def main(domain, problem, useheuristic):
t0 = time.time()
(path, cost, visited_cnt, expanded_cnt) = plan(pddl.parse_domain(domain),
pddl.parse_problem(problem),
useheuristic)
print("visited nodes:", visited_cnt, "expanded nodes:", expanded_cnt)
if path is not None:
print("Plan found with cost", cost)
for n in path:
print(n.name)
else:
print("No plan found")
print("needed %.2f seconds" % (time.time() - t0))
def runplanner(domain, problem, useheuristic, cost, visited, expanded):
(_, cost.value, visited.value,
expanded.value) = planner.plan(pddl.parse_domain(domain),
pddl.parse_problem(problem), useheuristic)