https://github.com/perigrin/besoothement-bathymetrical

A Hierarchical Task Network Planner for Perl
https://github.com/perigrin/besoothement-bathymetrical

ai htn-planner perl

Last synced: 23 days ago
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A Hierarchical Task Network Planner for Perl

• Host: GitHub
• URL: https://github.com/perigrin/besoothement-bathymetrical
• Owner: perigrin
• Created: 2023-12-02T05:03:49.000Z (about 1 year ago)
• Default Branch: pu
• Last Pushed: 2024-08-21T17:20:29.000Z (5 months ago)
• Last Synced: 2024-08-21T19:33:57.271Z (5 months ago)
• Topics: ai, htn-planner, perl
• Language: Perl
• Homepage:
• Size: 8.79 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# PLHop

## DESCRIPTION

A Hierarchical Task Network Planner based on Pyhop and it's derivatives.

## SYNOPSIS

```perl

#!/usr/bin/env perl

use 5.38.0;

use lib 'lib';

use PLHop;

# Ported From:

# https://github.com/dananau/GTPyhop/blob/main/Examples/pyhop_simple_travel_example.py

my $domain = PLHop::Domain->new( name => 'pyhop_simple_travel_example' );

sub taxi_rate ($dist) { 1.5 + 0.5 * $dist }

$domain->declare_actions(

    walk => sub ( $state, $p, $x, $y ) {

        return unless $state->{loc}->{$p} eq $x;

        $state->{loc}->{$p} = $y;

        return $state;

    },

    call_taxi => sub ( $state, $p, $x ) {

        $state->{loc}->{'taxi'} = $x;

        return $state;

    },

    ride_taxi => sub ( $state, $p, $x, $y ) {

        return if $state->{loc}->{taxi} ne $x || $state->{loc}->{$p} ne $x;

        $state->{loc}->{taxi} = $y;

        $state->{loc}->{$p} = taxi_rate( $state->{dist}{$x}{$y} );

        return $state;

    },

    pay_driver => sub ( $state, $p, $y ) {

        return if $state->{cash}->{$p} < $state->{owe}->{$p};

        $state->{cash}->{$p} = $state->{cash}->{$p} - $state->{owe}->{$p};

        $state->{owe}->{$p}  = 0;

        $state->{loc}->{$p}  = $y;

        return $state;

    },

);

sub travel_by_foot ( $state, $p, $x, $y ) {

    return unless $state->{dist}->{$x}{$y} <= 2;

    return [ 'walk', $p, $x, $y ];

}

sub travel_by_taxi ( $state, $p, $x, $y ) {

    return unless $state->{cash}->{$p} >= taxi_rate( $state->{dist}{$x}{$y} );

    return (

        [ 'call_taxi',  $p, $x ],

        [ 'ride_taxi',  $p, $x, $y ],

        [ 'pay_driver', $p, $y ]

    );

}

$domain->declare_task_methods( 'travel', \&travel_by_foot, \&travel_by_taxi );

my $state = {

    loc  => { me   => 'home' },

    cash => { me   => 20 },

    owe  => { me   => 0 },

    dist => { home => { park => 8 }, park => { home => 8 } },

};

my $planner = PLHop::Planner->new(

    domain    => $domain,

    state     => $state,

    todo_list => [ [ 'travel', 'me', 'home', 'park' ] ]

);

say "@$_" for $planner->plan();

```