500000
/************************
* INSTANTIATION LIMITS *
************************/
#define MAX_CONSTANTS 2000
#define MAX_PREDICATES 500
#define MAX_TYPES 50
#define MAX_ARITY 5
#define MAX_VARS 15
#define MAX_TYPE 2000
#define MAX_OPERATORS 1000
/* in DNF: AND with OR - sons - collect 'hitting set':
* one son of each OR node.
*
* this here is initial max number of such son s that can be collected
* (grows dynamically, if required)
*/
#define MAX_HITTING_SET_DEFAULT 1000
#define MAX_TYPE_INTERSECTIONS 10
#define MAX_RELEVANT_FACTS 100000
/******************************************
* DOMAIN STRUCTURE AND SEARCHING LIMITS *
******************************************/
#define MAX_PLAN_LENGTH 2000
/****************
* CODE DEFINES *
****************/
/* not a real 'code' define; used in relax and search to encode
* infinite level number / plan length
*/
#ifndef INFINITY
#define INFINITY -1
#endif
/* define boolean types if not allready defined
*/
#ifndef Bool
typedef unsigned char Bool;
#ifndef TRUE /* we assume that FALSE is also not defined */
#define TRUE 1
#define FALSE 0
#endif /* TRUE */
#endif /* Bool */
/* code a param number into a negative number and vice versa
*/
#define ENCODE_VAR( val ) (val * (-1)) - 1
#define DECODE_VAR( val ) (val + 1) * (-1)
#define GET_CONSTANT( val, pointer ) ( val >= 0 ) ? val : pointer->inst_table[DECODE_VAR( val )]
/* Check allocated memory
*/
#define CHECK_PTR(p) if (NULL == (p)) { \
fprintf(stdout, "\n\aNO MEMORY in file %s:%d\n\n", __FILE__, __LINE__); \
exit(1);}
/* add elapsed time from main local time vars to specified val
*/
#define TIME( val ) val += ( float ) ( ( end.tms_utime - start.tms_utime + \
end.tms_stime - start.tms_stime ) / 100.0 )
/*
* ------------------------------ DATA STRUCTURES ----------------------------
*/
/*******************
* GENERAL HELPERS *
*******************/
/* all command switches
*/
struct _command_line {
char path[MAX_LENGTH];
char ops_file_name[MAX_LENGTH];
char fct_file_name[MAX_LENGTH];
int display_info;
int debug;
};
typedef char *Token;
/***********
* PARSING *
***********/
/* A list of strings
*/
typedef struct _TokenList {
char *item;
struct _TokenList *next;
} TokenList;
/* list of string lists
*/
typedef struct _FactList {
TokenList *item;
struct _FactList *next;
} FactList;
/* structure to store typed-list-of <name>/<variable>,
* as they are declared in PDDL files
*/
typedef struct _TypedList {
char *name;
/* each item in this list is the name of a type which
* our type is the union of (EITHER - types ...)
*
* usually, this will default to a single-item TokenList.
*/
TokenList *type;
/* after first sweep, this will contain the number in type table
*/
int n;
struct _TypedList *next;
} TypedList;
/* only needed to parse in the predicates and their arg
* definitions
*/
typedef struct _TypedListList {
char *predicate;
TypedList *args;
struct _TypedListList *next;
} TypedListList;
/* This type indicates whether a node in the pddl tree stands for
* an atomic expression, a junctor or a quantor.
*/
typedef enum _Connective{TRU,
FAL,
ATOM,
NOT,
AND,
OR,
ALL,
EX,
WHEN} Connective;
/*
* This is a node in the tree to parse PDDL files
*/
typedef struct _PlNode {
/* type of the node
*/
Connective connective;
/* only for parsing: the var args in quantifiers
*/
TypedList *parse_vars;
/* AND, OR, NOT, WHEN => NULL
* ALL, EX => the quantified variable with its type
* ATOM => the atom as predicate->param1->param2->...
