Version bump for release 3.0.3.

- should be deleted later -

.gitattributes

@@ -1 +1,7 @@
+.gitignore export-ignore
+.gitattributes export-ignore
+.gitmodules export-ignore
+.travis.yml export-ignore
+
 tests/data/* linguist-documentation
+instances/* linguist-documentation

.travis.yml

@@ -11,11 +11,15 @@ matrix:
             - boost-latest
           packages:
             - g++-5
-            - libboost1.55-all-dev
+            - libboost-program-options1.55-dev
-            - libgtest-dev
+            - libboost-iostreams1.55-dev
+            - libboost-system1.55-dev
+            - libboost-filesystem1.55-dev
       env: COMPILER=g++-5
 script:
+  - git submodule init
+  - git submodule update
   - mkdir build
   - cd build
   - cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON -DCMAKE_CXX_COMPILER=$COMPILER
-  - make && make run-tests
+  - make -j3 && make -j3 run-tests

CHANGELOG.md

@@ -0,0 +1,46 @@
+# Change Log
+
+## 3.0.3 (2016-09-02)
+
+Bug Fixes:
+
+* fixes incorrect output format of conditional effects with SAS
+* fixes parsing issue with unexpected whitespaces in SAS files
+
+## 3.0.2 (2016-08-18)
+
+Features:
+
+* unified translation format for SAS and PDDL files
+* documentation of `plasp`’s output format
+* improved output syntax highlighting
+* uses ASP string literals to avoid escaping PDDL identifiers
+
+Bug Fixes:
+
+* fixes minor formatting issues in SAS translation
+* fixes issue with unsupported expression negations
+
+## 3.0.1 (2016-06-14)
+
+Features:
+
+* basic support for parsing PDDL 3.1 domains and problems
+* limited support for translating PDDL 3.1 domains and problems to ASP facts
+* automatic language detection for PDDL and SAS
+* supports input from `std::cin`
+* supports colorized output
+* new command-line option `--language` to explicitly specify input language
+* new command-line option `--warning-level` to treat warnings as errors or to ignore warnings
+* new command-line option `--color` to autodetect, enable, or disable color output
+
+Bug Fixes:
+
+* fixes bug in translation of SAS axiom rules
+
+## 3.0.0 (2016-05-24)
+
+Features:
+
+* parses [SAS](http://www.fast-downward.org/TranslatorOutputFormat) files created with [Fast Downward](http://www.fast-downward.org/)
+* experimental translation from SAS to ASP facts

CMakeLists.txt

@@ -3,7 +3,7 @@ project(plasp CXX)
 
 find_package(Boost 1.55.0 COMPONENTS program_options iostreams system filesystem REQUIRED)
 
-set(CMAKE_CXX_FLAGS "-Wall -Wpedantic")
+set(CMAKE_CXX_FLAGS "-Wall -Wextra -Wpedantic")
 set(CMAKE_CXX_FLAGS_DEBUG "-g")
 add_definitions(-std=c++14)
 

LICENSE.md

@@ -1,6 +1,6 @@
-The MIT License (MIT)
+# The MIT License (MIT)
 
-Copyright (c) 2016 Patrick Lühne
+Copyright © 2016 Patrick Lühne
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.md

@@ -1,50 +1,70 @@
 # plasp—Translate PDDL to ASP
 
-[![Build Status](https://travis-ci.org/potassco/plasp.svg?branch=master)](https://travis-ci.org/potassco/plasp)
+[![GitHub Release](https://img.shields.io/github/release/potassco/plasp.svg?maxAge=3600)](https://github.com/potassco/plasp/releases)
+[![Build Status](https://img.shields.io/travis/potassco/plasp/develop.svg?maxAge=3600&label=build (master))](https://travis-ci.org/potassco/plasp?branch=master)
+[![Build Status](https://img.shields.io/travis/potassco/plasp/develop.svg?maxAge=3600&label=build (develop))](https://travis-ci.org/potassco/plasp?branch=develop)
 
 `plasp` 3 is in early development and not intended for productive use yet.
 
-As of now, `plasp` 3 experimentally supports the full [SAS Format](http://www.fast-downward.org/TranslatorOutputFormat) (as of version 3) used by [Fast Downward](http://www.fast-downward.org/).
+`plasp` translates planning problem instances to ASP facts.
+`plasp` 3 supports the input languages [PDDL 3.1](https://helios.hud.ac.uk/scommv/IPC-14/software.html) (only basic features currently) and [SAS](http://www.fast-downward.org/TranslatorOutputFormat) (full support of SAS 3), which is used by [Fast Downward](http://www.fast-downward.org/).
 
 Please get in touch with [Patrick Lühne](https://www.luehne.de) if you have any suggestions.
 
 ## Usage
 
-To translate an SAS file into ASP facts, call:
+### Translating PDDL to ASP Facts
+
+PDDL instances are translated to ASP facts as follows:
 
 ```bash
-$ plasp file.sas
+$ plasp domain.pddl problem.pddl
 ```
 
-For instance, a PDDL instance can be solved as follows.
+Alternatively, PDDL instances may first be translated to SAS, the output format of [Fast Downward](http://www.fast-downward.org/).
-First, use [Fast Downward](http://www.fast-downward.org/) to translate the files from PDDL to SAS:
 
 ```bash
-$ ./fast-downward.py --translate --build=release64 domain.pddl instance.pddl
+$ ./fast-downward.py --translate --build=release64 domain.pddl problem.pddl
 ```
 
-This creates the file `output.sas`.
+This creates a file called `output.sas`, which may now be translated by `plasp`.
-The translated SAS instance can now be solved incrementally with `clingo` and the meta encoding `meta-sequential-incremental.lp`:
 
 ```bash
-$ plasp output.sas > instance.lp
+$ plasp output.sas
-$ clingo encodings/meta-sequential-incremental.lp instance.lp
 ```
 
+### Solving the Translated Instance
+
+The translated instance can finally be solved incrementally with `clingo` and a meta encoding, for instance, [`sequential-incremental.lp`](encodings/sequential-incremental.lp):
+
+```bash
+$ plasp domain.pddl problem.pddl > instance.lp
+$ clingo encodings/sequential-incremental.lp instance.lp
+```
+
+## Command-Line Interface
+
+```bash
+$ plasp [files] [options]
+```
+
+`plasp` automatically detects the language of the input program.
+
+See [command-line interface](doc/command-line-interface.md) for more details.
+
+## Output Format
+
+`plasp` provides a uniform output format for SAS and PDDL input problems.
+
+See [output format](doc/output-format.md) for more details.
+
+If you want to write your own meta encoding for `plasp`’s output, this [simple example encoding](encodings/sequential-incremental.lp) gets you started.
+
 ## Building
 
-`plasp` requires a C++14 compiler (preferrably GCC ≥ 6.1), the `boost` libraries (≥ 1.55), and CMake for building.
+`plasp` requires `boost` and is built via CMake and a C++ compiler.
 
-```bash
+See [building instructions](doc/building-instructions.md) for more details.
-$ git clone https://github.com/potassco/plasp.git
-$ cd plasp
-$ mkdir -p build/release
-$ cd build/release
-$ cmake ../.. -DCMAKE_BUILD_TYPE=Release
-$ make
-```
-
-The built `plasp` binary is then located at `plasp/build/release/bin/plasp`.
 
 ## Contributors
 
@@ -52,5 +72,5 @@ The built `plasp` binary is then located at `plasp/build/release/bin/plasp`.
 
 ### Earlier Versions
 
-* René Knaebel (`plasp` 2)
+* René Knaebel
-* Murat Knecht (`plasp`)
+* Murat Knecht

apps/plasp-app/main.cpp

@@ -1,9 +1,16 @@
+#include <algorithm>
 #include <iostream>
+#include <string>
 
 #include <boost/program_options.hpp>
 
+#include <plasp/LanguageDetection.h>
+#include <plasp/pddl/Description.h>
+#include <plasp/pddl/TranslatorASP.h>
 #include <plasp/sas/Description.h>
 #include <plasp/sas/TranslatorASP.h>
+#include <plasp/utils/LogStream.h>
+#include <plasp/utils/TranslatorException.h>
 
 int main(int argc, char **argv)
 {
@@ -13,7 +20,10 @@ int main(int argc, char **argv)
 	description.add_options()
 		("help,h", "Display this help message.")
 		("version,v", "Display version information.")
-		("input,i", po::value<std::string>(), "Specify the SAS input file.");
+		("input,i", po::value<std::vector<std::string>>(), "Specify the PDDL or SAS input file.")
+		("language,l", po::value<std::string>(), "Specify the input language (sas or pddl). Omit for automatic detection.")
+		("warning-level", po::value<std::string>()->default_value("normal"), "Specify whether to output warnings normally (normal), to treat them as critical errors (error), or to ignore them (ignore).")
+		("color", po::value<std::string>()->default_value("auto"), "Specify whether to colorize the output (always, never, or auto).");
 
 	po::positional_options_description positionalOptionsDescription;
 	positionalOptionsDescription.add("input", -1);
@@ -23,12 +33,14 @@ int main(int argc, char **argv)
 	const auto printHelp =
 		[&]()
 		{
-			std::cout << "Usage: plasp file [options]" << std::endl;
+			std::cout << "Usage: plasp [files] [options]" << std::endl;
 			std::cout << "Translate PDDL instances to ASP facts." << std::endl << std::endl;
 
 			std::cout << description;
 		};
 
+	plasp::utils::Logger logger;
+
 	try
 	{
 		po::store(po::command_line_parser(argc, argv)
@@ -40,7 +52,8 @@ int main(int argc, char **argv)
 	}
 	catch (const po::error &e)
 	{
-		std::cerr << "Error: " << e.what() << std::endl << std::endl;
+		logger.logError(e.what());
+		std::cout << std::endl;
 		printHelp();
 		return EXIT_FAILURE;
 	}
@@ -53,27 +66,108 @@ int main(int argc, char **argv)
 
 	if (variablesMap.count("version"))
 	{
-		std::cout << "plasp version 3.0.0" << std::endl;
+		std::cout << "plasp version 3.0.3" << std::endl;
 		return EXIT_SUCCESS;
 	}
 
-	if (!variablesMap.count("input"))
+	const auto warningLevel = variablesMap["warning-level"].as<std::string>();
+
+	if (warningLevel == "error")
+		logger.setWarningLevel(plasp::utils::Logger::WarningLevel::Error);
+	else if (warningLevel == "ignore")
+		logger.setWarningLevel(plasp::utils::Logger::WarningLevel::Ignore);
+	else if (warningLevel == "normal")
+		logger.setWarningLevel(plasp::utils::Logger::WarningLevel::Normal);
+	else
 	{
-		std::cerr << "Error: No input file specified" << std::endl << std::endl;
+		logger.logError("unknown warning level “" + warningLevel + "”");
+		std::cout << std::endl;
+		printHelp();
+		return EXIT_FAILURE;
+	}
+
+	const auto colorPolicy = variablesMap["color"].as<std::string>();
+
+	if (colorPolicy == "auto")
+		logger.setColorPolicy(plasp::utils::LogStream::ColorPolicy::Auto);
+	else if (colorPolicy == "never")
+		logger.setColorPolicy(plasp::utils::LogStream::ColorPolicy::Never);
+	else if (colorPolicy == "always")
+		logger.setColorPolicy(plasp::utils::LogStream::ColorPolicy::Always);
+	else
+	{
+		logger.logError("unknown color policy “" + colorPolicy + "”");
+		std::cout << std::endl;
 		printHelp();
 		return EXIT_FAILURE;
 	}
 
 	try
 	{
-		const auto sasDescription = plasp::sas::Description::fromFile(variablesMap["input"].as<std::string>());
+		plasp::utils::Parser<plasp::utils::CaseInsensitiveParserPolicy> parser;
-		const auto sasTranslator = plasp::sas::TranslatorASP(sasDescription);
+
-		sasTranslator.translate(std::cout);
+		if (variablesMap.count("input"))
+		{
+			const auto &inputFiles = variablesMap["input"].as<std::vector<std::string>>();
+
+			std::for_each(inputFiles.cbegin(), inputFiles.cend(),
+				[&](const auto &inputFile)
+				{
+					parser.read(inputFile);
+				});
+		}
+		else
+			parser.read("std::cin", std::cin);
+
+		const auto detectLanguage =
+			[&]()
+			{
+				if (variablesMap.count("language") == 0)
+					return plasp::detectLanguage(parser);
+
+				const auto languageName = variablesMap["language"].as<std::string>();
+
+				return plasp::Language::fromString(languageName);
+			};
+
+		const auto language = detectLanguage();
+
+		if (language == plasp::Language::Type::Unknown)
+		{
+			logger.logError("unknown input language");
+			std::cout << std::endl;
+			printHelp();
+			return EXIT_FAILURE;
+		}
+
+		if (language == plasp::Language::Type::PDDL)
+		{
+			auto pddlLogger = logger;
+			auto context = plasp::pddl::Context(std::move(parser), std::move(pddlLogger));
+			auto description = plasp::pddl::Description::fromContext(std::move(context));
+			const auto translator = plasp::pddl::TranslatorASP(description, description.context().logger.outputStream());
+			translator.translate();
+		}
+		else if (language == plasp::Language::Type::SAS)
+		{
+			const auto description = plasp::sas::Description::fromParser(std::move(parser));
+			const auto translator = plasp::sas::TranslatorASP(description, logger.outputStream());
+			translator.translate();
+		}
+	}
+	catch (const plasp::utils::ParserException &e)
+	{
+		logger.logError(e.coordinate(), e.message());
+		return EXIT_FAILURE;
+	}
+	catch (const plasp::utils::TranslatorException &e)
+	{
+		logger.logError(e.what());
+		return EXIT_FAILURE;
 	}
 	catch (const std::exception &e)
 	{
-		std::cerr << "Error: " << e.what() << std::endl << std::endl;
+		logger.logError(e.what());
-		printHelp();
 		return EXIT_FAILURE;
 	}
 

