concepts.dm.crow.crow_domain.CrowDomain#

class CrowDomain[source]#

Bases: DSLDomainBase

The planning domain definition.

Methods

`add_external_function_implementation_file`(...)	Add an external function implementation file.
`clone`([deep])
`declare_external_function`(function_name, ...)	Declare an external function.
`declare_external_function_crossref`(...)	Declare a cross-reference to an external function.
`define_behavior`(name, arguments, goal, body, ...)	Define a new behavior.
`define_const`(dtype, value)	Define a constant with the given type and value.
`define_controller`(name, arguments[, effect_body])	Define a new controller.
`define_crow_function`(name, arguments[, ...])	Define a new function.
`define_feature`(name, arguments[, ...])	Define a new feature.
`define_function`(function[, implementation])	Define a function in the domain.
`define_generator`(name, arguments, certifies)	Define a new generator.
`define_object_constant`(name, typename)	Define a new object constant.
`define_type`(typename[, parent_name])	Define a new type.
`get_behavior`(name)
`get_controller`(name)	Get a controller by name.
`get_feature`(name)	Get a feature by name.
`get_function`(name)	Get a function by name.
`get_generator`(name)
`get_type`(typename)	Get a type by name.
`has_behavior`(name)
`has_controller`(name)	Check whether a controller exists.
`has_feature`(name)	Check whether a feature exists.
`has_function`(name)	Check whether a function exists.
`has_generator`(name)
`has_type`(typename)	Check whether a type exists.
`incremental_define`(string)	Incrementally define new parts of the domain.
`make_executor`()	Make an executor for this domain.
`parse`(string[, state, variables])	Parse a string into an expression.
`post_init`()	Post-initialization of the domain.
`print_summary`([external_functions, ...])	Print a summary of the domain.
`set_name`(name)	Set the name of the domain.

Attributes

`BUILTIN_NUMERIC_TYPES`
`BUILTIN_PYOBJ_TYPES`
`BUILTIN_TYPES`
`name`	The name of the domain.
`types`	The types defined in the domain, as a dictionary from type names to types.
`functions`	from function name to the corresponding `CrowFunction` class.
`features`	from feature name to the corresponding `CrowFeature` class.
`controllers`	from controller name to the corresponding `Controller` class.
`constants`	The constants defined in the domain, as a dictionary from constant names to values.
`behaviors`	from behavior name to the corresponding `CrowBehavior` class.
`generators`	from generator name to the corresponding `CrowGeneratorBase` class.
`external_functions`	from function name to the corresponding `Function` class.
`external_function_crossrefs`	A mapping from function name to another function name.
`external_function_implementation_files`	A list of external function implementation files (e.g., Python libs that implements the external functions).

__init__(name=None)[source]#

Initialize a planning domain.

Parameters:: name (str | None) – The name of the domain.

__new__(**kwargs)#

add_external_function_implementation_file(file_path)[source]#

Add an external function implementation file. This is useful if we want to declare external functions directly in the domain file.

Parameters:: file_path (str) – the path of the external function implementation file.

clone(deep=True)[source]#

Parameters:: deep (bool)

declare_external_function(function_name, argument_types, return_type, kwargs=None)[source]#

Declare an external function.

Parameters:

function_name (str) – the name of the external function.
argument_types (Sequence[ObjectType | ValueType | FunctionType | SequenceType] | Sequence[Variable] | Dict[str, ObjectType | ValueType | FunctionType | SequenceType]) – the argument types of the external function.
return_type (ObjectType | ValueType | FunctionType | SequenceType) – the return type of the external function.
kwargs (Dict[str, Any] | None) – the keyword arguments of the external function. Supported keyword arguments are: - observation: whether the external function is an observation variable. - state: whether the external function is a state variable.

Return type:

Function

declare_external_function_crossref(function_name, cross_ref_name)[source]#

Declare a cross-reference to an external function. This is useful when one function is an derived function of another function.

Parameters:

function_name (str) – the name of the external function.
cross_ref_name (str) – the name of the cross-reference.

define_behavior(name, arguments, goal, body, effect_body, heuristic=None, minimize=None, always=False)[source]#

Define a new behavior.

