def solve_sequential(evaluations,
goal_exp,
domain,
unit_costs=False,
debug=False,
**search_args):
problem = get_problem(evaluations, goal_exp, domain, unit_costs)
task = task_from_domain_problem(domain, problem)
if has_attachments(domain):
with Verbose(debug):
instantiated = instantiate_task(task)
return solve_pyplanners(instantiated, **search_args)
sas_task = sas_from_pddl(task, debug=debug)
return abstrips_solve_from_task(sas_task, debug=debug, **search_args)
def solve_finite(evaluations, goal_exp, domain, unit_costs=False, debug=False, **search_args):
if isinstance(domain, SimplifiedDomain):
problem = get_problem_pddl(evaluations, goal_exp, domain.pddl)
pddl_plan, cost = solve_tfd(domain.pddl, problem, debug=debug)
else:
problem = get_problem(evaluations, goal_exp, domain, unit_costs)
task = task_from_domain_problem(domain, problem)
if has_attachments(domain):
with Verbose(debug):
instantiated = instantiate_task(task)
pddl_plan, cost = solve_pyplanners(instantiated, **search_args)
else:
sas_task = sas_from_pddl(task, debug=debug)
pddl_plan, cost = abstrips_solve_from_task(sas_task, debug=debug, **search_args)
plan = obj_from_pddl_plan(pddl_plan)
return plan, cost