doc/building-instructions.md

@@ -0,0 +1,44 @@
+# Building Instructions
+
+`plasp` requires a C++14 compiler (preferrably GCC ≥ 6.1 or clang ≥ 3.8), the `boost` libraries (≥ 1.55), and CMake for building.
+
+```bash
+$ git clone https://github.com/potassco/plasp.git
+$ cd plasp
+$ mkdir -p build/release
+$ cd build/release
+$ cmake ../.. -DCMAKE_BUILD_TYPE=Release
+$ make
+```
+
+The built `plasp` binary is then located at `plasp/build/release/bin/plasp`.
+
+To update `plasp` to the most recent version, perform the following steps:
+
+```bash
+$ cd plasp
+$ git pull
+$ cd build/release
+$ cmake .
+$ make
+```
+
+## Running the Tests
+
+`plasp` provides unit tests written using the [Google Test](https://github.com/google/googletest) framework.
+Before building and running the tests, make sure you have fetched the Google Test git submodule:
+
+```bash
+$ git submodule init
+$ git submodule update
+```
+
+Afterward, enable the flag `BUILD_TESTS` in your CMake configuration.
+Finally, build and run the tests as follows:
+
+```bash
+$ make run-tests
+```
+
+After updating `plasp`, make sure to execute CMake again in order for the tests to run correctly.
+Else, external files required by the test suite may be reported missing.

doc/command-line-interface.md

@@ -0,0 +1,18 @@
+# Command-Line Interface
+
+```bash
+$ plasp [files] [options]
+```
+
+`plasp` automatically detects the language of the input files.
+
+Multiple files may be provided in an arbitrary order.
+`[files]` may also be omitted, in which case the input is read from `std::cin`.
+
+`plasp` supports the following options:
+
+| **option**                        | **explanation**                                                                                                                   |
+|-----------------------------------|-----------------------------------------------------------------------------------------------------------------------------------|
+| `-l` [ `--language` ]             | Specify the input language (`sas` or `pddl`). Omit for automatic detection.                                                       |
+| `--warning-level` arg (=`normal`) | Specify whether to output warnings normally (`normal`), to treat them as critical errors (`error`), or to ignore them (`ignore`). |
+| `--color` arg (=`auto`)           | Specify whether to colorize the output (`always`, `never`, or `auto`).                                                            |

doc/feature-requirements.md

@@ -0,0 +1,22 @@
+# Feature Requirements
+
+Feature requirements are part of `plasp`’s [output format](output-format.md).
+Currently, `plasp` detects feature requirements only for SAS problems.
+
+`plasp` supports the following feature requirements:
+
+SAS feature | description
+------------|------------
+`actionCosts` | actions have associated costs (see [action costs](output-format.md#action-costs))
+`axiomRules` | immediate actions are used, which are executed as soon as the preconditions are satisfied (see [axiom rules](output-format.md#axiom-rules))
+`conditionalEffects` | some effects of an action may have additional conditions (see [actions](output-format.md#actions))
+
+## Example
+
+The following specifies that the input problem has the two requirements `actionCosts` and `conditionalEffects`.
+
+```prolog
+% requirements
+requiresFeature(actionCosts).
+requiresFeature(conditionalEffects).
+```

doc/output-format.md

@@ -0,0 +1,209 @@
+# Output Format
+
+`plasp` 3 translates SAS and PDDL files into a uniform ASP fact format.
+
+## Overview
+
+Essentially, `plasp`’s output format consists of [state variables](#variables) that are modified by [actions](#actions) if their preconditions are fulfilled.
+Variables reference [entities](#constants-objects) that are affected by the actions.
+As with PDDL, the objective is to achieve a specific [goal](#goal) starting from an [initial state](#initial-state) by executing a sequence of actions.
+
+`plasp`’s variables correspond to the multivalued variables in SAS.
+PDDL predicates are turned into Boolean variables to make the output format consistent.
+
+Actions are modeled exactly as PDDL actions and SAS operators.
+
+## In a Nutshell
+
+The following illustrates `plasp`’s output format for the problem of turning switches on and off.
+
+```prolog
+% declares the type "type(switch)"
+type(type(switch)).
+
+% introduces a switch "constant(a)"
+constant(constant(a)).
+has(constant(a), type(switch)).
+
+% declares a variable "variable(on(X))" for switches X
+variable(variable(on(X))) :- has(X, type(switch)).
+
+% the variable may be true or false
+contains(variable(on(X)), value(on(X)), true)) :- has(X, type(switch)).
+contains(variable(on(X)), value(on(X)), false)) :- has(X, type(switch)).
+
+% declares the action "action(turnOn(X))", which requires switch X to be off and then turns it on
+action(action(turnOn(X))) :- has(X, type(switch)).
+precondition(action(turnOn(X)), variable(on(X)), value(on(X), false)) :- has(X, type(switch)).
+postcondition(action(turnOn(X)), effect(0), variable(on(X)), value(on(X), true)) :- has(X, type(switch)).
+
+% initially, the switch is off
+initialState(variable(on(constant(a))), value(on(constant(a)), false)).
+
+% in the end, the switch should be on
+goal(variable(on(constant(a))), value(on(constant(a)), true)).
+```
+
+## Syntax and Semantics
+
+`plasp` structures the translated ASP facts into multiple sections, which are explained in the following.
+
+### Feature Requirements
+
+```prolog
+% declares a required feature
+requires(feature(<name>)).
+```
+
+`plasp` recognizes and declares advanced features used by the input problem, such as conditional effects, [mutex groups](#mutex-groups) and [axiom rules](#axiom-rules) (currently only SAS).
+See the [full list of supported features](feature-requirements.md) for more information.
+
+The feature requirement predicates may be used in meta encodings to warn about unsupported features.
+
+### Types
+
+```prolog
+% declares a <type>
+type(type(<name>)).
+
+% specifies that <type 1> inherits <type 2>
+inherits(type(<type 1>), type(<type 2>)).
+
+% specifies <constant> to have type type(<name>)
+has(<constant>, type(<name>)).
+```
+
+[Variables](#variables), [constants](#constants-objects), and [objects](#constants-objects) may be typed. Types are only available with PDDL and if typing is enabled.
+
+`plasp` automatically generates all matching `has` predicates for objects with types that inherit other types.
+
+### Variables
+
+```prolog
+% declares a <variable>
+variable(variable(<name>)).
+
+% adds a <value> to the domain of a <variable>
+contains(<variable>, <value>).
+```
+
+`plasp`’s variables represent the current state of the planning problem.
+Variables are linked to the problem's [objects](#constants-objects) and [constants](#constants-objects).
+
+`plasp`’s variables are multivalued, and each variable has exactly one value at each point in time.
+
+With SAS, variable names are numbers starting at 0, `variable(<number>)`.
+SAS variables are inherently multivalued, which results in two or more values of the form `value(<SAS predicate>, <SAS value>)` for each variable.
+
+With PDDL, Boolean variables are created from the PDDL predicates.
+Variables are named after the PDDL predicates, `variable(<PDDL predicate>).`
+Each variable contains exactly two values (one `true`, one `false`) of the form `value(<PDDL predicate>, <bool>)`.
+Note that with PDDL, variables and values are named identically.
+
+### Actions
+
+```prolog
+% declares an <action>
+action(action(<name>)).
+
+% defines that as a precondition to <action>, <variable> must have value <value>
+precondition(<action>, <variable>, <value>).
+
+% defines that after applying <action>, <variable> is assigned <value>
+postcondition(<action>, effect(<number>), <variable>, <value>).
+
+% defines the condition of a conditional effect
+precondition(effect(<number>), <variable>, <value>).
+
+% specifies the costs of applying <action>
+costs(<action>, <number>).
+```
+
+Actions may require certain variables to have specific values in order to be executed.
+After applying an action, variables get new values according to the action's postconditions.
+
+Actions may have *conditional effects*, that is, certain postconditions are only applied if additional conditions are satisfied.
+For this reason, each conditional effect is uniquely identified with a predicate `effect(<number>)` as the second argument of the `postcondition` facts.
+The conditions of conditional effects are given by additional `precondition` facts that take the respective `effect(<number>)` predicates as the first argument.
+
+Unconditional effects are identified with `effect(unconditional)`.
+
+Conditional effects are currently only supported with SAS input problems.
+
+Actions may also have *action costs* required to apply them. Action costs are currently supported for SAS only.
+
+### Constants/Objects
+
+```prolog
+% declares a <constant> or object
+constant(constant(<name>)).
+
+% specifies <constant> to have type type(<name>)
+has(<constant>, <type>).
+```
+
+Constants and objects are the entities that are affected by [actions](#actions), for instance, the blocks in a Blocks World problem.
+Constants are global for a domain, while objects are problem-specific.
+
+`plasp` does not distinguish between the two (modeling both as constants), as both are identically used static identifiers.
+
+### Initial State
+
+```prolog
+% initializes <variable> with a specific <value>
+initialState(<variable>, <value>).
+```
+
+The initial state contains all [variable](#variables) assignments that hold before executing any [actions](#actions).
+
+Note that with PDDL, `plasp` sets all unspecified initial state variables to `false` in order to make the initial state total.
+
+### Goal
+
+```prolog
+% specifies that <variable> shall obtain <value> in the end
+goal(<variable>, <value>).
+```
+
+The goal specifies all variable assignments that have to be fulfilled after executing the plan.
+
+### Mutex Groups
+
+```prolog
+% declares a <mutex group>
+mutexGroup(mutexGroup(<number>)).
+
+% adds the assignment of <variable> to <value> to a <mutex group>
+contains(<mutex group>, <variable>, <value>).
+```
+
+SAS contains information about mutually exclusive [variable](#variables) assignments.
+That is, *at most one* variable assignment of each mutex group must be satisfied at all times.
+
+Mutex group facts are only present with SAS input programs and not PDDL.
+
+Mutex groups contain essential information in order to find plans correctly.
+That is, if mutex groups are present in `plasp`’s output, they have to be accounted for appropriately.
+
+### Axiom Rules
+
+```prolog
+% declares an <axiom rule>
+axiomRule(axiomRule(<number>)).
+
+% defines that as a precondition to <axiom rule>, <variable> must have value <value>
+precondition(<axiom rule>, <variable>, <value>).
+
+% defines that after applying <axiom rule>, <variable> is assigned <value>
+postcondition(<axiom rule>, effect(unconditional), <variable>, <value>).
+```
+
+Axiom rules are similar to [actions](#actions) in that they modify [variables](#variables) if certain preconditions are satisfied.
+However, axiom rules must be applied *immediately* as soon as their preconditions are satisfied.
+
+The second argument of `postcondition`, `effect(unconditional)`, is not used and exists only for consistency with [actions](#actions).
+
+Axiom rule facts are only present with SAS input programs and not PDDL.
+
+Axiom rules contain essential information in order to find plans correctly.
+That is, if axiom rules are present in `plasp`’s output, they have to be accounted for appropriately.

encodings/meta-sequential-incremental.lp

@@ -1,40 +0,0 @@
-#include <incmode>.
-
-% Check feature requirements
-:- requiresFeature(actionCosts).
-:- requiresFeature(axiomRules).
-:- requiresFeature(conditionalEffects).
-
-#program base.
-
-% Establish initial state
-holds(Var, Val, 0) :- initialState(Var, Val).
-
-#program step(t).
-
-% Perform actions
-1 {occurs(action(A), t) : action(A)} 1.
-
-% Check preconditions
-:- occurs(A, t), precondition(A, Var, Val), not holds(Var, Val, t - 1).
-
-% Apply effects
-caused(Var, Val, t) :- occurs(A, t), postcondition(A, _, Var, Val).
-modified(Var, t) :- caused(Var, Val, t).
-
-holds(Var, Val, t) :- caused(Var, Val, t).
-holds(Var, Val, t) :- holds(Var, Val, t - 1), not modified(Var, t).
-
-% Check that variables have unique values
-:- variable(X), Var = variable(X), not 1 {holds(Var, Val, t) : contains(Var, Val)} 1.
-
-% Check mutexes
-:- mutexGroup(X), M = mutexGroup(X), not {holds(Var, Val, t) : contains(M, Var, Val)} 1.
-
-#program check(t).
-
-% Verify that goal is met
-:- query(t), goal(Var, Val), not holds(Var, Val, t).
-
-#show query/1.
-#show occurs/2.