*/
TokenList *atom;
/* (a) for AND, OR this is the list of sons(a AND b AND c...),
* (b) for the rest this is the son, e.g. a subtree that is negated
* (c) for WHEN, the first son is the condition and the next son
* is the effect
*/
struct _PlNode *sons;
/* if you have a list of sons, they are connected by next
*/
struct _PlNode *next;
} PlNode;
/*
* This resembles an uninstantiated PDDL operator
*/
typedef struct _PlOperator {
char *name;
/* only important for PDDL where :VARS may be added to the param list
* which must be hidden when writing the plan to an output file
*/
int number_of_real_params;
/* the params, as they are declared in domain file
*/
TypedList *parse_params;
/* params is a list of variable/type pairs, such that:
* factlist->item = [variable] -> [type]
*/
FactList *params;
PlNode *preconds;
PlNode *effects;
struct _PlOperator *next;
} PlOperator;
/*****************
* INSTANTIATION *
*****************/
/* helpers
*/
typedef int TypeArray[MAX_TYPE_INTERSECTIONS];
typedef int *int_pointer;
/* first step structures: parsing & preprocessing
*/
typedef struct _Fact {
int predicate, args[MAX_ARITY];
} Fact;
typedef struct _Facts {
Fact *fact;
struct _Facts *next;
} Facts;
typedef struct _WffNode {
Connective connective;
/* in ALL/EX s
*/
int var, var_type;
char *var_name;
/* in AND/OR s
*/
struct _WffNode *sons;
/* sons are doubly connected linear list
*/
struct _WffNode *next;
struct _WffNode *prev;
/* in ATOMs
*/
Fact *fact;
/* after translation: mark NOT-p s for efficiency
*/
int NOT_p;
/* in ALL/EX/NOT
*/
struct _WffNode *son;
/* for expansion speedup
*/
Bool visited;
/* no WHEN s here... use Pl Connectives anyway for simplicity
*/
} WffNode, *WffNode_pointer;
typedef struct _Literal {
Bool negated;
Fact fact;
struct _Literal *next;
struct _Literal *prev;
} Literal;
typedef struct _Effect {
int num_vars, var_types[MAX_VARS];
char *var_names[MAX_VARS];
WffNode *conditions;
Literal *effects;
struct _Effect *next;
struct _Effect *prev;
} Effect;
typedef struct _Operator {
char *name, *var_names[MAX_VARS];
int number_of_real_params;
int num_vars, var_types[MAX_VARS];
Bool removed[MAX_VARS];
WffNode *preconds;
Effect *effects;
Bool hard;
} Operator, *Operator_pointer;
/* second step: structures that keep already normalized
* operators
*/
typedef struct _NormEffect {
int num_vars, var_types[MAX_VARS];
int inst_table[MAX_VARS];
Fact *conditions;
int num_conditions;
Fact *adds;
int num_adds;
Fact *dels;
int num_dels;
struct _NormEffect *prev;
struct _NormEffect *next;
} NormEffect;
typedef struct _NormOperator {
Operator *operator;
int num_vars, var_types[MAX_VARS];
int inst_table[MAX_VARS];
int removed_vars[MAX_VARS], num_removed_vars, type_removed_vars[MAX_VARS];
Fact *preconds;
int num_preconds;
NormEffect *effects;
Bool out;
} NormOperator, *NormOperator_pointer;
/* minimal info for a fully instantiated easy operator;
* yields one action when expanded
*/
typedef struct _EasyTemplate {
NormOperator *op;
int inst_table[MAX_VARS];
struct _EasyTemplate *prev;
struct _EasyTemplate *next;
} EasyTemplate;
/* structures for hard ops
*/
/* intermediate step: structure for keeping hard ops
* with normalized precondition, but arbitrary
* effect conditions
*/
typedef struct _MixedOperator {
Operator *operator;
int inst_table[MAX_VARS];
Fact *preconds;
int num_preconds;
Effect *effects;
struct _MixedOperator *next;
} MixedOperator;
/* last hard step: everything is action - like, except that
* facts are not yet integer coded
*/
typedef struct _PseudoActionEffect {
Fact *conditions;
int num_conditions;
Fact *adds;
int num_adds;
Fact *dels;
int num_dels;
struct _PseudoActionEffect *next;
} PseudoActionEffect;
typedef struct _PseudoAction {
Operator *operator;
int inst_table[MAX_VARS];
Fact *preconds;
int num_preconds;
PseudoActionEffect *effects;
int num_effects;
} PseudoAction, *PseudoAction_pointer;
/* final domain representation structure
*/
typedef struct _ActionEffect {
int *conditions;
int num_conditions;
int *adds;
int num_adds;
int *dels;
int num_dels;
} ActionEffect;
typedef struct _Action {
NormOperator *norm_operator;
PseudoAction *pseudo_action;
char *name;
int num_name_vars;
int name_inst_table[MAX_VARS];
int inst_table[MAX_VARS];
int *preconds;
int num_preconds;
ActionEffect *effects;
int num_effects;
struct _Action *next;
} Action;
/*****************************************************
* BASIC OP AND FT STRUCTURES FOR CONNECTIVITY GRAPH *
*****************************************************/
typedef struct _OpConn {
/* to get name
*/
Action *action;
/* effects
*/
int *E;
int num_E;
/* member for applicable actions extraction
*/
Bool is_in_A;
/* members for 1Ph - H(S) extraction
*/
int is_used;
Bool is_in_H;
} OpConn;
typedef struct _EfConn {
int op;
/* op preconds + conds
*/
int *PC;
int num_PC;
int *A;
int num_A;
int *D;
int num_D;
/* implied effects
*/
int *I;
int num_I;
Bool removed;
/* members for relaxed fixpoint computation
*/
int level;
Bool in_E;
int num_active_PCs;
Bool ch;
/* in search: which ef is ``in plan''
*/
Bool in_plan;
} EfConn;
typedef struct _FtConn {
/* effects it is union conds, pres element of
*/
int *PC;
int num_PC;
/* efs that add or del it
*/
int *A;
int num_A;
int *D;
int num_D;
/* members for orderings preprocessing
*/
int *False;
int num_False;
/* members for relaxed fixpoint computation
*/
int level;
Bool in_F;
/* members for 1Ph extraction
*/
int is_goal;
int is_true;
Bool ch;
/* search
*/
int rand;/* for hashing */
Bool is_global_goal;/* fast goal add finding */
} FtConn;
/****************************
* STRUCTURES FOR SEARCHING *
****************************/
typedef struct _State {
int *F;
int num_F;
int max_F;
} State, *State_pointer;
typedef struct _EhcNode {