Parameters:

name (str) – the name of the new behavior.
arguments (Sequence[Variable]) – the arguments of the new behavior.
goal (ValueOutputExpression | NullExpression) – the goal of the new behavior.
body (CrowBehaviorOrderingSuite) – the body of the new behavior.
effect_body (CrowBehaviorOrderingSuite) – the effect body of the new behavior.
heuristic (CrowBehaviorOrderingSuite | None) – the heuristic of the new behavior.
minimize (ValueOutputExpression | None) – the minimize condition of the new behavior.
always (bool) – whether the new behavior is always “feasible”.

Returns:

the newly defined behavior.

define_const(dtype, value)#

Define a constant with the given type and value.

Parameters:

dtype (ObjectType | ValueType) – the type of the constant.
value (str) – the value of the constant. The value should be a string that is the name of the constant.

define_controller(name, arguments, effect_body=None)[source]#

Define a new controller.

Parameters:

name (str) – the name of the new controller.
arguments (Sequence[Variable]) – the arguments of the new controller.
effect_body (CrowBehaviorOrderingSuite | None) – the effect body of the new controller.

Returns:

the newly defined controller.

Return type:

CrowController

define_crow_function(name, arguments, return_type=BOOL, *, derived_expression=None, generator_placeholder=False, inplace_generators=None, simulation=False, execution=False, is_generator_function=False)[source]#

Define a new function.

Parameters:

name (str) – the name of the new function.
arguments (Sequence[ObjectType | ValueType | FunctionType | SequenceType] | Sequence[Variable] | Dict[str, ObjectType | ValueType | FunctionType | SequenceType]) – the arguments of the new function.
return_type (ObjectType | ValueType | FunctionType | SequenceType) – the return type of the new function.
derived_expression (ValueOutputExpression | None) – the derived expression of the new function.
generator_placeholder (bool) – whether the new function is a generator placeholder.
inplace_generators (Sequence[str] | None) – a list of generators that will be defined in-place for this function.
simulation (bool) – whether the new function requires the up-to-date simulation state to evaluate.
execution (bool) – whether the new function requires the up-to-date execution state to evaluate.
is_generator_function (bool) – whether the new function is a generator function.

Returns:

the newly defined function.

define_feature(name, arguments, return_type=BOOL, *, derived_expression=None, observation=None, state=None, default=None)[source]#

Define a new feature.

Parameters:

name (str) – the name of the new feature.
arguments (Sequence[ObjectType | ValueType | FunctionType | SequenceType] | Sequence[Variable] | Dict[str, ObjectType | ValueType | FunctionType | SequenceType]) – the arguments of the new feature.
return_type (ObjectType | ValueType | FunctionType | SequenceType) – the return type of the new feature.
derived_expression (ValueOutputExpression | None) – the derived expression of the new feature.
observation (bool | None) – whether the new feature is an observation variable.
state (bool | None) – whether the new feature is a state variable.
default (Any | None) – the default value of the new feature.

Returns:

the newly defined feature.

Return type:

CrowFeature

define_function(function, implementation=True)#

Define a function in the domain.

Parameters:

function (Function | Callable) – the function to be defined.
implementation (bool) – whether to store the function body of function as the implementation of the function.

Returns:

the function that is defined.

Return type:

Function

define_generator(name, arguments, certifies, inputs=None, outputs=None, priority=0, simulation=False, execution=False)[source]#

Define a new generator.

Parameters:

name (str) – the name of the new generator.
arguments (Sequence[Variable]) – the parameters of the new generator.
certifies (Sequence[ValueOutputExpression | NullExpression] | ValueOutputExpression | NullExpression) – the certified condition of the new generator.
inputs (Sequence[Variable] | None) – the input variables of the new generator.
outputs (Sequence[Variable] | None) – the output variables of the new generator.
priority (int) – the priority of the new generator.
simulation (bool) – whether the new generator requires the up-to-date simulation state to evaluate.
execution (bool) – whether the new generator requires the up-to-date execution state to evaluate.

Returns:

the newly defined generator.

Return type:

CrowGeneratorBase

define_object_constant(name, typename)[source]#

Define a new object constant.

Parameters:

name (str) – the name of the new constant.
typename (str) – the type of the new constant.

Returns:

the newly defined constant.

Return type:

ObjectConstant

define_type(typename, parent_name='object')[source]#

Define a new type.

Parameters:

typename – the name of the new type.
parent_name (VectorValueType | ScalarValueType | str | None) – the parent type of the new type, default to ‘object’.

Returns:

the newly defined type.

