This is the arrival Reference Manual, version 0.1, generated automatically by Declt version 4.0 beta 2 "William Riker" on Sun Sep 15 03:19:28 2024 GMT+0.
The main system appears first, followed by any subsystem dependency.
arrivalClassical planning plan validator written in modern Common Lisp
Masataro Asai
LLGPL
0.1
trivia (system).
alexandria (system).
iterate (system).
log4cl (system).
trivia.quasiquote (system).
src (module).
Modules are listed depth-first from the system components tree.
arrival/srcarrival (system).
0-package.lisp (file).
1-fact-ordering.lisp (file).
1-flatten-types.lisp (file).
2-simulate.lisp (file).
3-main.lisp (file).
Files are sorted by type and then listed depth-first from the systems components trees.
arrival/arrival.asdarrival/src/0-package.lisparrival/src/1-fact-ordering.lisparrival/src/1-flatten-types.lisparrival/src/2-simulate.lisparrival/src/3-main.lisparrival/src/1-flatten-types.lispsrc (module).
*actions* (special variable).
*axioms* (special variable).
*fluents* (special variable).
*goal* (special variable).
*init* (special variable).
*objects* (special variable).
*predicates* (special variable).
*types* (special variable).
flatten-type (function).
flatten-typed-def (function).
flatten-types/argument (function).
flatten-types/condition (function).
flatten-types/effect (function).
flatten-types/predicate (function).
grovel-actions (function).
grovel-axioms (function).
grovel-constants (function).
grovel-fluents (function).
grovel-goal (function).
grovel-init (function).
grovel-objects (function).
grovel-predicates (function).
grovel-types (function).
new-variable (function).
parse-typed-def (function).
unify-duplicates (function).
variablep (function).
arrival/src/2-simulate.lispsrc (module).
%in-fresh-binding (function).
*axiom-table* (special variable).
*exclude-type-predicates-in-trace* (special variable).
*fact-table* (special variable).
*hold-level* (special variable).
*in-initialization* (special variable).
*new-fact-table* (special variable).
*next-action* (special variable).
*plan* (special variable).
*previous-action* (special variable).
*proof-stack* (special variable).
*relaxed-planning* (special variable).
*verbosity* (special variable).
apply-action (function).
apply-effect (function).
domain-name-mismatch-error (condition).
domain-parse-error (condition).
evaluate (function).
(setf evaluate) (function).
facts (function).
goal-not-satisfied-error (condition).
goal-not-satisfied-error-printer (function).
holds (function).
in-fresh-binding (macro).
initialize (function).
pprint-facts (function).
pprint-pddl (function).
pprint-pddl-to-string (function).
precondition-not-satisfied-error (condition).
precondition-not-satisfied-error-printer (function).
problem-parse-error (condition).
progv* (macro).
prove-axiom (function).
prove-axiom1 (function).
simulate-plan-from-file (function).
simulate1 (function).
simulate2 (function).
simulate3 (function).
test (function).
arrival/src/3-main.lispsrc (module).
*allowed-conditions* (special variable).
parse-argument2 (function).
parse-argument3 (function).
parse-arguments (function).
simulate-main (function).
Packages are listed by definition order.
arrivalalexandria.
arrival.pddl.
common-lisp.
iterate.
trivia.level2.
%in-fresh-binding (function).
*actions* (special variable).
*allowed-conditions* (special variable).
*axiom-table* (special variable).
*axioms* (special variable).
*exclude-type-predicates-in-trace* (special variable).
*fact-table* (special variable).
*fluents* (special variable).
*goal* (special variable).
*hold-level* (special variable).
*in-initialization* (special variable).
*init* (special variable).
*new-fact-table* (special variable).
*next-action* (special variable).
*objects* (special variable).
*plan* (special variable).
*predicates* (special variable).
*previous-action* (special variable).
*proof-stack* (special variable).
*relaxed-planning* (special variable).
*types* (special variable).
*verbosity* (special variable).
apply-action (function).
apply-effect (function).
domain-name-mismatch-error (condition).
domain-parse-error (condition).
evaluate (function).
