You have two options available 1) Get a working code base container using Docker, or 2) Download the source code and its dependencies.
For Multi-platform execution (Windows, MAC, Linux, Azure, AWS)
You can quickly get a contained working copy in few minutes of the latest LAPKT version in the repository using Docker. For instructions, please visit:
git clone https://github.com/LAPKT-dev/LAPKT-public.git <directory>
will create a clone of the LAPKT master repository in
<directory>. The directory is created if it does not yet exist.
LAPKT requires the following libraries & tools:
In order to compile LAPKT, we recommend g++ 4.7 or better. However, any compiler able to handle both boost libraries and C++11 standard new features, should also be usable (we have been able to compile it under Visual Studio 2010, llvm, and the new Linux bash shell on windows 10). makedepend comes in xutils-dev package.
In order to build LAPKT you need to install scons (a GNU Makefile replacement) in your system. Refer to http://www.scons.org for directions on how to achieve this.
In order to compile some of the examples, you will also need a version
>= 1.49 of the Boost C++ libraries available on your system. You can
check the version you have either manually by looking at the macro
boost/version.hpp or, on debian systems, by running
dpkg -s libboost-dev.
Finally, LAPKT requires the Judy library (http://judy.sourceforge.net/index.html) to support the bitmap array class 'Varset Judy'. NOTE: This dependency will be optional or entirely deprecated in the future.
The following command installs all the dependencies on Ubuntu version > 12.04LTS:
sudo apt-get update && sudo apt-get install --no-install-recommends -y \ build-essential \ ca-certificates \ xutils-dev \ scons \ gcc-multilib \ flex \ bison \ python \ python-dev \ python3 \ python3-dev \ libboost-python-dev \ libboost-dev \ libjudy-dev \ libboost-program-options-dev \ g++-multilib
Issue the command
at the root of the source directory to obtain the (static) library containing essential data structures and other miscellaneous utilities. If debug symbols are needed, the command
builds the library with optimizations disabled and debug symbols enabled.
If you want to use FF-parser, compile the ff into a library by running the following commands:
cd external/libff make clean make depend make
If you are a Mac OS X user, run this command to create the final dynamic library
libtool -o libff.a *.o
As Mac OS X don\'t like static libraries, if you run scons and you get the following error:
ld: library not found for -lcrt0.o
edit the SConstruct and comment (add #) the following line:
common_env.Append( LINKFLAGS = [ '-static' ] )
Compiling Examples and PlannersLink
To compile any example go to a specific folder and type
In FD-parser based examples type
The examples for the 'planner agnostic' interface can be found on
and cover the following topics:
* agnostic-examples/assembling_strips_problems Shows how to define a STRIPS planning problem programatically. * agnostic-examples/successor_generation Discusses the different way of generating successors during search. * agnostic-examples/bfs * agnostic-examples/bfs-double-queue * agnostic-examples/bfs-double-queue-secondary-heuristic Shows how can one assemble available components to deliver a planner built around a BFS search engine, with multiple queues and secondary heuristics, on a parametrized planning task. * agnostic-examples/das Shows how can one assemble available components to deliver a planner built around Deadline Aware Search.
Alternatively, To learn how to ensemble different heuristics go through simple planners like
To learn how to use or create a planner using FD-parser, copy and edit a simple planner like
and to learn how to use or create a planner using FF-parser
or copy and edit a simple Breadth first search planner like
or start from the classic heuristic Search Planner
examples/agnostic-examples/bfs-hmax Shows how to assemble a best-first search using h_max with multiple modes: greedy/delayed/anytime, over a task specified in PDDL and parsed by FF-parser