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Feat: Create STN from a TTP #509
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Very nice work. 😃
It still needs some interface work before merging, but I discovered I will probably have to do it so I wrote mostly general tips.
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## master #509 +/- ##
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+ Coverage 84.91% 85.18% +0.26%
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Files 200 201 +1
Lines 26422 26746 +324
==========================================
+ Hits 22436 22783 +347
+ Misses 3986 3963 -23 ☔ View full report in Codecov by Sentry. |
Hello! This would be very valuable for me in a project I'm starting. Will this work on |
Hi ! It shouldn't be a problem ! If you use a |
Hi @anissaab, thanks for answering! I'm not familiar with how you extract the STN, but I suppose you need to compare the plan with problems' the durative actions, right? But, in a Suppose that two durative actions Is this something you can handle already? Or am I making things more complex than needed? |
Indeed, for now the algorithm currently does not take into consideration task precedence. But it shouldn't be complicated to insert it for |
Ok, thanks! It would be nice to have support for |
@nicola-gigante Handling HTN is a cool idea! I would keep the scope of this PR to "flat" problems, but it is surely an interesting extension! If you have some CPU to work on this, maybe you can start a new PR (I would suggest to start from the non-temporal case and work on the partial order plan construction). I am sure @arbimo will have nice suggestions! 😄 |
@nicola-gigante Yes that is correct. The only (minor) annoyance being that constraints are expressed between a mix of abstracts and primitive tasks, so there is some transitive reasoning to do. The |
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