encodings/pddl-sequential-horizon-boolean.lp

@@ -0,0 +1,28 @@
+#const horizon=1.
+
+step(0..horizon).
+
+ precondition(Action,variable(Fluent),Value) :-  precondition(Action,                      variable(Fluent),value(Fluent,Value)).
+postcondition(Action,variable(Fluent),Value) :- postcondition(Action,effect(unconditional),variable(Fluent),value(Fluent,Value)).
+
+holds(variable(Fluent),0) :- initialState(variable(Fluent),value(Fluent,true)).
+
+ { occurs(Action,T) : action(Action) } = 1 :- step(T), T>0.
+
+:- occurs(Action,T), precondition(Action,Fluent,true), not holds(Fluent,T-1).
+:- occurs(Action,T), precondition(Action,Fluent,false),    holds(Fluent,T-1).
+
+caused(Fluent,T) :- occurs(Action,T), postcondition(Action,Fluent,true).
+
+holds(Fluent,T) :- caused(Fluent,T).
+holds(Fluent,T) :-  holds(Fluent,T-1), not occurs(Action,T) : postcondition(Action,Fluent,false); T<=horizon.
+
+goalAt(T) :-     holds(variable(Variable),T) : goal(variable(Variable), value(Variable,true));
+             not holds(variable(Variable),T) : goal(variable(Variable), value(Variable,false));
+	     T=horizon.
+
+ :- not goalAt(horizon).
+
+#show occurs/2.
+% #show holds/2.
+

encodings/pddl-sequential-incremental-boolean.lp

@@ -0,0 +1,31 @@
+#include <incmode>.
+
+#program base.
+
+ precondition(Action,variable(Fluent),Value) :-  precondition(Action,                      variable(Fluent),value(Fluent,Value)).
+postcondition(Action,variable(Fluent),Value) :- postcondition(Action,effect(unconditional),variable(Fluent),value(Fluent,Value)).
+
+holds(variable(Fluent),0) :- initialState(variable(Fluent),value(Fluent,true)).
+
+#program step(t).
+
+ { occurs(Action,t) : action(Action) } = 1.
+
+:- occurs(Action,t), precondition(Action,Fluent,true), not holds(Fluent,t-1).
+:- occurs(Action,t), precondition(Action,Fluent,false),    holds(Fluent,t-1).
+
+caused(Fluent,t) :- occurs(Action,t), postcondition(Action,Fluent,true).
+
+holds(Fluent,t) :- caused(Fluent,t).
+holds(Fluent,t) :-  holds(Fluent,t-1), not occurs(Action,t) : postcondition(Action,Fluent,false).
+
+#program check(t).
+
+goalAt(t) :-     holds(variable(Variable),t) : goal(variable(Variable), value(Variable,true));
+             not holds(variable(Variable),t) : goal(variable(Variable), value(Variable,false)).
+
+ :- not goalAt(t), query(t).
+
+#show occurs/2.
+% #show holds/2.
+

encodings/sas-sequential-incremental-multivalued-axioms-condeffects.lp

@@ -0,0 +1,52 @@
+#include <incmode>.
+
+% Check feature requirements
+% :- requires(feature(actionCosts)).
+
+#program base.
+
+% Establish initial state
+holds(Variable, Value, 0) :- initialState(Variable, Value), not stateVariable(Variable).
+
+% Identify (head and) state variables
+headVariable(Rule,Variable) :- variable(Variable), axiomRule(Rule), postcondition(Rule,_,Variable,_).
+stateVariable(Variable)     :- headVariable(_,Variable).
+
+#program step(t). % t=1,2,...
+
+% Perform actions
+1 {occurs(Action, t) : action(Action)} 1.
+
+% Check preconditions
+:- occurs(Action, t), precondition(Action, Variable, Value), not holds(Variable, Value, t - 1).
+
+% Apply effects
+caused(Variable, Value, t) :- occurs(Action, t), postcondition(Action, Effect, Variable, Value),
+		 	      holds(Variable', Value', t - 1) : precondition(Effect, Variable', Value').
+changed(Variable, t) :- caused(Variable, Value, t).
+
+holds(Variable, Value, t) :- caused(Variable, Value, t).
+holds(Variable, Value, t) :- holds(Variable, Value, t - 1), not changed(Variable, t), not stateVariable(Variable).
+
+#program check(t). % t=0,1,...
+
+% Check that variables have unique values
+:- variable(Variable), {holds(Variable, Value, t) : contains(Variable, Value)} != 1.
+
+% Check mutexes
+:- mutexGroup(MutexGroup),  {holds(Variable, Value, t) : contains(MutexGroup, Variable, Value)} > 1.
+
+% Apply axioms
+derived(Variable, Value, t) :- axiomRule(Rule), postcondition(Rule,_,Variable,Value),
+		  	       holds(Variable', Value', t) : precondition(Rule, Variable', Value'), not headVariable(Rule,Variable').
+
+modified(Variable, t) :- derived(Variable, Value, t).
+
+holds(Variable, Value, t) :-      derived(Variable, Value, t), stateVariable(Variable).
+holds(Variable, Value, t) :- not modified(Variable,        t), stateVariable(Variable), initialState(Variable, Value).
+
+% Verify that goal is met
+:- query(t), goal(Variable, Value), not holds(Variable, Value, t).
+
+#show occurs/2.
+% #show holds/3.

encodings/sequential-incremental.lp

@@ -0,0 +1,40 @@
+#include <incmode>.
+
+% Check feature requirements
+:- requires(feature(actionCosts)).
+:- requires(feature(axiomRules)).
+:- requires(feature(conditionalEffects)).
+
+#program base.
+
+% Establish initial state
+holds(Variable, Value, 0) :- initialState(Variable, Value).
+
+#program step(t).
+
+% Perform actions
+1 {occurs(Action, t) : action(Action)} 1.
+
+% Check preconditions
+:- occurs(Action, t), precondition(Action, Variable, Value), not holds(Variable, Value, t - 1).
+
+% Apply effects
+caused(Variable, Value, t) :- occurs(Action, t), postcondition(Action, _, Variable, Value).
+modified(Variable, t) :- caused(Variable, Value, t).
+
+holds(Variable, Value, t) :- caused(Variable, Value, t).
+holds(Variable, Value, t) :- holds(Variable, Value, t - 1), not modified(Variable, t).
+
+% Check that variables have unique values
+:- variable(Variable), not 1 {holds(Variable, Value, t) : contains(Variable, Value)} 1.
+
+% Check mutexes
+:- mutexGroup(MutexGroup), not {holds(Variable, Value, t) : contains(MutexGroup, Variable, Value)} 1.
+
+#program check(t).
+
+% Verify that goal is met
+:- query(t), goal(Variable, Value), not holds(Variable, Value, t).
+
+#show query/1.
+#show occurs/2.

include/plasp/Language.h

@@ -0,0 +1,36 @@
+#ifndef __PLASP__LANGUAGE_H
+#define __PLASP__LANGUAGE_H
+
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Language
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Language
+{
+	public:
+		enum class Type
+		{
+			Unknown,
+			PDDL,
+			SAS
+		};
+
+		static std::string toString(Type language);
+		static Language::Type fromString(const std::string &languageName);
+
+	public:
+		Language() = delete;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+
+#endif

include/plasp/LanguageDetection.h

@@ -0,0 +1,49 @@
+#ifndef __PLASP__LANGUAGE_DETECTION_H
+#define __PLASP__LANGUAGE_DETECTION_H
+
+#include <plasp/Language.h>
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// LanguageDetection
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+Language::Type detectLanguage(utils::Parser<utils::CaseInsensitiveParserPolicy> &parser)
+{
+	parser.skipWhiteSpace();
+
+	// SAS begins with "begin_version"
+	if (parser.testAndSkip<std::string>("begin"))
+	{
+		parser.seek(0);
+		return Language::Type::SAS;
+	}
+
+	// Skip potential PDDL comments
+	while (parser.currentCharacter() == ';')
+	{
+		parser.skipLine();
+		parser.skipWhiteSpace();
+	}
+
+	// PDDL contains sections starting with "(define"
+	if (parser.testAndSkip<std::string>("(") && parser.testAndSkip<std::string>("define"))
+	{
+		parser.seek(std::ios::beg);
+		return Language::Type::PDDL;
+	}
+
+	parser.seek(std::ios::beg);
+	return Language::Type::Unknown;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+
+#endif

include/plasp/pddl/Action.h

@@ -0,0 +1,50 @@
+#ifndef __PLASP__PDDL__ACTION_H
+#define __PLASP__PDDL__ACTION_H
+
+#include <vector>
+
+#include <plasp/pddl/Expression.h>
+#include <plasp/pddl/expressions/Variable.h>
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Action
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Action
+{
+	public:
+		static void parseDeclaration(Context &context, Domain &domain);
+
+	public:
+		const std::string &name() const;
+
+		const expressions::Variables &parameters() const;
+		const Expression *precondition() const;
+		const Expression *effect() const;
+
+		void normalizeParameterNames();
+
+	private:
+		Action() = default;
+
+		std::string m_name;
+
+		expressions::Variables m_parameters;
+		std::unique_ptr<Expression> m_precondition;
+		std::unique_ptr<Expression> m_effect;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/ConsistencyException.h

@@ -0,0 +1,57 @@
+#ifndef __PLASP__PDDL__CONSISTENCY_EXCEPTION_H
+#define __PLASP__PDDL__CONSISTENCY_EXCEPTION_H
+
+#include <exception>
+#include <string>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// ConsistencyException
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class ConsistencyException: public std::exception
+{
+	public:
+		explicit ConsistencyException()
+		:	ConsistencyException("unspecified consistency error")
+		{
+		}
+
+		explicit ConsistencyException(const char *message)
+		:	ConsistencyException(static_cast<std::string>(message))
+		{
+		}
+
+		explicit ConsistencyException(const std::string &message)
+		:	m_message{message}
+		{
+		}
+
+		~ConsistencyException() throw()
+		{
+		}
+
+		const char *what() const throw()
+		{
+			if (m_message.empty())
+				return "unspecified consistency error";
+
+			return m_message.c_str();
+		}
+
+	private:
+		std::string m_message;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/Context.h

@@ -0,0 +1,70 @@
+#ifndef __PLASP__PDDL__CONTEXT_H
+#define __PLASP__PDDL__CONTEXT_H
+
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+#include <plasp/pddl/Parser.h>
+#include <plasp/utils/Logger.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Context
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Context
+{
+	public:
+		Context() = default;
+		~Context() = default;
+
+		explicit Context(Parser &&otherParser)
+		:	parser{std::move(otherParser)}
+		{
+		}
+
+		explicit Context(utils::Logger &&otherLogger)
+		:	logger{std::move(otherLogger)}
+		{
+		}
+
+		explicit Context(Parser &&otherParser, utils::Logger &&otherLogger)
+		:	parser{std::move(otherParser)},
+			logger{std::move(otherLogger)}
+		{
+		}
+
+		Context(const Context &other) = delete;
+		Context &operator=(const Context &other) = delete;
+
+		Context(Context &&other)
+		:	parser(std::move(other.parser)),
+			logger(std::move(other.logger))
+		{
+		}
+
+		Context &operator=(Context &&other)
+		{
+			parser = std::move(other.parser);
+			logger = std::move(other.logger);
+
+			return *this;
+		}
+
+		Parser parser;
+		utils::Logger logger;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/Description.h

@@ -0,0 +1,61 @@
+#ifndef __PLASP__PDDL__DESCRIPTION_H
+#define __PLASP__PDDL__DESCRIPTION_H
+
+#include <boost/filesystem/path.hpp>
+
+#include <plasp/pddl/Domain.h>
+#include <plasp/pddl/Problem.h>
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Description
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Description
+{
+	public:
+		static Description fromContext(Context &&context);
+		static Description fromStream(std::istream &istream);
+		static Description fromFile(const std::string &path);
+		static Description fromFiles(const std::vector<std::string> &paths);
+
+	public:
+		Context &context();
+		const Context &context() const;
+
+		const Domain &domain() const;
+
+		bool containsProblem() const;
+		const Problem &problem() const;
+
+		void normalizeParameterNames();
+
+	private:
+		Description();
+
+		void parse();
+		void findSections();
+
+		void checkConsistency();
+
+		Context m_context;
+
+		utils::Stream::Position m_domainPosition;
+		std::unique_ptr<Domain> m_domain;
+		utils::Stream::Position m_problemPosition;
+		std::unique_ptr<Problem> m_problem;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/Domain.h

