Loki is a C++20 library for syntactic and semantic parsing and translation of PDDL files. Loki separates the parsing and translation of domain and problem files, allowing users to effectively work with collection of problems.
The parser is based on the canonical parser structure proposed in the Boost Spirit X3 library.
The translator is based on the method presented in section four of the paper "Concise finite-domain representations for PDDL planning tasks by Malte Helmert (AIJ 2009)".
- :strips
- :typing
- :negative-preconditions
- :disjunctive-preconditions
- :equality
- :existential-preconditions
- :universal-preconditions
- :quantified-preconditions
- :conditional-effects
- :numeric-fluents
- :adl
- :derived-predicates
- :action-costs
- :non-deterministic (unsupported in the translator)
- :probabilistic-effects (unsupported in the translator)
Loki depends on a fraction of Boost's header-only libraries (Fusion, Spirit x3, Container), its performance benchmarking framework depends on GoogleBenchmark, and its testing framework depends on GoogleTest.
We provide a CMake Superbuild project that takes care of downloading, building, and installing all dependencies.
# Configure dependencies
cmake -S dependencies -B dependencies/build -DCMAKE_INSTALL_PREFIX=dependencies/installs
# Build and install dependencies
cmake --build dependencies/build -j16# Configure with installation prefixes of all dependencies
cmake -S . -B build -DCMAKE_PREFIX_PATH=${PWD}/dependencies/installs
# Build
cmake --build build -j16
# Install (optional)
cmake --install build --prefix=<path/to/installation-directory>We provide a CMake Superbuild project here that takes care of downloading, building, and installing Loki together and its dependencies. You can simply copy it to your project or integrate it in your own Superbuild and run it similarly to the Superbuild project from above. An example planning library based on Loki is available here.
The executable illustrate how to use Loki.
./build/exe/loki data/gripper/domain.pddl data/gripper/p-2-0.pddlThe testing framework depends on GoogleTest and requires the additional compile flag -DBUILD_TESTS=ON to be set in the cmake configure step.
The benchmark framework depends on GoogleBenchmark and requires the additional compile flag -DBUILD_BENCHMARKS=ON to be set in the cmake configure step. The results from the GitHub action can be viewed here.
We developed Loki in Visual Studio Code. We recommend the C/C++ and CMake Tools extensions by Microsoft. To get maximum IDE support, you should set the following Cmake: Configure Args in the CMake Tools extension settings under Workspace:
-DCMAKE_PREFIX_PATH=${workspaceFolder}/dependencies/installs-DBUILD_TESTS=ON-DBUILD_BENCHMARKS=ON
After running CMake: Configure in Visual Studio Code (ctrl + shift + p), you should see all include paths being correctly resolved.
This work was partially supported by the Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation.