Struct Domain 

pub struct Domain { /* private fields */ }

The Domain type specifies a problem domain in which to plan.

Usage

This is the top-level type of a domain description. See also Problem.

Example

let input = r#"(define (domain briefcase-world)
      (:requirements :strips :equality :typing :conditional-effects)
      (:types location physob)
      (:constants
            B ; the briefcase
            P ; the paycheck
            D
            - physob)
      (:predicates (at ?x - physob ?y - location) ; an item is at a location
                   (in ?x ?y - physob))           ; an item is in another item
      (:constraints (and))

      ; Move briefcase from one location to another.
      (:action mov-B
           :parameters (?m ?l - location)
           :precondition (and (at B ?m) (not (= ?m ?l)))
           :effect (and (at B ?l) (not (at B ?m))
                        (forall (?z)
                            (when (and (in ?z) (not (= ?z B)))
                                  (and (at ?z ?l) (not (at ?z ?m)))))) )

      ; Put the item in the briefcase.
      (:action put-in
           :parameters (?x - physob ?l - location)
           :precondition (not (= ?x B))  ; the item must not be the briefcase itself
           :effect (when (and (at ?x ?l) (at B ?l))
                 (in ?x)) )

      ; Take the item out of the briefcase.
      (:action take-out
           :parameters (?x - physob)
           :precondition (not (= ?x B)) ; the item must be the briefcase itself
           :effect (not (in ?x)) )
    )"#;

let domain = Domain::from_str(input).unwrap();

assert_eq!(domain.name(), "briefcase-world");
assert_eq!(domain.requirements().len(), 4);
assert_eq!(domain.types().len(), 2);
assert_eq!(domain.constants().len(), 3);
assert_eq!(domain.predicates().len(), 2);
assert!(domain.constraints().is_empty());
assert_eq!(domain.structure().len(), 3);

Implementations

impl Domain

pub fn builder(name: Name, structure: StructureDefs) -> Self

Creates a builder to easily construct Domain instances.

pub fn with_extends<N: IntoIterator<Item = Name>>(self, names: N) -> Self

Adds a list of optional domain names this domain definition extends upon. This is a PDDL 1.2 construct.

pub fn with_requirements(self, requirements: Requirements) -> Self

Adds a list of optional domain requirements.

pub fn with_types<T: Into<Types>>(self, types: T) -> Self

Adds a list of optional type declarations.

pub fn with_constants<C: Into<Constants>>(self, constants: C) -> Self

Adds a list of optional constant declarations.

pub fn with_predicates<P: Into<PredicateDefinitions>>( self, predicates: P, ) -> Self

Adds a list of optional predicate definitions.

pub fn with_functions<F: Into<Functions>>(self, functions: F) -> Self

Adds a list of optional function definitions.

pub fn with_constraints(self, constraints: DomainConstraintsDef) -> Self

Adds a list of optional constraints.

pub fn with_timeless(self, timeless: Timeless) -> Self

Adds a list of timeless predicates.

pub const fn name(&self) -> &Name

Gets the domain name.

pub fn extends(&self) -> &[Name]

Gets the names of the domains this definition extends. This is a PDDL 1.2 construct.

pub const fn requirements(&self) -> &Requirements

Returns the optional domain requirements. If no requirements were specified by the domain, STRIPS is implied.

pub const fn types(&self) -> &Types

Returns the optional type declarations.

Requirements

Requires Typing.

pub const fn constants(&self) -> &Constants

Returns the optional constant definitions.

pub const fn predicates(&self) -> &PredicateDefinitions

Returns the optional predicate definitions.

pub const fn functions(&self) -> &Functions

Returns the optional function definitions.

Requirements

Requires Fluents.

pub const fn constraints(&self) -> &ConstraintGoalDefinition

Returns the optional constraint declaration.

pub const fn structure(&self) -> &StructureDefs

Returns the domain structure definitions.

pub const fn timeless(&self) -> &Timeless

Returns the timeless predicate definitions. This is a PDDL 1.2 construct.

Trait Implementations

impl AsRef<Functions> for Domain

fn as_ref(&self) -> &Functions

Converts this type into a shared reference of the (usually inferred) input type.

impl AsRef<PredicateDefinitions> for Domain

fn as_ref(&self) -> &PredicateDefinitions

Converts this type into a shared reference of the (usually inferred) input type.

impl AsRef<Requirements> for Domain

fn as_ref(&self) -> &Requirements

Converts this type into a shared reference of the (usually inferred) input type.

impl AsRef<StructureDefs> for Domain

fn as_ref(&self) -> &StructureDefs

Converts this type into a shared reference of the (usually inferred) input type.

impl AsRef<Types> for Domain

fn as_ref(&self) -> &Types

Converts this type into a shared reference of the (usually inferred) input type.

impl Clone for Domain

fn clone(&self) -> Domain

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Domain

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Parser for Domain

Available on crate feature parser only.

fn parse<'a, S: Into<Span<'a>>>(input: S) -> ParseResult<'a, Self::Item>

Parses a domain definition.

Example

let input = r#"
 ; A toy domain.
 (define (domain briefcase-world)
      ; If no requirements are provided, :strips is implied.
      (:requirements :strips :equality :typing :conditional-effects)
      (:types location physob) ; type definitions could also be represented as predicates
      (:constants B P D - physob)
      (:predicates (at ?x - physob ?y - location)
                   (in ?x ?y - physob))
      (:constraints (and))

      ; Move briefcase from one location to another.
      (:action mov-B
           :parameters (?m ?l - location)
           :precondition (and (at B ?m) (not (= ?m ?l)))
           :effect (and (at B ?l) (not (at B ?m))
                        (forall (?z)
                            (when (and (in ?z) (not (= ?z B)))
                                  (and (at ?z ?l) (not (at ?z ?m)))))) )

      ; Put the item in the briefcase if it is not already in there.
      (:action put-in
           :parameters (?x - physob ?l - location)
           :precondition (not (= ?x B))
           :effect (when (and (at ?x ?l) (at B ?l))
                 (in ?x)) )

      ; Take the item out of the briefcase if it is in there.
      (:action take-out
           :parameters (?x - physob)
           :precondition (not (= ?x B))
           :effect (not (in ?x)) )
    )"#;

let (_, domain) = Domain::parse(input).unwrap();

assert_eq!(domain.name(), &Name::new("briefcase-world"));
assert_eq!(domain.requirements().len(), 4);
assert_eq!(domain.types().len(), 2);
assert_eq!(domain.constants().len(), 3);
assert_eq!(domain.predicates().len(), 2);
assert!(domain.constraints().is_empty());
assert_eq!(domain.structure().len(), 3);

See also

See parse_domain.

type Item = Domain

fn parse_span(input: Span<'_>) -> ParseResult<'_, Self::Item>

Parses the input into the specified Item type.

fn from_str(input: &str) -> Result<Self::Item, Err<ParseError<'_>>>

Uses the Parser::parse method to parse the input and, if successful, discards the unparsed remaining input.

impl PartialEq for Domain

fn eq(&self, other: &Domain) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Visitor<Domain, RcDoc<'static>> for PrettyRenderer

Available on crate feature pretty only.

fn visit(&self, value: &Domain) -> RcDoc<'static>

impl StructuralPartialEq for Domain