(setf evaluate) (function).
fact< (function).
fact= (function).
facts (function).
flatten-type (function).
flatten-typed-def (function).
flatten-types/argument (function).
flatten-types/condition (function).
flatten-types/effect (function).
flatten-types/predicate (function).
goal-not-satisfied-error (condition).
goal-not-satisfied-error-printer (function).
grovel-actions (function).
grovel-axioms (function).
grovel-constants (function).
grovel-fluents (function).
grovel-goal (function).
grovel-init (function).
grovel-objects (function).
grovel-predicates (function).
grovel-types (function).
holds (function).
in-fresh-binding (macro).
initialize (function).
new-variable (function).
package< (function).
package= (function).
parse-argument2 (function).
parse-argument3 (function).
parse-arguments (function).
parse-typed-def (function).
pprint-facts (function).
pprint-pddl (function).
pprint-pddl-to-string (function).
precondition-not-satisfied-error (condition).
precondition-not-satisfied-error-printer (function).
problem-parse-error (condition).
progv* (macro).
prove-axiom (function).
prove-axiom1 (function).
simulate-main (function).
simulate-plan-from-file (function).
simulate1 (function).
simulate2 (function).
simulate3 (function).
symbol< (function).
symbol= (function).
test (function).
unify-duplicates (function).
variablep (function).
Definitions are sorted by export status, category, package, and then by lexicographic order.
A list of action definitions whose types are compiled away.
A list of axiom definitions whose types are compiled away.
A list of fluent type signatures (head arg-types* result-type) , e.g. ((content envelope paper) ...).
Goal condition, whose types are compiled away. (types appears in forall/exists)
Initial state augmented with the type predicates for the objects.
An alist of (name . type).
A list of predicate type signatures (head arg-types*), e.g. ((next location location) ...)
A special variable holding the proof stack as a list of axioms.
Whenever a new axiom is about to be proved/evaluated, it looks up this variable
so that it avoids tautology/infinite loop.
An alist of (type . supertype).
Value 0 No output
Value >=1 Reports the basic progress / steps that it is checking / action effects
Value >=2 Prints the predicates and the axioms being checked
Value 3 Prints the backtracking for proving axioms
progv + printing feature.
Checks the precondition and
applies an action of the form (name . args) to the current state.
Applies the effect of the condition. It respects the conditional effect
Evaluate atoms, predicates and (object/numeric) fluents.
Evaluate the input into a form that is can be directly evaluated.
Returns a list of facts that hold in the current state. Depending on the value of the *exclude-type-predicates-in-trace*, it includes the type predicates (true by default)
Returns the list of all parent types (including itself and OBJECT),
handling the infinite loop.
Signals an error when the type is not connected to the root OBJECT type.
Takes a typed-def L and returns three values:
1. the untyped version of L
2. a list of literals converted from the types of the parameters, including the parent types
3. alist of (arg . type)
Example: (?x - table) -> (?x), ((table ?x)), ((?x . table))
Returns a list of type predicates for each parent type of TYPE,
with ARG as the argument. The result does not contain the OBJECT type.
Example: (flatten-types/argument ’?x ’airport) -> ((airport ?x) (location ?x))
PREDICATE is a predicate form (name args...).
Look up the *predicates* and returns a list that contains itself
and the type predicates implied by its arguments.
By default, the implied type predicates contain only those for the most specific types,
minus the obvious OBJECT type.
Example: (flatten-types/predicate ’(next ?x ?y)) -> ((next ?x ?y) (location ?x) (location ?y))
When the optional argument INCLUDE-PARENT-TYPES is true, the list also contains all the type predicates up in the type hierarchy, minus the OBJECT type.
Utility for printing the predicate test
Interns a new symbol in ARRIVAL.PDDL
Parse a list of form [obj* - type]* .
Returns an alist of (obj . type).
Does not handle the type inheritance.
Untyped parameters are given the type OBJECT.
The order is preserved.
It does not care what the obj is. It can be a list, too.
Example: (parse-typed-def ’(airport1 - airport truck1 truck2 - truck banana))
-> ((airport1 . airport) (truck1 . truck) (truck2 . truck) (banana . object))
Example: (parse-typed-def ’((deposit ?p - person) - number (content ?e - envelope) - paper))
-> (((deposit ?p - person) . number) ((content ?e - envelope) . paper))
Print the list of facts to the stream, inside the PDDL package.
Print THING to the stream, inside the PDDL package.
Print THING to the string, inside the PDDL package.
Prove that the axiom with the given arguments hold in the current state. This function is not responsible for caching the result.
CALLBACK is a function with no argument, that is called after the initialization and after applying each action.
Test the condition in the current state. Returns true when the condition holds.
If there are any duplicates in VARIABLES,
the second or later appearances are replaced with a new symbol.
FN is called with two arguments; The new, unique variable list
and a list of equality constraints.
error.
error.
error.
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