@@ -0,0 +1,95 @@
+#ifndef __PLASP__PDDL__DOMAIN_H
+#define __PLASP__PDDL__DOMAIN_H
+
+#include <plasp/pddl/Action.h>
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Expression.h>
+#include <plasp/pddl/Parser.h>
+#include <plasp/pddl/Requirement.h>
+#include <plasp/pddl/expressions/Constant.h>
+#include <plasp/pddl/expressions/PredicateDeclaration.h>
+#include <plasp/pddl/expressions/PrimitiveType.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Domain
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Domain
+{
+	public:
+		Domain(Context &context);
+
+	public:
+		void findSections();
+		void parse();
+
+		void setName(std::string name);
+		const std::string &name() const;
+
+		const Requirements &requirements() const;
+		bool hasRequirement(Requirement::Type requirementType) const;
+		void checkRequirement(Requirement::Type requirementType);
+
+		expressions::PrimitiveTypes &types();
+		const expressions::PrimitiveTypes &types() const;
+
+		expressions::Constants &constants();
+		const expressions::Constants &constants() const;
+
+		expressions::PredicateDeclarations &predicates();
+		const expressions::PredicateDeclarations &predicates() const;
+
+		std::vector<std::unique_ptr<Action>> &actions();
+		const std::vector<std::unique_ptr<Action>> &actions() const;
+
+		void checkConsistency();
+
+		void normalizeParameterNames();
+
+	private:
+		void parseSection();
+
+		void parseRequirementSection();
+		void computeDerivedRequirements();
+
+		void parseTypeSection();
+
+		void parseConstantSection();
+
+		void parsePredicateSection();
+
+		void parseActionSection();
+
+		Context &m_context;
+
+		std::string m_name;
+
+		utils::Stream::Position m_requirementsPosition;
+		Requirements m_requirements;
+
+		utils::Stream::Position m_typesPosition;
+		expressions::PrimitiveTypes m_types;
+
+		utils::Stream::Position m_constantsPosition;
+		expressions::Constants m_constants;
+
+		utils::Stream::Position m_predicatesPosition;
+		expressions::PredicateDeclarations m_predicates;
+
+		std::vector<utils::Stream::Position> m_actionPositions;
+		std::vector<std::unique_ptr<Action>> m_actions;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/Expression.h

@@ -0,0 +1,130 @@
+#ifndef __PLASP__PDDL__EXPRESSION_H
+#define __PLASP__PDDL__EXPRESSION_H
+
+#include <memory>
+
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Expression
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Context;
+class Domain;
+class ExpressionContext;
+class ExpressionVisitor;
+class Problem;
+
+class Expression;
+using ExpressionPointer = std::unique_ptr<Expression>;
+using Expressions = std::vector<ExpressionPointer>;
+
+namespace expressions
+{
+class And;
+using AndPointer = std::unique_ptr<And>;
+
+class At;
+using AtPointer = std::unique_ptr<At>;
+
+class Constant;
+using ConstantPointer = std::unique_ptr<Constant>;
+using Constants = std::vector<ConstantPointer>;
+
+class Either;
+using EitherPointer = std::unique_ptr<Either>;
+
+class Imply;
+using ImplyPointer = std::unique_ptr<Imply>;
+
+class Not;
+using NotPointer = std::unique_ptr<Not>;
+
+class Or;
+using OrPointer = std::unique_ptr<Or>;
+
+class Predicate;
+using PredicatePointer = std::unique_ptr<Predicate>;
+using Predicates = std::vector<PredicatePointer>;
+
+class PredicateDeclaration;
+using PredicateDeclarationPointer = std::unique_ptr<PredicateDeclaration>;
+using PredicateDeclarations = std::vector<PredicateDeclarationPointer>;
+
+class PrimitiveType;
+using PrimitiveTypePointer = std::unique_ptr<PrimitiveType>;
+using PrimitiveTypes = std::vector<PrimitiveTypePointer>;
+
+class Unsupported;
+using UnsupportedPointer = std::unique_ptr<Unsupported>;
+
+class Variable;
+using VariablePointer = std::unique_ptr<Variable>;
+using Variables = std::vector<VariablePointer>;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Expression
+{
+	public:
+		enum class Type
+		{
+			And,
+			At,
+			Binary,
+			Constant,
+			Either,
+			Imply,
+			Not,
+			Or,
+			PredicateDeclaration,
+			Predicate,
+			PrimitiveType,
+			Unsupported,
+			Variable
+		};
+
+	public:
+		virtual ~Expression() = default;
+
+		virtual Type expressionType() const = 0;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+class ExpressionCRTP: public Expression
+{
+	public:
+		Type expressionType() const override final
+		{
+			return Derived::ExpressionType;
+		}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+ExpressionPointer parseLiteral(Context &context, ExpressionContext &expressionContext);
+ExpressionPointer parseAtomicFormula(Context &context, ExpressionContext &expressionContext);
+
+ExpressionPointer parsePreconditionExpression(Context &context,
+	ExpressionContext &expressionContext);
+ExpressionPointer parseExpression(Context &context, ExpressionContext &expressionContext);
+
+ExpressionPointer parseEffectExpression(Context &context,
+	ExpressionContext &expressionContext);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/ExpressionContext.h

@@ -0,0 +1,38 @@
+#ifndef __PLASP__PDDL__EXPRESSION_CONTEXT_H
+#define __PLASP__PDDL__EXPRESSION_CONTEXT_H
+
+#include <plasp/pddl/Expression.h>
+#include <plasp/pddl/Requirement.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// ExpressionContext
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class ExpressionContext
+{
+	public:
+		ExpressionContext(Domain &domain, expressions::Variables &parameters);
+		ExpressionContext(Domain &domain, Problem *problem, expressions::Variables &parameters);
+
+		bool hasRequirement(Requirement::Type requirementType) const;
+		void checkRequirement(Requirement::Type requirementType) const;
+
+		Domain &domain;
+		Problem *problem;
+
+		expressions::Variables &parameters;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/IO.h

@@ -0,0 +1,45 @@
+#ifndef __PLASP__PDDL__IO_H
+#define __PLASP__PDDL__IO_H
+
+#include <iostream>
+
+#include <plasp/pddl/Parser.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// IO
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline void skipSection(Parser &parser)
+{
+	size_t openParentheses = 1;
+
+	while (true)
+	{
+		const auto character = parser.currentCharacter();
+		parser.advance();
+
+		if (character == '(')
+			openParentheses++;
+		else if (character == ')')
+		{
+			openParentheses--;
+
+			if (openParentheses == 0)
+				return;
+		}
+	}
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/InitialState.h

@@ -0,0 +1,35 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__INITIAL_STATE_H
+#define __PLASP__PDDL__EXPRESSIONS__INITIAL_STATE_H
+
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// InitialState
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class InitialState
+{
+	public:
+		static std::unique_ptr<InitialState> parseDeclaration(Context &context,
+			ExpressionContext &expressionContext);
+
+	public:
+		const Expressions &facts() const;
+
+	private:
+		Expressions m_facts;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/Parser.h

@@ -0,0 +1,54 @@
+#ifndef __PLASP__PDDL__PARSER_H
+#define __PLASP__PDDL__PARSER_H
+
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Parser
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class PDDLParserPolicy
+{
+	public:
+		static char transformCharacter(char c) noexcept
+		{
+			return std::tolower(c);
+		}
+
+		static bool isWhiteSpaceCharacter(char c)
+		{
+			return std::iswspace(c);
+		}
+
+		static bool isBlankCharacter(char c)
+		{
+			return std::isblank(c);
+		}
+
+		static bool isIdentifierCharacter(char c)
+		{
+			return c != '?'
+				&& c != '('
+				&& c != ')'
+				&& c != ';'
+				&& std::isgraph(c);
+		}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+using Parser = utils::Parser<PDDLParserPolicy>;
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/Problem.h

@@ -0,0 +1,85 @@
+#ifndef __PLASP__PDDL__PROBLEM_H
+#define __PLASP__PDDL__PROBLEM_H
+
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Expression.h>
+#include <plasp/pddl/InitialState.h>
+#include <plasp/pddl/Parser.h>
+#include <plasp/pddl/Requirement.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Problem
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Problem
+{
+	public:
+		Problem(Context &context, Domain &domain);
+
+		void findSections();
+		void parse();
+
+		Domain &domain();
+		const Domain &domain() const;
+
+		const std::string &name() const;
+
+		const Requirements &requirements() const;
+		bool hasRequirement(Requirement::Type requirementType) const;
+		void checkRequirement(Requirement::Type requirementType);
+
+		expressions::Constants &objects();
+		const expressions::Constants &objects() const;
+
+		InitialState &initialState();
+		const InitialState &initialState() const;
+
+		const Expression &goal() const;
+
+		void checkConsistency();
+
+	private:
+		void parseRequirementSection();
+		void computeDerivedRequirements();
+
+		void parseDomainSection();
+
+		void parseObjectSection();
+
+		void parseInitialStateSection();
+
+		void parseGoalSection();
+
+		Context &m_context;
+		Domain &m_domain;
+
+		std::string m_name;
+
+		utils::Stream::Position m_domainPosition;
+
+		utils::Stream::Position m_requirementsPosition;
+		Requirements m_requirements;
+
+		utils::Stream::Position m_objectsPosition;
+		expressions::Constants m_objects;
+
+		utils::Stream::Position m_initialStatePosition;
+		std::unique_ptr<InitialState> m_initialState;
+
+		utils::Stream::Position m_goalPosition;
+		ExpressionPointer m_goal;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/Requirement.h

@@ -0,0 +1,72 @@
+#ifndef __PLASP__PDDL__REQUIREMENT_H
+#define __PLASP__PDDL__REQUIREMENT_H
+
+#include <vector>
+
+#include <plasp/pddl/Context.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Requirement
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Requirement;
+using Requirements = std::vector<Requirement>;
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Requirement
+{
+	public:
+		enum class Type
+		{
+			STRIPS,
+			Typing,
+			NegativePreconditions,
+			DisjunctivePreconditions,
+			Equality,
+			ExistentialPreconditions,
+			UniversalPreconditions,
+			QuantifiedPreconditions,
+			ConditionalEffects,
+			Fluents,
+			NumericFluents,
+			ObjectFluents,
+			ADL,
+			DurativeActions,
+			DurationInequalities,
+			ContinuousEffects,
+			DerivedPredicates,
+			TimedInitialLiterals,
+			Preferences,
+			Constraints,
+			ActionCosts,
+			GoalUtilities
+		};
+
+		static Requirement parse(Context &context);
+
+	public:
+		Requirement(Type type);
+
+		Type type() const;
+
+		std::string toPDDL() const;
+		std::string toASP() const;
+
+	private:
+		Type m_type;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/TranslatorASP.h

@@ -0,0 +1,51 @@
+#ifndef __PLASP__PDDL__TRANSLATOR_ASP_H
+#define __PLASP__PDDL__TRANSLATOR_ASP_H
+
+#include <plasp/pddl/Description.h>
+
+#include <iosfwd>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// TranslatorASP
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class TranslatorASP
+{
+	public:
+		explicit TranslatorASP(Description &description, utils::LogStream &outputStream);
+
+		void translate() const;
+
+	private:
+		void translateDomain() const;
+		void translateTypes() const;
+		void translatePredicates() const;
+		void translateActions() const;
+
+		void translateProblem() const;
+		void translateInitialState() const;
+		void translateGoal() const;
+
+		void translateConstants(const std::string &heading, const expressions::Constants &constants) const;
+		void translateVariablesHead(const expressions::Variables &variables) const;
+		void translateVariablesBody(const expressions::Variables &variables) const;
+		void translateLiteral(const Expression &literal) const;
+		void translatePredicate(const expressions::Predicate &predicate) const;
+
+		Description &m_description;
+		utils::LogStream &m_outputStream;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/expressions/And.h

@@ -0,0 +1,33 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__AND_H
+#define __PLASP__PDDL__EXPRESSIONS__AND_H
+
+#include <plasp/pddl/expressions/NAry.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// And
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class And: public NAry<And>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::And;
+
+		static const std::string Identifier;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/At.h

