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sample.html
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>Sample</title>
<link rel="stylesheet" type="text/css" href="sample.css" />
<link rel="stylesheet" type="text/css" href="../styles/pddl-gantt.css" />
<script type="text/javascript" src="https://www.gstatic.com/charts/loader.js"></script>
<script defer src="../out-sample/sample.js"></script>
</head>
<body>
<table width="100%">
<tr>
<th>Domain</th>
<th>Problem</th>
</tr>
<tr>
<td width="50%">
<textarea id="domainText">
(define (domain driverlog)
(:requirements :typing :durative-actions)
(:types location locatable - object
driver truck obj - locatable)
(:predicates
(at ?obj - locatable ?loc - location)
(in ?obj1 - obj ?obj - truck)
(driving ?d - driver ?v - truck)
(link ?x ?y - location) (path ?x ?y - location)
(empty ?v - truck)
)
(:durative-action LOAD-TRUCK
:parameters
(?obj - obj
?truck - truck
?loc - location)
:duration (= ?duration 2)
:condition
(and
(over all (at ?truck ?loc)) (at start (at ?obj ?loc)))
:effect
(and (at start (not (at ?obj ?loc))) (at end (in ?obj ?truck))))
(:durative-action UNLOAD-TRUCK
:parameters
(?obj - obj
?truck - truck
?loc - location)
:duration (= ?duration 2)
:condition
(and
(over all (at ?truck ?loc)) (at start (in ?obj ?truck)))
:effect
(and (at start (not (in ?obj ?truck))) (at end (at ?obj ?loc))))
(:durative-action BOARD-TRUCK
:parameters
(?driver - driver
?truck - truck
?loc - location)
:duration (= ?duration 1)
:condition
(and
(over all (at ?truck ?loc)) (at start (at ?driver ?loc))
(at start (empty ?truck)))
:effect
(and (at start (not (at ?driver ?loc)))
(at end (driving ?driver ?truck)) (at start (not (empty ?truck)))))
(:durative-action DISEMBARK-TRUCK
:parameters
(?driver - driver
?truck - truck
?loc - location)
:duration (= ?duration 1)
:condition
(and (over all (at ?truck ?loc)) (at start (driving ?driver ?truck)))
:effect
(and (at start (not (driving ?driver ?truck)))
(at end (at ?driver ?loc)) (at end (empty ?truck))))
(:durative-action DRIVE-TRUCK
:parameters
(?truck - truck
?loc-from - location
?loc-to - location
?driver - driver)
:duration (= ?duration 10)
:condition
(and (at start (at ?truck ?loc-from))
(over all (driving ?driver ?truck)) (at start (link ?loc-from ?loc-to)))
:effect
(and (at start (not (at ?truck ?loc-from)))
(at end (at ?truck ?loc-to))))
(:durative-action WALK
:parameters
(?driver - driver
?loc-from - location
?loc-to - location)
:duration (= ?duration 20)
:condition
(and (at start (at ?driver ?loc-from))
(at start (path ?loc-from ?loc-to)))
:effect
(and (at start (not (at ?driver ?loc-from)))
(at end (at ?driver ?loc-to))))
)
</textarea>
</td>
<td width="50%">
<textarea id="problemText">
(define (problem DLOG-2-2-3)
(:domain driverlog)
(:objects
driver1 - driver
driver2 - driver
truck1 - truck
truck2 - truck
package1 - obj
package2 - obj
package3 - obj
s0 - location
s1 - location
s2 - location
p0-1 - location
p0-2 - location
p1-0 - location
p2-1 - location
)
(:init
(at driver1 s0)
(at driver2 s0)
(at truck1 s0)
(empty truck1)
(at truck2 s1)
(empty truck2)
(at package1 s2)
(at package2 s1)
(at package3 s1)
(path s0 p0-1)
(path p0-1 s0)
(path s1 p0-1)
(path p0-1 s1)
(path s0 p0-2)
(path p0-2 s0)
(path s2 p0-2)
(path p0-2 s2)
(path s2 p2-1)
(path p2-1 s2)
(path s1 p2-1)
(path p2-1 s1)
