Merge pull request #36 from pellierd/devel

Release PDDL4J 3.6.0

README.md

@@ -1,12 +1,13 @@
-##PDDL4J library
+## PDDL4J library
 [![DOI](https://zenodo.org/badge/doi/10.5281/zenodo.45971.svg)](http://dx.doi.org/10.5281/zenodo.45971)
+[![Build Status](http://pddl4j.imag.fr/jenkins/job/pddl4j-base/badge/icon)](http://pddl4j.imag.fr/jenkins/job/pddl4j-base)
 
-###1. Contact
+### 1. Contact
 
 - Damien Pellier ([email protected])
 - http://lig-membres.imag.fr/pellier/
 
-###2. Description
+### 2. Description
 
 PDDL4J is an open source library under LGPL license.
 
@@ -31,20 +32,20 @@ standard will have an impact on the entire field, influencing what is seen as
 central and what peripheral in the development of planning systems.
 
 The library contains:
-  * a PDDL 3.1 parser and all the classes need to manipulate its
+  * A PDDL 3.1 parser and all the classes need to manipulate its
 concepts. The parser can be configured to accept only specified requirements of
 PDDL language.
-  * a set of useful pre-processing mechanisms in order to instantiate and
+  * A set of useful pre-processing mechanisms in order to instantiate and
 simply operators into ground actions based on inertia properties.
-  * a set of already implemented classical heuristics, e.g., h_ff, h_max, etc.
-  * several examples of planners using PDDL4J.
+  * A set of already implemented classical heuristics, e.g., h_ff, h_max, etc.
+  * Several examples of planners using PDDL4J.
 
-###3. How to use the PDDL4J library?
+### 3. How to use the PDDL4J library?
 
 The pddl4j library is package with "gradle". If ant is not installed on your computer,
 go to https://gradle.org/ and install it.
 
-####3.1 How to build PDDL4J?
+#### 3.1 How to build PDDL4J?
 
 Type at the root of the PDDL4J distribution:
 > ./gradlew build
@@ -54,21 +55,21 @@ if you want to build the project with findbug:
 
 The jar "pddl4j-VERSION.jar" is available in the build/libs directory.
 
-####3.3 How to use binary distribution?
+#### 3.3 How to use binary distribution?
 
 The pddl4j library can be used as a jar file called "pddl4j-VERSION.jar" in the "libs"
 directory of the release. Therefore, include the jar in our classpath and enjoy
 it.
 
-####3.4 How to access the documentation?
+#### 3.4 How to access the documentation?
 
 All the documentations are contained in the doc directory.
 
 To generate the javadoc just type:
 > ./gradlew javadoc
 
 
-####3.5 How to run existing planner?
+#### 3.5 How to run existing planner?
 
 Planners are available in the "planners" package of the distribution. For
 instance, this archive contains a simple planner based on A* search strategy
@@ -81,3 +82,28 @@ Or use the gradle run command:
 
 Note: A set of planning problems is available in the web site of the international
 planning competition: http://ipc.icaps-conference.org.
+
+### 4. Changelog
+
+**PDDL4J v3.6.0**
+
+*Planner*
+* Adding Fast Forward planner
+* Adding Enforced Hill Climbing planner
+* Adding depth attibute in Node class
+* Converting cost and heuristic in double
+* Fix bugs
+
+*Parser*
+* Adding parseFromString method (it's is now possible to parse a string containing a pddl domain and/or problem)
+* Refactor Parser class and fix bugs
+
+*JUnit tests*
+* Adding tests for all the planners, CodedProblem, Encoder, Parser, Plan, etc.
+* Refactor and fix bugs
+
+*Global*
+* Change AdaptatorJavaJson to JsonAdapter
+* Fix logger and standard outputs
+* Throws uncatched exceptions
+* Fix bugs

build.gradle

@@ -16,7 +16,7 @@ apply plugin: 'checkstyle'
 