@@ -0,0 +1,105 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__AT_H
+#define __PLASP__PDDL__EXPRESSIONS__AT_H
+
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// At
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class At: public ExpressionCRTP<At>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::At;
+
+		template<typename ExpressionParser>
+		static AtPointer parse(Context &context, ExpressionContext &expressionContext,
+			ExpressionParser parseExpression);
+
+		static const size_t TimePointStart = std::numeric_limits<size_t>::max();
+		static const size_t TimePointEnd = std::numeric_limits<size_t>::max() - 1;
+
+	public:
+		At();
+
+		size_t timePoint() const;
+
+		const Expression *argument() const;
+
+	private:
+		void setArgument(const Expression *argument);
+		void setArgument(ExpressionPointer &&argument);
+
+		size_t m_timePoint;
+
+		const Expression *m_argument;
+		ExpressionPointer m_argumentStorage;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<typename ExpressionParser>
+AtPointer At::parse(Context &context, ExpressionContext &expressionContext,
+	ExpressionParser parseExpression)
+{
+	auto &parser = context.parser;
+
+	const auto position = parser.position();
+
+	if (!parser.testAndSkip<std::string>("(")
+		|| !parser.testIdentifierAndSkip("at"))
+	{
+		parser.seek(position);
+		return nullptr;
+	}
+
+	size_t timePoint;
+
+	const auto timePointPosition = parser.position();
+
+	if (parser.testIdentifierAndSkip("start"))
+		timePoint = TimePointStart;
+	else if (parser.testIdentifierAndSkip("end"))
+		timePoint = TimePointEnd;
+	else if (parser.probeNumber())
+	{
+		parser.seek(timePointPosition);
+		timePoint = parser.parse<size_t>();
+	}
+	else
+	{
+		parser.seek(position);
+		return nullptr;
+	}
+
+	auto expression = std::make_unique<At>(At());
+
+	expression->m_timePoint = timePoint;
+
+	context.parser.skipWhiteSpace();
+
+	// Parse argument
+	expression->setArgument(parseExpression(context, expressionContext));
+
+	parser.expect<std::string>(")");
+
+	return expression;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Binary.h

@@ -0,0 +1,111 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__BINARY_H
+#define __PLASP__PDDL__EXPRESSIONS__BINARY_H
+
+#include <plasp/pddl/ConsistencyException.h>
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Expression.h>
+#include <plasp/pddl/expressions/Variable.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Binary
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+class Binary: public ExpressionCRTP<Derived>
+{
+	public:
+		template<typename ExpressionParser>
+		static std::unique_ptr<Derived> parse(Context &context,
+			ExpressionContext &expressionContext, ExpressionParser parseExpression);
+
+	public:
+		const std::array<const Expression *, 2> &arguments() const;
+
+	private:
+		template<size_t i>
+		void setArgument(const Expression *argument);
+		template<size_t i>
+		void setArgument(ExpressionPointer &&argument);
+
+		std::array<const Expression *, 2> m_arguments;
+		std::array<ExpressionPointer, 2> m_argumentStorage;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+template<typename ExpressionParser>
+std::unique_ptr<Derived> Binary<Derived>::parse(Context &context,
+	ExpressionContext &expressionContext, ExpressionParser parseExpression)
+{
+	auto &parser = context.parser;
+
+	const auto position = parser.position();
+
+	if (!parser.testAndSkip<std::string>("(")
+		|| !parser.testIdentifierAndSkip(Derived::Identifier))
+	{
+		parser.seek(position);
+		return nullptr;
+	}
+
+	auto expression = std::make_unique<Derived>();
+
+	// Assume that expression identifier (imply, exists, etc.) is already parsed
+	// Parse arguments of the expression
+	expression->Binary<Derived>::setArgument<0>(parseExpression(context, expressionContext));
+	expression->Binary<Derived>::setArgument<1>(parseExpression(context, expressionContext));
+
+	parser.expect<std::string>(")");
+
+	return expression;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+template<size_t i>
+void Binary<Derived>::setArgument(const Expression *expression)
+{
+	static_assert(i <= 2, "Index out of range");
+
+	m_argumentStorage[i] = nullptr;
+	m_arguments[i] = expression;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+template<size_t i>
+void Binary<Derived>::setArgument(ExpressionPointer &&expression)
+{
+	static_assert(i <= 2, "Index out of range");
+
+	m_argumentStorage[i] = std::move(expression);
+	m_arguments[i] = m_argumentStorage[i].get();
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+const std::array<const Expression *, 2> &Binary<Derived>::arguments() const
+{
+	return m_arguments;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Constant.h

@@ -0,0 +1,64 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__CONSTANT_H
+#define __PLASP__PDDL__EXPRESSIONS__CONSTANT_H
+
+#include <plasp/pddl/Expression.h>
+#include <plasp/utils/Parser.h>
+#include <plasp/utils/ParserException.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Constant
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Constant: public ExpressionCRTP<Constant>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::Constant;
+
+		static void parseTypedDeclaration(Context &context, Domain &domain);
+		static void parseTypedDeclarations(Context &context, Domain &domain);
+		static void parseTypedDeclaration(Context &context, Problem &problem);
+		static void parseTypedDeclarations(Context &context, Problem &problem);
+
+		static Constant *parseAndFind(Context &context, const Domain &domain);
+		static Constant *parseAndFind(Context &context, const Problem &problem);
+
+	public:
+		const std::string &name() const;
+		const PrimitiveType *type() const;
+
+	private:
+		static ConstantPointer parseDeclaration(Context &context);
+		static void parseTypedDeclaration(Context &context, Domain &domain, Constants &constants);
+
+		static Constant *parseAndFind(const std::string &constantName, const Constants &constants);
+
+		Constant();
+
+		void setDirty(bool isDirty = true);
+		bool isDirty() const;
+
+		void setType(const PrimitiveType *parentType);
+
+		bool m_isDirty;
+
+		std::string m_name;
+
+		const PrimitiveType *m_type;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Either.h

@@ -0,0 +1,33 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__EITHER_H
+#define __PLASP__PDDL__EXPRESSIONS__EITHER_H
+
+#include <plasp/pddl/expressions/NAry.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Either
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Either: public NAry<Either>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::Either;
+
+		static const std::string Identifier;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Imply.h

@@ -0,0 +1,33 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__IMPLY_H
+#define __PLASP__PDDL__EXPRESSIONS__IMPLY_H
+
+#include <plasp/pddl/expressions/Binary.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Imply
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Imply: public Binary<Imply>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::Imply;
+
+		static const std::string Identifier;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/NAry.h

@@ -0,0 +1,117 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__N_ARY_H
+#define __PLASP__PDDL__EXPRESSIONS__N_ARY_H
+
+#include <plasp/pddl/ConsistencyException.h>
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Expression.h>
+#include <plasp/pddl/expressions/Variable.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// NAry
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+class NAry: public ExpressionCRTP<Derived>
+{
+	public:
+		template<typename ExpressionParser>
+		static std::unique_ptr<Derived> parse(Context &context,
+			ExpressionContext &expressionContext, ExpressionParser parseExpression);
+
+	public:
+		const std::vector<const Expression *> &arguments() const;
+
+	private:
+		void addArgument(const Expression *argument);
+		void addArgument(ExpressionPointer &&argument);
+
+		std::vector<const Expression *> m_arguments;
+		Expressions m_argumentStorage;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+template<typename ExpressionParser>
+std::unique_ptr<Derived> NAry<Derived>::parse(Context &context,
+	ExpressionContext &expressionContext, ExpressionParser parseExpression)
+{
+	auto &parser = context.parser;
+
+	const auto position = parser.position();
+
+	if (!parser.testAndSkip<std::string>("(")
+		|| !parser.testIdentifierAndSkip(Derived::Identifier))
+	{
+		parser.seek(position);
+		return nullptr;
+	}
+
+	auto expression = std::make_unique<Derived>();
+
+	parser.skipWhiteSpace();
+
+	// Assume that expression identifier (and, or, etc.) is already parsed
+	// Parse arguments of the expression
+	while (parser.currentCharacter() != ')')
+	{
+		expression->addArgument(parseExpression(context, expressionContext));
+
+		parser.skipWhiteSpace();
+	}
+
+	if (expression->m_arguments.empty())
+		context.logger.logWarning(parser.coordinate(), "“" + Derived::Identifier + "” expressions should not be empty");
+
+	parser.expect<std::string>(")");
+
+	return expression;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+void NAry<Derived>::addArgument(const Expression *argument)
+{
+	if (!argument)
+		return;
+
+	m_arguments.emplace_back(argument);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+void NAry<Derived>::addArgument(ExpressionPointer &&argument)
+{
+	if (!argument)
+		return;
+
+	m_argumentStorage.emplace_back(std::move(argument));
+	m_arguments.emplace_back(m_argumentStorage.back().get());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class Derived>
+const std::vector<const Expression *> &NAry<Derived>::arguments() const
+{
+	return m_arguments;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Not.h

@@ -0,0 +1,77 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__NOT_H
+#define __PLASP__PDDL__EXPRESSIONS__NOT_H
+
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Not
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Not: public ExpressionCRTP<Not>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::Not;
+
+		template<typename ExpressionParser>
+		static NotPointer parse(Context &context, ExpressionContext &expressionContext,
+			ExpressionParser parseExpression);
+
+	public:
+		Not();
+
+		const Expression *argument() const;
+
+	private:
+		void setArgument(const Expression *argument);
+		void setArgument(ExpressionPointer &&argument);
+
+		const Expression *m_argument;
+		ExpressionPointer m_argumentStorage;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<typename ExpressionParser>
+NotPointer Not::parse(Context &context, ExpressionContext &expressionContext,
+	ExpressionParser parseExpression)
+{
+	auto &parser = context.parser;
+
+	const auto position = parser.position();
+
+	if (!parser.testAndSkip<std::string>("(")
+		|| !parser.testIdentifierAndSkip("not"))
+	{
+		parser.seek(position);
+		return nullptr;
+	}
+
+	auto expression = std::make_unique<Not>(Not());
+
+	context.parser.skipWhiteSpace();
+
+	// Parse argument
+	expression->setArgument(parseExpression(context, expressionContext));
+
+	parser.expect<std::string>(")");
+
+	return expression;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Or.h

@@ -0,0 +1,33 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__OR_H
+#define __PLASP__PDDL__EXPRESSIONS__OR_H
+
+#include <plasp/pddl/expressions/NAry.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Or
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Or: public NAry<Or>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::Or;
+
+		static const std::string Identifier;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Predicate.h

@@ -0,0 +1,50 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__PREDICATE_H
+#define __PLASP__PDDL__EXPRESSIONS__PREDICATE_H
+
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Predicate
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Predicate: public ExpressionCRTP<Predicate>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::Predicate;
+
+		static PredicatePointer parse(Context &context, ExpressionContext &expressionContext);
+		static PredicatePointer parse(Context &context, const Problem &problem);
+
+	public:
+		const std::string &name() const;
+		const std::vector<const Expression *> &arguments() const;
+
+		bool isDeclared() const;
+
+	private:
+		Predicate();
+
+		void setDeclared();
+
+		bool m_isDeclared;
+
+		std::string m_name;
+		std::vector<const Expression *> m_arguments;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/PredicateDeclaration.h

@@ -0,0 +1,51 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__PREDICATE_DECLARATION_H
+#define __PLASP__PDDL__EXPRESSIONS__PREDICATE_DECLARATION_H
+
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// PredicateDeclaration
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class PredicateDeclaration: public ExpressionCRTP<PredicateDeclaration>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::PredicateDeclaration;
+
+		static void parse(Context &context, Domain &domain);
+
+	public:
+		const std::string &name() const;
+		const Variables &arguments() const;
+
+		bool isDeclared() const;
+
+		void normalizeParameterNames();
+
+	private:
+		PredicateDeclaration();
+
+		void setDeclared();
+
+		bool m_isDeclared;
+
+		std::string m_name;
+		Variables m_parameters;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/PrimitiveType.h

@@ -0,0 +1,55 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__PRIMITIVE_TYPE_H
+#define __PLASP__PDDL__EXPRESSIONS__PRIMITIVE_TYPE_H
+
+#include <plasp/pddl/ConsistencyException.h>
+#include <plasp/pddl/Expression.h>
+#include <plasp/utils/ParserException.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// PrimitiveType
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class PrimitiveType: public ExpressionCRTP<PrimitiveType>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::PrimitiveType;
+
+		static void parseDeclaration(Context &context, Domain &domain);
+		static void parseTypedDeclaration(Context &context, Domain &domain);
+
+		static PrimitiveType *parseAndFind(Context &context, Domain &domain);
+
+	public:
+		PrimitiveType();
+		PrimitiveType(std::string name);
+
+		const std::string &name() const;
+		const std::vector<const PrimitiveType *> &parentTypes() const;
+
+	private:
+		void setDirty(bool isDirty = true);
+		bool isDirty() const;
+
+		bool m_isDirty;
+
+		std::string m_name;
+
+		std::vector<const PrimitiveType *> m_parentTypes;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Type.h

@@ -0,0 +1,28 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__TYPE_H
+#define __PLASP__PDDL__EXPRESSIONS__TYPE_H
+
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Type
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const Expression *parseExistingPrimitiveType(Context &context,
+	ExpressionContext &expressionContext);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Unsupported.h

@@ -0,0 +1,40 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__UNSUPPORTED_H
+#define __PLASP__PDDL__EXPRESSIONS__UNSUPPORTED_H
+
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Unsupported
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Unsupported: public ExpressionCRTP<Unsupported>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::Unsupported;
+
+		static UnsupportedPointer parse(Context &context);
+
+	public:
+		const std::string &type() const;
+
+	private:
+		std::string m_type;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/pddl/expressions/Variable.h

