Embedded Files
These examples are made using ENHSP-20, that we call ENHSP2 for simplicity
PDDL+
PDDL+
Non-Linear Car (domain.pddl) (problem.pddl)
Running ENHSP2 -o domain.pddl -f problem.pddl -planner sat-aibr
Domain parsed
Problem parsed
Grounding..
(Pre Simplification) - |A|+|P|+|E|: 7
AIBR :: Number of Supporters = 18
(After Easy Simplification) - |A|+|P|+|E|: 7
|F|:2
|X|:3
Grounding and Simplification finished
|A|:4
|P|:3
|E|:0
Delta time heuristic model:1.0
Delta time planning model:1.0
Delta time search-execution model:1.0
Delta time validation model:1
ha:false htfalse
Setting horizon to:NaN
Helpful Action Pruning Activated
Running WA-STAR
Reachable actions and processes: |A U P U E|:7
h(n = s_0)=35.0
f(n) = 35.0 (Expanded Nodes: 0, Evaluated States: 0, Time: 0.004)
Extracting plan with execution delta: 1.0
Plan is valid: true
Problem Solved
0.0: (start_car)
0.0: (accelerate)
1.0: (------>waiting)
2.0: (------>waiting)
3.0: (------>waiting)
4.0: (------>waiting)
5.0: (------>waiting)
6.0: (------>waiting)
7.0: (------>waiting)
8.0: (------>waiting)
9.0: (------>waiting)
9.0: (decelerate)
10.0: (------>waiting)
11.0: (------>waiting)
12.0: (------>waiting)
13.0: (------>waiting)
13.0: (decelerate)
14.0: (------>waiting)
14.0: (accelerate)
14.0: (stop_car)
Plan-Length:20
Metric (Search):20.0
Planning Time:286
Heuristic Time:33
Search Time:43
Expanded Nodes:30
States Evaluated:61
Fixed constraint violations during search (zero-crossing):0
Number of Dead-Ends detected:0
Number of Duplicates detected:11
The plan is from start_cat to stop car. On the left, the time at which such actions need to be executed. For convenience the planner also outputs the waiting periods.
With the option -sp <filename> the planner saves in filename the timed stamped plan. For instance, in this case:
0.0: (start_car)
0.0: (accelerate)
9.0: (decelerate)
13.0: (decelerate)
14.0: (accelerate)
14.0: (stop_car)
PDDL 2.1 (no processes)
PDDL 2.1 (no processes)
Counters (domain.pddl, problem.pddl)
Running ENHSP2 -o domain.pddl -f problem.pddl -planner sat-hmrph
Domain parsed
Problem parsed
Grounding..
(Pre Simplification) - |A|+|P|+|E|: 16
AIBR :: Number of Supporters = 48
(After Easy Simplification) - |A|+|P|+|E|: 16
|F|:0
|X|:8
Grounding and Simplification finished
|A|:16
|P|:0
|E|:0
ha:true htfalse
Heuristic Number of Actions:55
Heuristic Number of Actions Refactored:16
Tot Number of Terms:60
Tot Number of Terms Refactored:23
H1 Setup Time (msec): 3
Wrong setting for break-ties. Arbitrary tie breaking
Setting horizon to:NaN
Helpful Action Pruning Activated
Running Greedy Best First Search
Reachable actions and processes: |A U P U E|:16
h(n = s_0)=7.0
g(n)= 1.0 h(n)=6.0
g(n)= 4.0 h(n)=5.0
g(n)= 9.0 h(n)=4.0
g(n)= 13.0 h(n)=3.0
g(n)= 19.0 h(n)=2.0
g(n)= 25.0 h(n)=1.0
g(n)= 32.0 h(n)=0.0
Plan is valid: true
Problem Solved
0.0: (increment c7)
1.0: (increment c2)
2.0: (increment c6)
3.0: (increment c7)
4.0: (increment c1)
5.0: (increment c4)
6.0: (increment c5)
7.0: (increment c6)
8.0: (increment c7)
9.0: (decrement c1)
10.0: (increment c5)
11.0: (increment c6)
12.0: (increment c7)
13.0: (increment c3)
14.0: (decrement c2)
15.0: (increment c4)
16.0: (increment c5)
17.0: (increment c6)
18.0: (increment c7)
19.0: (increment c2)
20.0: (increment c3)
21.0: (increment c4)
22.0: (increment c5)
23.0: (increment c6)
24.0: (increment c7)
25.0: (increment c1)
26.0: (increment c2)
27.0: (increment c3)
28.0: (increment c4)
29.0: (increment c5)
30.0: (increment c6)
31.0: (increment c7)
Plan-Length:32
Metric (Search):32.0
Planning Time:282
Heuristic Time:29
Search Time:50
Expanded Nodes:67
States Evaluated:156
Fixed constraint violations during search (zero-crossing):0
Number of Dead-Ends detected:0
Number of Duplicates detected:129
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