 
 group 'fr.uga'
-version '3.5.0'
+version '3.6.0'
 sourceCompatibility = 1.8
 
 repositories {

config/findbugs/excludeFilter.xml

@@ -15,6 +15,10 @@
 	<Match>
 		<Class name="fr.uga.pddl4j.parser.Parser" />
 		<Method name="parse" />
+	</Match>
+		<Match>
+		<Class name="fr.uga.pddl4j.parser.Parser" />
+		<Method name="parseString" />
 	</Match>
     <Match>
         <Class name="fr.uga.pddl4j.util.IntExp" />

src/main/java/fr/uga/pddl4j/encoding/BitEncoding.java

@@ -147,6 +147,7 @@ static BitExp encodeGoal(IntExp goal, final Map<IntExp, Integer> map) throws Une
         if (goal.getConnective().equals(Connective.FALSE)) {
             return null;
         }
+
         BitExp newGoal;
         BitEncoding.toDNF(goal);
         Encoder.codedGoal = new ArrayList<>(goal.getChildren().size());

src/main/java/fr/uga/pddl4j/encoding/CodedProblem.java

@@ -169,7 +169,8 @@ final void setTypes(final List<String> types) {
     }
 
     /**
-     * TODO to remove: never used.
+     * Returns the type inferred. Types are inferred when the key work either is used.
+     *
      * @return the inferredDomains
      */
     final List<Set<Integer>> getInferredDomains() {
@@ -186,7 +187,7 @@ final void setInferredDomains(final List<Set<Integer>> inferredDomains) {
 
     /**
      * Returns the table of domains for each type of the problem.
-     * TODO to remove: never used.
+     *
      * @return the table of domains for each type of the problem.
      */
     public final List<Set<Integer>> getDomains() {
@@ -240,7 +241,7 @@ final void setPredicates(final List<String> predicates) {
 
     /**
      * Returns the signatures of the predicates defined in the problem.
-     * TODO to remove: never used.
+     *
      * @return the signatures of the predicates defined in the problem.
      */
     public final List<List<Integer>> getPredicatesSignatures() {
@@ -276,7 +277,7 @@ final void setFunctions(final List<String> functions) {
 
     /**
      * Returns the signatures of the functions defined in the problem.
-     * TODO to remove: never used.
+     *
      * @return the signatures of the functions defined in the problem.
      */
     public final List<List<Integer>> getFunctionsSignatures() {

src/main/java/fr/uga/pddl4j/encoding/AdapterPlanJavaJson.java → src/main/java/fr/uga/pddl4j/encoding/JsonAdapter.java

@@ -1,3 +1,22 @@
+/*
+ * Copyright (c) 2016 by Damien Pellier <[email protected]>.
+ *
+ * This file is part of PDDL4J library.
+ *
+ * PDDL4J is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * PDDL4J 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with PDDL4J.  If not, see <http://www.gnu.org/licenses/>
+ */
+
 package fr.uga.pddl4j.encoding;
 
 import fr.uga.pddl4j.util.BitExp;
@@ -18,16 +37,16 @@
 import java.util.List;
 import java.util.stream.Collectors;
 
-
 /**
  * This class is used to convert Java plan into its JSON representation.
  * Its also provide methods to save the JSON String into a file.
  *
  * @author Samy Ouastani
  * @author Cedric Gerard
+ * @author Damien Pellier
  * @version 1.0 - 07.19.2016
  */
-public class AdapterPlanJavaJson {
+public class JsonAdapter {
 
     /**
      * The current coded problem the plan is based on.
@@ -40,17 +59,18 @@ public class AdapterPlanJavaJson {
     private JSONObject jsonPlan;
 
     /**
-     * Adapter constructor.
-     * @param codedProblem the pddl4j problem representation
+     * Create a new adapter.
+     *
+     * @param codedProblem the pddl4j problem representation.
      */
-    public AdapterPlanJavaJson(CodedProblem codedProblem) {
+    public JsonAdapter(CodedProblem codedProblem) {
         this.codedProblem = new CodedProblem(codedProblem);
     }
 