(link s0 s2)
(link s2 s0)
(link s1 s0)
(link s0 s1)
(link s1 s2)
(link s2 s1)
)
(:goal (and
(at driver1 s1)
(at driver2 s1)
(at truck1 s2)
(at truck2 s0)
(at package1 s0)
(at package2 s2)
(at package3 s0)
))
(:metric minimize (total-time))
)
</textarea>
</td>
</tr>
<tr>
<th>Plan</th>
<th>Options</th>
</tr>
<tr>
<td>
<textarea id="planText" width="100%">
Metric: 126.010
0.0010: (board-truck driver1 truck1 s0) [1.0000]
0.0010: (load-truck package2 truck2 s1) [2.0000]
0.0010: (load-truck package3 truck2 s1) [2.0000]
0.0010: (walk driver2 s0 p0-1) [20.0000]
1.0020: (drive-truck truck1 s0 s2 driver1) [10.0000]
11.0030: (load-truck package1 truck1 s2) [2.0000]
13.0030: (drive-truck truck1 s2 s0 driver1) [10.0000]
20.0020: (walk driver2 p0-1 s1) [20.0000]
23.0040: (unload-truck package1 truck1 s0) [2.0000]
25.0040: (drive-truck truck1 s0 s2 driver1) [10.0000]
35.0050: (drive-truck truck1 s2 s1 driver1) [10.0000]
40.0030: (board-truck driver2 truck2 s1) [1.0000]
41.0040: (drive-truck truck2 s1 s0 driver2) [10.0000]
45.0060: (drive-truck truck1 s1 s2 driver1) [10.0000]
51.0050: (unload-truck package3 truck2 s0) [2.0000]
53.0050: (drive-truck truck2 s0 s2 driver2) [10.0000]
55.0070: (disembark-truck driver1 truck1 s2) [1.0000]
56.0080: (walk driver1 s2 p2-1) [20.0000]
63.0060: (unload-truck package2 truck2 s2) [2.0000]
65.0060: (drive-truck truck2 s2 s1 driver2) [10.0000]
75.0070: (drive-truck truck2 s1 s0 driver2) [10.0000]
76.0090: (walk driver1 p2-1 s1) [20.0000]
85.0080: (disembark-truck driver2 truck2 s0) [1.0000]
86.0090: (walk driver2 s0 p0-1) [20.0000]
106.0100: (walk driver2 p0-1 s1) [20.0000]
</textarea>
</td>
<td>
<textarea id="configuration">
{
"excludeActions": [
"^load"
],
"ignoreActionParameters": [
{
"action": "^(WALK|DRIVE)",
"parameterPattern": "loc-from"
}
],
"customVisualization": "disregarded-path-in-this-usecase"
}
</textarea>
</td>
</tr>
<tr>
<th>Relaxed plan</th>
<th>Plan visualization</th>
</tr>
<tr>
<td>
<label for="now">Time now:</label>
<input type="number" id="now" min="0.001" value="106.01">
<br>
<textarea id="relaxedPlanText" width="100%">
</textarea>
</td>
<td>
<textarea id="planVisualizationScript">
function visualizePlanHtml(plan, width) {
const height = 100;
return `<svg height="${height}" width="${width}">
<rect width="${width}" height="${height}" style="fill:rgb(0,0,255);stroke-width:3;stroke:rgb(0,0,0)" />
<circle cx="${height/2}" cy="${height/2}" r="${plan.metric}" stroke="black" stroke-width="3" fill="red" />
</svg> `;
}
module.exports = {
// define one of the following functions:
visualizePlanHtml: visualizePlanHtml,
visualizePlanInDiv: undefined, // function (hostDiv, plan, width)
visualizePlanSvg: undefined // function (plan, width)
};
</textarea>
See other <a target="_blank" href="https://github.com/jan-dolejsi/pddl-gantt/blob/master/src/CustomVisualization.ts">options for plan/state visualization</a>.
</td>
</tr>
</table>
<label for="planViewWidth">Plan width (in px):</label>
<input type="number" id="planViewWidth" name="planViewWidth" min="200" value="400" disabled>
<button id="addPlan">Add plan</button>
<button id="clear">Clear</button>
<table width="100%">
<tr>
<th>Single plan view</th>
<th>Multiple plan view</th>
</tr>
<tr>
<td><div id="plan"></div></td>
<td><div id="plans"></div></td>
</tr>
</table>
</body>
</html>