@@ -0,0 +1,63 @@
+#ifndef __PLASP__PDDL__EXPRESSIONS__VARIABLE_H
+#define __PLASP__PDDL__EXPRESSIONS__VARIABLE_H
+
+#include <plasp/pddl/Expression.h>
+
+namespace plasp
+{
+namespace pddl
+{
+namespace expressions
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Variable
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Variable: public ExpressionCRTP<Variable>
+{
+	public:
+		static const Expression::Type ExpressionType = Expression::Type::Variable;
+
+		static void parseTypedDeclaration(Context &context, ExpressionContext &expressionContext);
+		static void parseTypedDeclarations(Context &context, ExpressionContext &expressionContext);
+
+		static const Variable *parseAndFind(Context &context,
+			const ExpressionContext &expressionContext);
+
+	public:
+		void setName(std::string name);
+		const std::string &name() const;
+
+		const Expression *type() const;
+
+		void setDirty(bool isDirty = true);
+		bool isDirty() const;
+
+		void setType(const Expression *type);
+
+	private:
+		static void parseDeclaration(Context &context, Variables &parameters);
+
+	private:
+		Variable();
+
+		bool m_isDirty;
+
+		std::string m_name;
+
+		const Expression *m_type;
+
+		// Stores "either" expression if necessary
+		ExpressionPointer m_eitherExpression;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+}
+
+#endif

include/plasp/sas/AssignedVariable.h

@@ -6,6 +6,7 @@
 
 #include <plasp/sas/Value.h>
 #include <plasp/sas/Variable.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -26,8 +27,8 @@ using AssignedVariables = std::vector<AssignedVariable>;
 class AssignedVariable
 {
 	public:
-		static AssignedVariable fromSAS(std::istream &istream, const Variables &variables);
+		static AssignedVariable fromSAS(utils::Parser<> &parser, const Variables &variables);
-		static AssignedVariable fromSAS(std::istream &istream, const Variable &variable);
+		static AssignedVariable fromSAS(utils::Parser<> &parser, const Variable &variable);
 
 	public:
 		explicit AssignedVariable(const Variable &variable, const Value &value);

include/plasp/sas/AxiomRule.h

@@ -5,6 +5,7 @@
 
 #include <plasp/sas/AssignedVariable.h>
 #include <plasp/sas/Variable.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -28,7 +29,7 @@ class AxiomRule
 		using Condition = AssignedVariable;
 		using Conditions = AssignedVariables;
 
-		static AxiomRule fromSAS(std::istream &istream, const Variables &variables);
+		static AxiomRule fromSAS(utils::Parser<> &parser, const Variables &variables);
 
 	public:
 		const Conditions &conditions() const;

include/plasp/sas/Debugging.h

@@ -16,7 +16,7 @@ namespace sas
 //
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-std::ostream &operator >>(std::ostream &ostream, const Description &description);
+utils::LogStream &operator<<(utils::LogStream &ostream, const Description &description);
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 

include/plasp/sas/Description.h

@@ -13,6 +13,7 @@
 #include <plasp/sas/MutexGroup.h>
 #include <plasp/sas/Operator.h>
 #include <plasp/sas/Variable.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -28,6 +29,7 @@ namespace sas
 class Description
 {
 	public:
+		static Description fromParser(utils::Parser<> &&parser);
 		static Description fromStream(std::istream &istream);
 		static Description fromFile(const boost::filesystem::path &path);
 
@@ -43,17 +45,21 @@ class Description
 		bool usesAxiomRules() const;
 		bool usesConditionalEffects() const;
 
+		bool hasRequirements() const;
+
 	private:
 		Description();
 
-		void parseVersionSection(std::istream &istream) const;
+		void parseContent(utils::Parser<> &parser);
-		void parseMetricSection(std::istream &istream);
+
-		void parseVariablesSection(std::istream &istream);
+		void parseVersionSection(utils::Parser<> &parser) const;
-		void parseMutexSection(std::istream &istream);
+		void parseMetricSection(utils::Parser<> &parser);
-		void parseInitialStateSection(std::istream &istream);
+		void parseVariablesSection(utils::Parser<> &parser);
-		void parseGoalSection(std::istream &istream);
+		void parseMutexSection(utils::Parser<> &parser);
-		void parseOperatorSection(std::istream &istream);
+		void parseInitialStateSection(utils::Parser<> &parser);
-		void parseAxiomSection(std::istream &istream);
+		void parseGoalSection(utils::Parser<> &parser);
+		void parseOperatorSection(utils::Parser<> &parser);
+		void parseAxiomSection(utils::Parser<> &parser);
 
 		bool m_usesActionCosts;
 

include/plasp/sas/Effect.h

@@ -5,6 +5,7 @@
 
 #include <plasp/sas/AssignedVariable.h>
 #include <plasp/sas/Variable.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -28,7 +29,7 @@ class Effect
 		using Condition = AssignedVariable;
 		using Conditions = AssignedVariables;
 
-		static Effect fromSAS(std::istream &istream, const Variables &variables, Conditions &preconditions);
+		static Effect fromSAS(utils::Parser<> &parser, const Variables &variables, Conditions &preconditions);
 
 	public:
 		const Conditions &conditions() const;

include/plasp/sas/Goal.h

@@ -2,6 +2,7 @@
 #define __PLASP__SAS__GOAL_H
 
 #include <plasp/sas/AssignedVariable.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -20,7 +21,7 @@ class Goal
 		using Fact = AssignedVariable;
 		using Facts = AssignedVariables;
 
-		static Goal fromSAS(std::istream &istream, const Variables &variables);
+		static Goal fromSAS(utils::Parser<> &parser, const Variables &variables);
 
 	public:
 		const Facts &facts() const;

include/plasp/sas/InitialState.h

@@ -2,6 +2,7 @@
 #define __PLASP__SAS__INITIAL_STATE_H
 
 #include <plasp/sas/AssignedVariable.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -20,7 +21,7 @@ class InitialState
 		using Fact = AssignedVariable;
 		using Facts = AssignedVariables;
 
-		static InitialState fromSAS(std::istream &istream, const Variables &variables);
+		static InitialState fromSAS(utils::Parser<> &parser, const Variables &variables);
 
 	public:
 		const Facts &facts() const;

include/plasp/sas/MutexGroup.h

@@ -4,6 +4,7 @@
 #include <vector>
 
 #include <plasp/sas/AssignedVariable.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -27,7 +28,7 @@ class MutexGroup
 		using Fact = AssignedVariable;
 		using Facts = AssignedVariables;
 
-		static MutexGroup fromSAS(std::istream &istream, const Variables &variables);
+		static MutexGroup fromSAS(utils::Parser<> &parser, const Variables &variables);
 
 	public:
 		const Facts &facts() const;

include/plasp/sas/Operator.h

@@ -8,6 +8,8 @@
 #include <plasp/sas/Effect.h>
 #include <plasp/sas/Predicate.h>
 #include <plasp/sas/Variable.h>
+#include <plasp/utils/LogStream.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -31,10 +33,10 @@ class Operator
 		using Condition = AssignedVariable;
 		using Conditions = AssignedVariables;
 
-		static Operator fromSAS(std::istream &istream, const Variables &variables);
+		static Operator fromSAS(utils::Parser<> &parser, const Variables &variables);
 
 	public:
-		void printPredicateAsASP(std::ostream &ostream) const;
+		void printPredicateAsASP(utils::LogStream &ostream) const;
 
 		const Predicate &predicate() const;
 		const Conditions &preconditions() const;

include/plasp/sas/Predicate.h

@@ -5,6 +5,9 @@
 #include <string>
 #include <vector>
 
+#include <plasp/utils/LogStream.h>
+#include <plasp/utils/Parser.h>
+
 namespace plasp
 {
 namespace sas
@@ -19,13 +22,13 @@ namespace sas
 class Predicate
 {
 	public:
-		static Predicate fromSAS(std::istream &istream);
+		static Predicate fromSAS(utils::Parser<> &parser);
 
 		using Arguments = std::vector<std::string>;
 
 	public:
-		void printAsSAS(std::ostream &ostream) const;
+		void printAsSAS(utils::LogStream &outputStream) const;
-		void printAsASP(std::ostream &ostream) const;
+		void printAsASP(utils::LogStream &outputStream) const;
 
 		const std::string &name() const;
 		const Arguments &arguments() const;

include/plasp/sas/TranslatorASP.h

@@ -2,6 +2,7 @@
 #define __PLASP__SAS__TRANSLATOR_ASP_H
 
 #include <plasp/sas/Description.h>
+#include <plasp/utils/LogStream.h>
 
 #include <iosfwd>
 
@@ -19,12 +20,21 @@ namespace sas
 class TranslatorASP
 {
 	public:
-		explicit TranslatorASP(const Description &description);
+		explicit TranslatorASP(const Description &description, utils::LogStream &outputStream);
 
-		void translate(std::ostream &ostream) const;
+		void translate() const;
 
 	private:
+		void translateRequirements() const;
+		void translateInitialState() const;
+		void translateGoal() const;
+		void translateVariables() const;
+		void translateActions() const;
+		void translateMutexes() const;
+		void translateAxiomRules() const;
+
 		const Description &m_description;
+		utils::LogStream &m_outputStream;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////

include/plasp/sas/Value.h

@@ -5,6 +5,9 @@
 #include <string>
 #include <vector>
 
+#include <plasp/utils/LogStream.h>
+#include <plasp/utils/Parser.h>
+
 namespace plasp
 {
 namespace sas
@@ -36,15 +39,14 @@ struct Value
 		static const Value Any;
 		static const Value None;
 
-		static Value fromSAS(std::istream &istream);
+		static Value fromSAS(utils::Parser<> &parser);
-		static const Value &referenceFromSAS(std::istream &istream, const Variable &variable);
+		static const Value &referenceFromSAS(utils::Parser<> &parser, const Variable &variable);
 
 	public:
 		Value negated() const;
 
-		void printAsSAS(std::ostream &ostream) const;
+		void printAsSAS(utils::LogStream &outputStream) const;
-		void printAsASP(std::ostream &ostream) const;
+		void printAsASPPredicate(utils::LogStream &outputStream) const;
-		void printAsASPPredicate(std::ostream &ostream) const;
 
 		Sign sign() const;
 		const std::string &name() const;

include/plasp/sas/Variable.h

@@ -6,6 +6,8 @@
 #include <vector>
 
 #include <plasp/sas/Value.h>
+#include <plasp/utils/LogStream.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -26,11 +28,11 @@ using Variables = std::vector<Variable>;
 class Variable
 {
 	public:
-		static Variable fromSAS(std::istream &istream);
+		static Variable fromSAS(utils::Parser<> &parser);
-		static const Variable &referenceFromSAS(std::istream &istream, const Variables &variables);
+		static const Variable &referenceFromSAS(utils::Parser<> &parser, const Variables &variables);
 
 	public:
-		void printNameAsASPPredicate(std::ostream &ostream) const;
+		void printNameAsASPPredicate(utils::LogStream &outputStream) const;
 
 		const std::string &name() const;
 		int axiomLayer() const;

include/plasp/sas/VariableTransition.h

@@ -5,6 +5,7 @@
 
 #include <plasp/sas/Value.h>
 #include <plasp/sas/Variable.h>
+#include <plasp/utils/Parser.h>
 
 namespace plasp
 {
@@ -25,7 +26,7 @@ using VariableTransitions = std::vector<VariableTransition>;
 class VariableTransition
 {
 	public:
-		static VariableTransition fromSAS(std::istream &istream, const Variables &variables);
+		static VariableTransition fromSAS(utils::Parser<> &parser, const Variables &variables);
 
 	public:
 		const Variable &variable() const;