Return type:

ObjectType | PyObjValueType | VectorValueType | ScalarValueType

get_behavior(name)[source]#

Parameters:: name (str)
Return type:: CrowBehavior

get_controller(name)[source]#

Get a controller by name.

Parameters:: name (str) – the name of the controller.
Returns:: the controller with the given name.
Return type:: CrowController

get_feature(name)[source]#

Get a feature by name.

Parameters:: name (str) – the name of the feature.
Returns:: the feature with the given name.
Return type:: CrowFeature

get_function(name)[source]#

Get a function by name.

Parameters:: name (str) – the name of the function.
Returns:: the function with the given name.
Return type:: CrowFunction

get_generator(name)[source]#

Parameters:: name (str)
Return type:: CrowGeneratorBase

get_type(typename)[source]#

Get a type by name.

Parameters:: typename (str) – the name of the type.
Returns:: the type with the given name.
Return type:: ObjectType | PyObjValueType | VectorValueType | ScalarValueType | NamedTensorValueType

has_behavior(name)[source]#

Parameters:: name (str)
Return type:: bool

has_controller(name)[source]#

Check whether a controller exists.

Parameters:: name (str) – the name of the controller.
Returns:: whether the controller exists.
Return type:: bool

has_feature(name)[source]#

Check whether a feature exists.

Parameters:: name (str) – the name of the feature.
Returns:: whether the feature exists.
Return type:: bool

has_function(name)[source]#

Check whether a function exists.

Parameters:: name (str) – the name of the function.
Returns:: whether the function exists.
Return type:: bool

has_generator(name)[source]#

Parameters:: name (str)
Return type:: bool

has_type(typename)[source]#

Check whether a type exists.

Parameters:: typename (str) – the name of the type.
Returns:: whether the type exists.

incremental_define(string)[source]#

Incrementally define new parts of the domain.

Parameters:: string (str) – the string to be parsed and defined.

make_executor()[source]#

Make an executor for this domain.

Return type:: CrowExecutor

parse(string, state=None, variables=None)[source]#

Parse a string into an expression.

Parameters:

string (str | Expression) – the string to be parsed.
variables (Sequence[Variable] | None) – the variables to be used in the expression.
state (State | None)

Returns:

the parsed expression.

Return type:

Expression

post_init()[source]#

Post-initialization of the domain. This function should be called by the domain generator after all the domain definitions (predicates and operators) are done. Currently, the following post-initialization steps are performed:

Analyze the static predicates.

print_summary(external_functions=False, full_generators=False)[source]#

Print a summary of the domain.

Parameters:

external_functions (bool)
full_generators (bool)

set_name(name)[source]#

Set the name of the domain.

Parameters:: name (str) – the new name of the domain.

BUILTIN_NUMERIC_TYPES = {'bool': ScalarValueType<bool>, 'float32': ScalarValueType<float32>, 'int64': ScalarValueType<int64>, 'string': PyObjValueType<string>}#

BUILTIN_PYOBJ_TYPES = {'__behavior_body__': PyObjValueType<__behavior_body__>}#

BUILTIN_TYPES = ['object', 'pyobject', 'bool', 'int64', 'float32', 'string', '__totally_ordered_plan__']#

behaviors: Dict[str, CrowBehavior]#

from behavior name to the corresponding CrowBehavior class.

Type:: A mapping of behaviors

constants: Dict[str, ObjectConstant]#: The constants defined in the domain, as a dictionary from constant names to values.

controllers: Dict[str, CrowController]#

from controller name to the corresponding Controller class.

Type:: A mapping of controllers

external_function_crossrefs: Dict[str, str]#: A mapping from function name to another function name. This is useful when defining one function as an derived function of another function.

external_function_implementation_files: List[str]#: A list of external function implementation files (e.g., Python libs that implements the external functions).

external_functions: Dict[str, Function]#

from function name to the corresponding Function class.

Type:: A mapping of external functions

features: Dict[str, CrowFeature]#

from feature name to the corresponding CrowFeature class.

Type:: A mapping of features

functions: Dict[str, CrowFunction]#

from function name to the corresponding CrowFunction class.

Type:: A mapping of functions

generators: Dict[str, CrowGeneratorBase]#

from generator name to the corresponding CrowGeneratorBase class.

Type:: A mapping of generators

name: str#: The name of the domain.

types: Dict[str, ObjectType | PyObjValueType | TensorValueTypeBase | AliasType]#: The types defined in the domain, as a dictionary from type names to types.