     /**
      * Save the current jsonPlan into a file.
      *
-     * @param name the name of the saved file
+     * @param name the name of the saved file.
      */
     public void saveInFile(String name) {
         if (jsonPlan == null) {
@@ -59,7 +79,7 @@ public void saveInFile(String name) {
         // Creation of the json files
         try (Writer writer = new OutputStreamWriter(new FileOutputStream(name), "UTF-8")) {
             // Editing the first json file
-            writer.write(jsonPlan.toJSONString());
+            writer.write(this.jsonPlan.toJSONString());
         } catch (IOException exception) {
             exception.printStackTrace();
         }
@@ -68,11 +88,11 @@ public void saveInFile(String name) {
     /**
      * Return a string of the plan in a json format.
      *
-     * @param plan to convert into json string
-     * @return the plan in a json string format
+     * @param plan to convert into json string.
+     * @return the plan in a json string format.
      */
     @SuppressWarnings("unchecked")
-    public final String toStringJ(final Plan plan) {
+    public final String toJsonString(final Plan plan) {
 
         JSONObject planJson = new JSONObject();
 
@@ -89,12 +109,12 @@ public final String toStringJ(final Plan plan) {
                 for (int j = 0; j < action.getArity(); j++) {
                     final int index = action.getValueOfParameter(j);
                     if (index != -1) {
-                        parameters.add(codedProblem.getConstants().get(index));
+                        parameters.add(this.codedProblem.getConstants().get(index));
                     }
                 }
 
                 // Preconditions
-                ArrayList<ArrayList<String>> preconds = this.toStringJ(action.getPreconditions());
+                ArrayList<ArrayList<String>> preconds = this.toJsonString(action.getPreconditions());
                 JSONObject precondJson = new JSONObject();
 
                 ArrayList<String> positives = preconds.get(0);
@@ -119,7 +139,7 @@ public final String toStringJ(final Plan plan) {
                     JSONObject expJsonEffects = new JSONObject();
 
                     ArrayList<ArrayList<String>> condExpElementsCondition =
-                        this.toStringJ(condExp.get(k).getCondition());
+                        this.toJsonString(condExp.get(k).getCondition());
 
                     JSONArray positivesConditionJson = listToJson(condExpElementsCondition.get(0));
                     JSONArray negativesConditionJson = listToJson(condExpElementsCondition.get(1));
@@ -128,7 +148,7 @@ public final String toStringJ(final Plan plan) {
                     expJsonCondition.put("Positives", positivesConditionJson);
                     expJsonCondition.put("Negatives", negativesConditionJson);
 
-                    ArrayList<ArrayList<String>> condExpElementsEffect = this.toStringJ(condExp.get(k).getEffects());
+                    ArrayList<ArrayList<String>> condExpElementsEffect = this.toJsonString(condExp.get(k).getEffects());
 
                     JSONArray positivesEffectJson = listToJson(condExpElementsEffect.get(0));
                     JSONArray negativesEffectJson = listToJson(condExpElementsEffect.get(1));
@@ -159,35 +179,38 @@ public final String toStringJ(final Plan plan) {
             }
         }
 
-        jsonPlan = planJson;
+        this.jsonPlan = planJson;
         return planJson.toJSONString();
     }
 
     /**
      * Convert a BitExp into a String collection.
      *
-     * @param exp the BitExp instance to convert
-     * @return an 2D collection of Strings
+     * @param exp the BitExp instance to convert.
+     * @return an 2D collection of Strings.
      */
-    private ArrayList<ArrayList<String>> toStringJ(BitExp exp) {
-        return AdapterPlanJavaJson.toStringJ(exp, codedProblem.getConstants(), codedProblem.getTypes(),
-            codedProblem.getPredicates(), codedProblem.getFunctions(), codedProblem.getRelevantFacts());
+    private ArrayList<ArrayList<String>> toJsonString(final BitExp exp) {
+        return JsonAdapter.toJsonString(exp, this.codedProblem.getConstants(), this.codedProblem.getTypes(),
+            this.codedProblem.getPredicates(), this.codedProblem.getFunctions(), this.codedProblem.getRelevantFacts());
     }
 