include/plasp/utils/Formatting.h

@@ -0,0 +1,282 @@
+#ifndef __PLASP__UTILS__FORMATTING_H
+#define __PLASP__UTILS__FORMATTING_H
+
+#include <iostream>
+
+#include <plasp/utils/LogStream.h>
+
+namespace plasp
+{
+namespace utils
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Formatting
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+enum class Color
+{
+	Black = 0,
+	Red = 1,
+	Green = 2,
+	Yellow = 3,
+	Blue = 4,
+	Magenta = 5,
+	Cyan = 6,
+	White = 7
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+enum class FontWeight
+{
+	Normal = 0,
+	Bold = 1
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Format
+{
+	Format(Color color, FontWeight fontWeight = FontWeight::Normal)
+	:	m_color{color},
+		m_fontWeight{fontWeight}
+	{
+	}
+
+	Color m_color;
+	FontWeight m_fontWeight;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const Format &format)
+{
+	if (!stream.supportsColor())
+		return stream;
+
+	const auto fontWeightCode = static_cast<size_t>(format.m_fontWeight);
+	const auto colorCode = 30 + static_cast<size_t>(format.m_color);
+
+	return (stream << "\033[" << fontWeightCode << ";" << colorCode << "m");
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct ResetFormat
+{
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const ResetFormat &)
+{
+	if (!stream.supportsColor())
+		return stream;
+
+	return (stream << "\033[0m");
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Token
+{
+	Token(const std::string &name)
+	:	name(name)
+	{
+	}
+
+	const std::string &name;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct RuleName: public Token
+{
+	RuleName(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const RuleName &keyword)
+{
+	return (stream
+		<< utils::Format(utils::Color::White, utils::FontWeight::Bold)
+		<< keyword.name
+		<< utils::ResetFormat());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Keyword: public Token
+{
+	Keyword(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const Keyword &keyword)
+{
+	return (stream
+		<< utils::Format(utils::Color::Blue, utils::FontWeight::Normal)
+		<< keyword.name
+		<< utils::ResetFormat());
+}
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Number: public Token
+{
+	Number(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const Number &number)
+{
+	return (stream
+		<< utils::Format(utils::Color::Yellow, utils::FontWeight::Normal)
+		<< number.name
+		<< utils::ResetFormat());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Variable: public Token
+{
+	Variable(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const Variable &variable)
+{
+	return (stream
+		<< utils::Format(utils::Color::Green, utils::FontWeight::Bold)
+		<< variable.name
+		<< utils::ResetFormat());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct String: public Token
+{
+	String(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const String &string)
+{
+	return (stream
+		<< utils::Format(utils::Color::Green, utils::FontWeight::Normal)
+		<< "\"" << string.name << "\""
+		<< utils::ResetFormat());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Boolean: public Token
+{
+	Boolean(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const Boolean &string)
+{
+	return (stream
+		<< utils::Format(utils::Color::Red, utils::FontWeight::Normal)
+		<< string.name
+		<< utils::ResetFormat());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Reserved: public Token
+{
+	Reserved(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const Reserved &string)
+{
+	return (stream
+		<< utils::Format(utils::Color::White, utils::FontWeight::Normal)
+		<< string.name
+		<< utils::ResetFormat());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Heading1: public Token
+{
+	Heading1(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const Heading1 &heading1)
+{
+	return (stream
+		<< utils::Format(utils::Color::Blue, utils::FontWeight::Bold)
+		<< "%---------------------------------------" << std::endl
+		<< "% " << heading1.name << std::endl
+		<< "%---------------------------------------"
+		<< utils::ResetFormat()
+		<< std::endl);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct Heading2: public Token
+{
+	Heading2(const std::string &name)
+	:	Token(name)
+	{
+	}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline LogStream &operator<<(LogStream &stream, const Heading2 &heading2)
+{
+	return (stream
+		<< utils::Format(utils::Color::Blue, utils::FontWeight::Bold)
+		<< "% " << heading2.name
+		<< utils::ResetFormat());
+}
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/utils/LogStream.h

@@ -0,0 +1,335 @@
+#ifndef __PLASP__UTILS__LOG_STREAM_H
+#define __PLASP__UTILS__LOG_STREAM_H
+
+#include <iostream>
+#include <unistd.h>
+
+namespace plasp
+{
+namespace utils
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// LogStream
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+enum class StandardStream
+{
+	Out,
+	Err
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class LogStream
+{
+	public:
+		enum class ColorPolicy
+		{
+			Never,
+			Auto,
+			Always
+		};
+
+	private:
+		using CharacterType = std::ostream::char_type;
+		using TraitsType = std::ostream::traits_type;
+
+	public:
+		LogStream(StandardStream standardStream)
+		:	m_standardStream{standardStream},
+			m_colorPolicy{ColorPolicy::Auto}
+		{
+		}
+
+		LogStream(const LogStream &other)
+		:	m_standardStream{other.m_standardStream},
+			m_colorPolicy{other.m_colorPolicy}
+		{
+		}
+
+		LogStream &operator=(const LogStream &other)
+		{
+			m_standardStream = other.m_standardStream;
+			m_colorPolicy = other.m_colorPolicy;
+
+			return *this;
+		}
+
+		LogStream(LogStream &&other)
+		:	m_standardStream{other.m_standardStream},
+			m_colorPolicy{other.m_colorPolicy}
+		{
+			other.m_colorPolicy = ColorPolicy::Auto;
+		}
+
+		LogStream &operator=(LogStream &&other)
+		{
+			m_standardStream = other.m_standardStream;
+			m_colorPolicy = other.m_colorPolicy;
+
+			other.m_colorPolicy = ColorPolicy::Auto;
+
+			return *this;
+		}
+
+		void setColorPolicy(ColorPolicy colorPolicy)
+		{
+			m_colorPolicy = colorPolicy;
+		}
+
+		bool supportsColor() const
+		{
+			if (m_colorPolicy == ColorPolicy::Never)
+				return false;
+
+			if (m_colorPolicy == ColorPolicy::Always)
+				return true;
+
+			// Autodetect by checking whether output goes to a terminal
+			const auto fileDescriptor =
+				(m_standardStream == utils::StandardStream::Out)
+				? STDOUT_FILENO
+				: STDERR_FILENO;
+
+			return isatty(fileDescriptor);
+		}
+
+		std::ostream &ostream()
+		{
+			return (m_standardStream == utils::StandardStream::Out)
+				? std::cout
+				: std::cerr;
+		}
+
+		inline LogStream &operator<<(short value);
+		inline LogStream &operator<<(unsigned short value);
+		inline LogStream &operator<<(int value);
+		inline LogStream &operator<<(unsigned int value);
+		inline LogStream &operator<<(long value);
+		inline LogStream &operator<<(unsigned long value);
+		inline LogStream &operator<<(long long value);
+		inline LogStream &operator<<(unsigned long long value);
+		inline LogStream &operator<<(float value);
+		inline LogStream &operator<<(double value);
+		inline LogStream &operator<<(long double value);
+		inline LogStream &operator<<(bool value);
+		inline LogStream &operator<<(const void *value);
+		inline LogStream &operator<<(const char *value);
+		inline LogStream &operator<<(const signed char *value);
+		inline LogStream &operator<<(const unsigned char *value);
+		inline LogStream &operator<<(std::basic_streambuf<CharacterType, TraitsType> *sb);
+		inline LogStream &operator<<(std::ios_base &(*func)(std::ios_base &));
+		inline LogStream &operator<<(std::basic_ios<CharacterType, TraitsType> &(*func)(std::basic_ios<CharacterType, TraitsType> &));
+		inline LogStream &operator<<(std::basic_ostream<CharacterType, TraitsType> &(*func)(std::basic_ostream<CharacterType, TraitsType> &));
+
+		inline LogStream &operator<<(char value);
+		inline LogStream &operator<<(signed char value);
+		inline LogStream &operator<<(unsigned char value);
+
+	private:
+		StandardStream m_standardStream;
+		ColorPolicy m_colorPolicy;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(short value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(unsigned short value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(int value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(unsigned int value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(long value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(unsigned long value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(long long value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(unsigned long long value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(float value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(double value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(long double value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(bool value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(const void *value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(const char *value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(const signed char *value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(const unsigned char *value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(std::basic_streambuf<CharacterType, TraitsType>* sb)
+{
+	ostream() << sb;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(std::ios_base &(*func)(std::ios_base &))
+{
+	ostream() << func;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(std::basic_ios<CharacterType, TraitsType> &(*func)(std::basic_ios<CharacterType, TraitsType> &))
+{
+	ostream() << func;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(std::basic_ostream<CharacterType, TraitsType> &(*func)(std::basic_ostream<CharacterType, TraitsType> &))
+{
+	ostream() << func;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class CharacterType, class Traits, class Allocator>
+inline LogStream &operator<<(LogStream &stream, const std::basic_string<CharacterType, Traits, Allocator> &string)
+{
+	stream.ostream() << string;
+	return stream;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(char value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(signed char value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+LogStream &LogStream::operator<<(unsigned char value)
+{
+	ostream() << value;
+	return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/utils/Logger.h

@@ -0,0 +1,62 @@
+#ifndef __PLASP__UTILS__LOGGER_H
+#define __PLASP__UTILS__LOGGER_H
+
+#include <string>
+
+#include <plasp/utils/LogStream.h>
+#include <plasp/utils/ParserException.h>
+#include <plasp/utils/StreamCoordinate.h>
+
+namespace plasp
+{
+namespace utils
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Logger
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Logger
+{
+	public:
+		enum class WarningLevel
+		{
+			Normal,
+			Error,
+			Ignore
+		};
+
+	public:
+		Logger();
+
+		Logger(const Logger &other);
+		Logger &operator=(const Logger &other);
+
+		Logger(Logger &&other);
+		Logger &operator=(Logger &&other);
+
+		LogStream &outputStream();
+		LogStream &errorStream();
+
+		void setWarningLevel(WarningLevel warningLevel);
+		void setColorPolicy(LogStream::ColorPolicy colorPolicy);
+
+		void logError(const std::string &message);
+		void logError(const StreamCoordinate &coordinate, const std::string &message);
+		void logWarning(const StreamCoordinate &parserCoordinate, const std::string &message);
+
+	private:
+		LogStream m_outputStream;
+		LogStream m_errorStream;
+
+		WarningLevel m_warningLevel;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/utils/Parser.h

