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Total-order Forward Decomposition Algorithm: HTN Planning

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tfd_cpp

Total-order Forward Decomposition Algorithm: an HTN Planner library.

This library provides the TFD algorithm - an HTN Planner so that developers can focus on writing Planning Domain and Planning Problem for their applications.

Book and Python Implementation

The implementation of this algorithm is based on Total-order STN Planning in "Automated Planning: Theory & Practice" book.

This library is a C++17 version of Pyhop implementation.

Dependencies and Installation

Dependencies

To build the library you will need to install the dependencies below:

  • Compiler that supports C++17
  • CMake
  • Boost (for logging library)
  • GTest (for building unit tests)

Installation

To compile and install the library, from the root directory, execute:

 mkdir build; cd build
 cmake ..
 make
 sudo make install

Examples

In the examples folder you can see one example that uses the library. The application that uses this library must implement the following:

  • Planning Domain which has all methods and operators
  • Planning Problem which has the initial state of the world and the task to be solved

To execute the example after building it, you can simply execute:

./examples/simple_travel

Write your own Domain and Problem

You can follow the examples to write your own planning domain and problem.

Documentation

If you're interested in understanding the concepts and algorithm you can read the blog post here.

Issues

Please report issues if you found bugs or raise a Pull Request.