     /**
      * Convert a BitExp into a String collection.
      *
-     * @param exp the BitExp instance to convert
-     * @param constants the constants of the problem
-     * @param types the types of the problem
-     * @param predicates the predicates of the problem
-     * @param functions the functions of the problem
-     * @param relevants the facts of the problem
-     * @return an 2D collection of Strings
+     * @param exp the BitExp instance to convert.
+     * @param constants the constants of the problem.
+     * @param types the types of the problem.
+     * @param predicates the predicates of the problem.
+     * @param functions the functions of the problem.
+     * @param relevants the facts of the problem.
+     * @return an 2D collection of Strings.
      */
-    private static ArrayList<ArrayList<String>> toStringJ(BitExp exp, final List<String> constants,
-                                                          final List<String> types, final List<String> predicates,
-                                                          final List<String> functions, final List<IntExp> relevants) {
+    private static ArrayList<ArrayList<String>> toJsonString(final BitExp exp,
+                                                             final List<String> constants,
+                                                             final List<String> types,
+                                                             final List<String> predicates,
+                                                             final List<String> functions,
+                                                             final List<IntExp> relevants) {
         ArrayList<String> fluentsPos = new ArrayList<>();
         ArrayList<String> fluentsNeg = new ArrayList<>();
         ArrayList<ArrayList<String>> fluents = new ArrayList<>();
@@ -208,10 +231,10 @@ private static ArrayList<ArrayList<String>> toStringJ(BitExp exp, final List<Str
     }
 
     /**
-     * Method that transform an ArrayList into a JSONArray.
+     * Transform an ArrayList into a JSONArray.
      *
      * @param list an ArrayList that we want to convert into a List.
-     * @return list the list parameter
+     * @return list the list parameter.
      */
     private static JSONArray listToJson(List<String> list) {
         return list.stream().collect(Collectors.toCollection(JSONArray::new));

src/main/java/fr/uga/pddl4j/encoding/PostInstantiation.java

@@ -486,6 +486,7 @@ static void simplyOperatorsWithGroundInertia(final List<IntOp> operators, final
      */
     static void simplifyGoalWithGroundInertia(final IntExp goal, final Set<IntExp> init) {
         PostInstantiation.simplifyWithGroundInertia(goal, false, init);
+        PostInstantiation.simplify(goal);
     }
 
     /**

src/main/java/fr/uga/pddl4j/encoding/PreInstantiation.java

@@ -198,7 +198,10 @@ static void inferTypesFromInertia(final Set<IntExp> init) {
             if (Encoder.tableOfTypedPredicates.get(i).size() == 1
                 && Encoder.tableOfInertia.get(i).equals(Inertia.INERTIA)) {
                 final Set<Integer> newTypeDomain = new LinkedHashSet<>();
-                for (final IntExp fact : init) {
+                for (IntExp fact : init) {
+                    if (fact.getConnective().equals(Connective.NOT)) {
+                        fact = fact.getChildren().get(0);
+                    }
                     if (fact.getPredicate() == i) {
                         newTypeDomain.add(fact.getArguments()[0]);
                     }
@@ -230,7 +233,10 @@ static void createPredicatesTables(final Set<IntExp> init) {
             Encoder.predicatesTables.add(pTables);
         }
 
-        for (final IntExp fact : init) {
+        for (IntExp fact : init) {
+            if (fact.getConnective().equals(Connective.NOT)) {
+                fact = fact.getChildren().get(0);
+            }
             final int arity = Encoder.tableOfTypedPredicates.get(fact.getPredicate()).size();
             final List<IntMatrix> pTables = Encoder.predicatesTables.get(fact.getPredicate());
             final int[] set = new int[arity];