Domain and problem PDDL parser in C/C++ using Flex & Bison.
The parser uses the BNF Description of PDDL3.0 and currently supports the following :requirements :
:strips:typing:equality
$ make clean && make
$ ./pddl
usage: ./pddl [-s] [-p] <domain.pddl> <problem.pddl>
Domain and problem PDDL parser in C/C++ using Flex & Bison.
https://github.com/thiagopbueno/pddlparser-pp
OPTIONS:
-s enable scanning trace.
-p enable parsing trace.
$ ./pddl data/gripper.pddl data/gripper-4.pddl
Parsing data/gripper.pddl... ok!
Parsing data/gripper-4.pddl... ok!
>> Domain(name:gripper)
Requirements: [ :strips :equality ]
Predicates: [ ROOM(?x) BALL(?x) GRIPPER(?x) at-robby(?x) at-ball(?x,?y) free(?x) carry(?x,?y) ]
Action(name:move)
>> params:[?x, ?y]
>> precond:[ROOM(?x), ROOM(?y), NOT =(?x,?y), at-robby(?x)]
>> effects:[at-robby(?y), NOT at-robby(?x)])
Action(name:pick-up)
>> params:[?x, ?y, ?z]
>> precond:[BALL(?x), ROOM(?y), GRIPPER(?z), at-ball(?x,?y), at-robby(?y), free(?z)]
>> effects:[carry(?z,?x), NOT at-ball(?x,?y), NOT free(?z)])
Action(name:drop)
>> params:[?x, ?y, ?z]
>> precond:[BALL(?x), ROOM(?y), GRIPPER(?z), carry(?z,?x), at-robby(?y)]
>> effects:[at-ball(?x,?y), free(?z), NOT carry(?z,?x)])
>> Problem(name:griper-4, domain:gripper)
Objects: [ rooma roomb ball1 ball2 ball3 ball4 left right ]
Init: [
ROOM(rooma)
ROOM(roomb)
BALL(ball1)
BALL(ball2)
BALL(ball3)
BALL(ball4)
GRIPPER(left)
GRIPPER(right)
free(left)
free(right)
at-robby(rooma)
at-ball(ball1,rooma)
at-ball(ball2,rooma)
at-ball(ball3,rooma)
at-ball(ball4,rooma)
]
Goal: [
at-ball(ball1,roomb)
at-ball(ball2,roomb)
at-ball(ball3,roomb)
at-ball(ball4,roomb)
]
$ ./pddl data/gripper-typed.pddl data/gripper-4.pddl
Parsing data/gripper-typed.pddl... ok!
Parsing data/gripper-4.pddl... ok!
>> Domain(name:gripper-typed)
Requirements: [ :strips :typing ]
Predicates: [ at-robby(?r) at(?b,?r) free(?g) carry(?g,?o) ]
Action(name:move)
>> params:[?from - room, ?to - room]
>> precond:[at-robby(?from)]
>> effects:[at-robby(?to), NOT at-robby(?from)])
Action(name:pick)
>> params:[?gripper - gripper, ?obj - ball, ?room - room]
>> precond:[at(?obj,?room), at-robby(?room), free(?gripper)]
>> effects:[carry(?obj,?gripper), NOT at(?obj,?room), NOT free(?gripper)])
Action(name:drop)
>> params:[?gripper - gripper, ?obj - ball, ?room - room]
>> precond:[ball(?obj), room(?room), gripper(?gripper), carry(?obj,?gripper), at-robby(?room)]
>> effects:[at(?obj,?room), free(?gripper), NOT carry(?obj,?gripper)])
>> Problem(name:griper-4, domain:gripper)
Objects: [ rooma roomb ball1 ball2 ball3 ball4 left right ]
Init: [
ROOM(rooma)
ROOM(roomb)
BALL(ball1)
BALL(ball2)
BALL(ball3)
BALL(ball4)
GRIPPER(left)
GRIPPER(right)
free(left)
free(right)
at-robby(rooma)
at-ball(ball1,rooma)
at-ball(ball2,rooma)
at-ball(ball3,rooma)
at-ball(ball4,rooma)
]
Goal: [
at-ball(ball1,roomb)
at-ball(ball2,roomb)
at-ball(ball3,roomb)
at-ball(ball4,roomb)
]
- pddldriver.hh/pddldriver.cc: implements the client interface;
- pddlscanner.ll: defines the scanner rules for lexical analysis;
- pddlparser.hh: defines the parser rules for syntactical analysis;
- main.cc: defines the tracing level and starts the parsing process.
Copyright (c) 2015-2017 Thiago Pereira Bueno All Rights Reserved.
pddl-parser is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
pddl-parser 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 Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License along with pddl-parser. If not, see http://www.gnu.org/licenses/.