@@ -0,0 +1,571 @@
+#ifndef __PLASP__UTILS__PARSER_H
+#define __PLASP__UTILS__PARSER_H
+
+#include <iostream>
+#include <iterator>
+#include <sstream>
+#include <vector>
+
+#include <boost/filesystem.hpp>
+
+#include <plasp/utils/ParserException.h>
+#include <plasp/utils/ParserPolicy.h>
+#include <plasp/utils/Stream.h>
+#include <plasp/utils/StreamCoordinate.h>
+
+namespace plasp
+{
+namespace utils
+{
+
+template<typename Type>
+struct Tag
+{
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Parser
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy = CaseSensitiveParserPolicy>
+class Parser: public Stream, public ParserPolicy
+{
+	template<class OtherParserPolicy>
+	friend class Parser;
+
+	public:
+		explicit Parser();
+		explicit Parser(std::string streamName, std::istream &istream);
+
+		template<class OtherParser>
+		Parser(OtherParser &&otherParser)
+		{
+			m_stream = std::move(otherParser.m_stream);
+			m_delimiters = std::move(otherParser.m_delimiters);
+		}
+
+		void removeComments(const std::string &startSequence, const std::string &endSequence, bool removeEnd);
+
+		char currentCharacter() const;
+
+		template<typename Type>
+		Type parse();
+
+		template<typename Type>
+		bool testAndReturn(const Type &expectedValue);
+
+		template<typename Type>
+		bool testAndSkip(const Type &expectedValue);
+
+		template<typename Type>
+		void expect(const Type &expectedValue);
+
+		std::string parseIdentifier();
+		bool testIdentifierAndReturn(const std::string &identifier);
+		bool testIdentifierAndSkip(const std::string &identifier);
+
+		// TODO: remove
+		bool probeNumber();
+
+		std::string parseLine();
+
+		void skipWhiteSpace();
+		void skipBlankSpace();
+		void skipLine();
+
+	private:
+		std::string parseImpl(Tag<std::string>);
+		char parseImpl(Tag<char>);
+		uint64_t parseImpl(Tag<uint64_t>);
+		int64_t parseImpl(Tag<int64_t>);
+		uint32_t parseImpl(Tag<uint32_t>);
+		int32_t parseImpl(Tag<int32_t>);
+		bool parseImpl(Tag<bool>);
+
+		bool testImpl(const std::string &expectedValue);
+		bool testImpl(char expectedValue);
+		bool testImpl(uint64_t expectedValue);
+		bool testImpl(int64_t expectedValue);
+		bool testImpl(uint32_t expectedValue);
+		bool testImpl(int32_t expectedValue);
+		bool testImpl(bool expectedValue);
+
+		uint64_t parseIntegerBody();
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+Parser<ParserPolicy>::Parser()
+:	Stream()
+{
+}
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+Parser<ParserPolicy>::Parser(std::string streamName, std::istream &istream)
+:	Stream(streamName, istream)
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+void Parser<ParserPolicy>::skipWhiteSpace()
+{
+	check();
+
+	while (!atEnd() && ParserPolicy::isWhiteSpaceCharacter(currentCharacter()))
+		advance();
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+void Parser<ParserPolicy>::skipBlankSpace()
+{
+	check();
+
+	while (!atEnd() && ParserPolicy::isBlankCharacter(currentCharacter()))
+		advance();
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+void Parser<ParserPolicy>::skipLine()
+{
+	check();
+
+	while (currentCharacter() != '\n')
+		advance();
+
+	advance();
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+template<typename Type>
+Type Parser<ParserPolicy>::parse()
+{
+	return parseImpl(Tag<Type>());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+template<typename Type>
+bool Parser<ParserPolicy>::testAndReturn(const Type &expectedValue)
+{
+	const auto previousPosition = position();
+
+	const auto result = testImpl(expectedValue);
+
+	seek(previousPosition);
+
+	return result;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+template<typename Type>
+bool Parser<ParserPolicy>::testAndSkip(const Type &expectedValue)
+{
+	const auto previousPosition = position();
+
+	const auto result = testImpl(expectedValue);
+
+	if (result == false)
+		seek(previousPosition);
+
+	return result;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+template<typename Type>
+void Parser<ParserPolicy>::expect(const Type &expectedValue)
+{
+	if (testAndSkip(expectedValue))
+		return;
+
+	std::stringstream message;
+	message << "unexpected value, expected “" << expectedValue << "”";
+
+	throw ParserException(coordinate(), message.str());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+std::string Parser<ParserPolicy>::parseIdentifier()
+{
+	skipWhiteSpace();
+
+	std::string value;
+
+	while (true)
+	{
+		const auto character = currentCharacter();
+
+		if (!ParserPolicy::isIdentifierCharacter(character))
+			return value;
+
+		value.push_back(character);
+		advance();
+	}
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::testIdentifierAndSkip(const std::string &expectedValue)
+{
+	return testAndSkip(expectedValue) && !ParserPolicy::isIdentifierCharacter(currentCharacter());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::probeNumber()
+{
+	const auto previousPosition = position();
+
+	skipWhiteSpace();
+
+	while (!ParserPolicy::isWhiteSpaceCharacter(currentCharacter()))
+		if (!std::isdigit(currentCharacter()))
+		{
+			seek(previousPosition);
+
+			return false;
+		}
+
+	return true;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+std::string Parser<ParserPolicy>::parseLine()
+{
+	std::string value;
+
+	while (true)
+	{
+		const auto character = currentCharacter();
+		advance();
+
+		if (character == '\n')
+			break;
+		else if (character == '\r')
+			continue;
+
+		value.push_back(character);
+	}
+
+	return value;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+void Parser<ParserPolicy>::removeComments(const std::string &startSequence, const std::string &endSequence, bool removeEnd)
+{
+	const auto inPosition = m_stream.tellg();
+	const auto outPosition = m_stream.tellp();
+
+	m_stream.seekg(0);
+
+	const auto removeRange =
+		[&](const auto &start, const auto &end)
+		{
+			BOOST_ASSERT(start != -1);
+
+			m_stream.clear();
+			m_stream.seekp(start);
+			m_stream.seekg(start);
+
+			auto position = start;
+
+			while (end == -1 || position < end)
+			{
+				m_stream.ignore(1);
+
+				if (atEnd())
+					return;
+
+				m_stream.put(' ');
+				position += static_cast<std::streamoff>(1);
+			}
+		};
+
+	while (!atEnd())
+	{
+		Position startPosition = m_stream.tellg();
+
+		while (!atEnd())
+		{
+			startPosition = m_stream.tellg();
+
+			if (testAndSkip(startSequence))
+				break;
+
+			advance();
+		}
+
+		Position endPosition = m_stream.tellg();
+
+		while (!atEnd())
+		{
+			endPosition = m_stream.tellg();
+
+			if (testAndSkip(endSequence))
+				break;
+
+			advance();
+		}
+
+		if (removeEnd)
+			endPosition = m_stream.tellg();
+
+		removeRange(startPosition, endPosition);
+	}
+
+	m_stream.clear();
+
+	m_stream.seekg(inPosition);
+	m_stream.seekp(outPosition);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+char Parser<ParserPolicy>::currentCharacter() const
+{
+	return ParserPolicy::transformCharacter(Stream::currentCharacter());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+std::string Parser<ParserPolicy>::parseImpl(Tag<std::string>)
+{
+	skipWhiteSpace();
+
+	const auto startPosition = position();
+
+	while (!ParserPolicy::isWhiteSpaceCharacter(currentCharacter()))
+		advance();
+
+	const auto endPosition = position();
+	const auto length = static_cast<size_t>(endPosition - startPosition);
+
+	std::string value;
+	value.reserve(length);
+
+	seek(startPosition);
+
+	for (size_t i = 0; i < length; i++)
+	{
+		value.push_back(currentCharacter());
+		advance();
+	}
+
+	return value;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+char Parser<ParserPolicy>::parseImpl(Tag<char>)
+{
+	const auto value = currentCharacter();
+
+	advance();
+
+	return value;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+uint64_t Parser<ParserPolicy>::parseIntegerBody()
+{
+	check();
+
+	if (!std::isdigit(currentCharacter()))
+		throw ParserException(coordinate(), "could not parse integer value");
+
+	uint64_t value = 0;
+
+	while (!atEnd())
+	{
+		const auto character = currentCharacter();
+
+		if (!std::isdigit(character))
+			break;
+
+		value *= 10;
+		value += character - '0';
+
+		advance();
+	}
+
+	return value;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+int64_t Parser<ParserPolicy>::parseImpl(Tag<int64_t>)
+{
+	skipWhiteSpace();
+
+	bool positive = testAndSkip<char>('+') || !testAndSkip<char>('-');
+
+	const auto value = parseIntegerBody();
+
+	return (positive ? value : -value);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+uint64_t Parser<ParserPolicy>::parseImpl(Tag<uint64_t>)
+{
+	skipWhiteSpace();
+
+	if (currentCharacter() == '-')
+		throw ParserException(coordinate(), "expected unsigned integer, got signed one");
+
+	return parseIntegerBody();
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+int32_t Parser<ParserPolicy>::parseImpl(Tag<int32_t>)
+{
+	return static_cast<int32_t>(parseImpl(Tag<int64_t>()));
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+uint32_t Parser<ParserPolicy>::parseImpl(Tag<uint32_t>)
+{
+	return static_cast<uint32_t>(parseImpl(Tag<uint64_t>()));
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::parseImpl(Tag<bool>)
+{
+	skipWhiteSpace();
+
+	if (testAndSkip<char>('0'))
+	    return false;
+
+	if (testAndSkip<char>('1'))
+		return true;
+
+	throw ParserException(coordinate(), "could not parse Boolean value");
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::testImpl(const std::string &expectedValue)
+{
+	if (!ParserPolicy::isWhiteSpaceCharacter(expectedValue.front()))
+		skipWhiteSpace();
+
+	const auto match = std::find_if(expectedValue.cbegin(), expectedValue.cend(),
+		[&](const auto &expectedCharacter)
+		{
+			const auto character = static_cast<char>(this->currentCharacter());
+
+			if (character != expectedCharacter)
+				return true;
+
+			this->advance();
+
+			return false;
+		});
+
+	return (match == expectedValue.cend());
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::testImpl(char expectedValue)
+{
+	const auto result = (currentCharacter() == expectedValue);
+
+	advance();
+
+	return result;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::testImpl(int64_t expectedValue)
+{
+	const auto value = parseImpl(Tag<int64_t>());
+
+	return (value == expectedValue);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::testImpl(uint64_t expectedValue)
+{
+	const auto value = parseImpl(Tag<uint64_t>());
+
+	return (value == expectedValue);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::testImpl(int32_t expectedValue)
+{
+	return testImpl(static_cast<int64_t>(expectedValue));
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::testImpl(uint32_t expectedValue)
+{
+	return testImpl(static_cast<uint64_t>(expectedValue));
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+template<class ParserPolicy>
+bool Parser<ParserPolicy>::testImpl(bool expectedValue)
+{
+	const auto value = parseImpl(Tag<bool>());
+
+	return (value == expectedValue);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/utils/ParserException.h

@@ -4,6 +4,8 @@
 #include <exception>
 #include <string>
 
+#include <plasp/utils/StreamCoordinate.h>
+
 namespace plasp
 {
 namespace utils
@@ -18,17 +20,21 @@ namespace utils
 class ParserException: public std::exception
 {
 	public:
-		explicit ParserException()
+		explicit ParserException(const StreamCoordinate &coordinate)
+		:	ParserException(coordinate, "unspecified parser error")
 		{
 		}
 
-		explicit ParserException(const char *message)
+		explicit ParserException(const StreamCoordinate &coordinate, const char *message)
-		:	m_message(message)
+		:	ParserException(coordinate, static_cast<std::string>(message))
 		{
 		}
 
-		explicit ParserException(const std::string &message)
+		explicit ParserException(const StreamCoordinate &coordinate, const std::string &message)
-		:	m_message(message)
+		:	m_coordinate{coordinate},
+			m_message{message},
+			m_plainMessage{m_coordinate.sectionName + ":" + std::to_string(m_coordinate.row)
+				+ ":" + std::to_string(m_coordinate.column) + " " + m_message}
 		{
 		}
 
@@ -38,14 +44,23 @@ class ParserException: public std::exception
 
 		const char *what() const throw()
 		{
-			if (m_message.empty())
+			return m_plainMessage.c_str();
-				return "Unspecified error while parsing SAS description file";
+		}
 
-			return m_message.c_str();
+		const StreamCoordinate &coordinate() const
+		{
+			return m_coordinate;
+		}
+
+		const std::string &message() const
+		{
+			return m_message;
 		}
 
 	private:
+		StreamCoordinate m_coordinate;
 		std::string m_message;
+		std::string m_plainMessage;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////

include/plasp/utils/ParserPolicy.h

@@ -0,0 +1,72 @@
+#ifndef __PLASP__UTILS__PARSER_POLICY_H
+#define __PLASP__UTILS__PARSER_POLICY_H
+
+#include <iostream>
+
+namespace plasp
+{
+namespace utils
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// ParserPolicy
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class CaseSensitiveParserPolicy
+{
+	public:
+		static constexpr char transformCharacter(char c) noexcept
+		{
+			return c;
+		}
+
+		static bool isWhiteSpaceCharacter(char c)
+		{
+			return std::iswspace(c);
+		}
+
+		static bool isBlankCharacter(char c)
+		{
+			return std::isblank(c);
+		}
+
+		static bool isIdentifierCharacter(char c)
+		{
+			return std::isgraph(c);
+		}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class CaseInsensitiveParserPolicy
+{
+	public:
+		static char transformCharacter(char c) noexcept
+		{
+			return std::tolower(c);
+		}
+
+		static bool isWhiteSpaceCharacter(char c)
+		{
+			return std::iswspace(c);
+		}
+
+		static bool isBlankCharacter(char c)
+		{
+			return std::isblank(c);
+		}
+
+		static bool isIdentifierCharacter(char c)
+		{
+			return std::isgraph(c);
+		}
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/utils/Parsing.h

@@ -1,91 +0,0 @@
-#ifndef __PLASP__UTILS__PARSING_H
-#define __PLASP__UTILS__PARSING_H
-
-#include <algorithm>
-#include <exception>
-#include <iosfwd>
-#include <sstream>
-#include <string>
-#include <typeinfo>
-
-#include <boost/algorithm/string/replace.hpp>
-
-#include <plasp/utils/ParserException.h>
-
-namespace plasp
-{
-namespace utils
-{
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-//
-// Parsing
-//
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-template<class T>
-T parse(std::istream &istream)
-{
-	T value;
-
-	try
-	{
-		istream >> value;
-	}
-	catch (const std::exception &e)
-	{
-		throw ParserException(std::string("Could not parse value of type ") + typeid(T).name() + " (" + e.what() + ")");
-	}
-
-	return value;
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-template<class T>
-void parseExpected(std::istream &istream, const T &expectedValue)
-{
-	const auto value = parse<T>(istream);
-
-	if (value == expectedValue)
-		return;
-
-	std::stringstream errorStream;
-
-	errorStream << "Invalid format, expected " << expectedValue << ", got " + value;
-
-	throw utils::ParserException(errorStream.str());
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-inline std::string escapeASP(const std::string &string)
-{
-	auto escaped = string;
-
-	boost::replace_all(escaped, "_", "__");
-	boost::replace_all(escaped, "-", "_h");
-	boost::replace_all(escaped, "@", "_a");
-
-	return escaped;
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-inline std::string unescapeASP(const std::string &string)
-{
-	auto unescaped = string;
-
-	boost::replace_all(unescaped, "_a", "@");
-	boost::replace_all(unescaped, "_h", "-");
-	boost::replace_all(unescaped, "__", "_");
-
-	return unescaped;
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
-}
-}
-
-#endif

include/plasp/utils/Stream.h

@@ -0,0 +1,84 @@
+#ifndef __PLASP__UTILS__STREAM_H
+#define __PLASP__UTILS__STREAM_H
+
+#include <iostream>
+#include <iterator>
+#include <sstream>
+#include <vector>
+
+#include <boost/filesystem.hpp>
+
+#include <plasp/utils/ParserException.h>
+#include <plasp/utils/StreamCoordinate.h>
+
+namespace plasp
+{
+namespace utils
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Stream
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Stream
+{
+	public:
+		using Position = std::stringstream::pos_type;
+
+		struct Delimiter
+		{
+			Position position;
+			std::string sectionName;
+		};
+
+	public:
+		explicit Stream();
+		explicit Stream(std::string streamName, std::istream &istream);
+
+		Stream(const Stream &other) = delete;
+		Stream &operator=(const Stream &other) = delete;
+
+		Stream(Stream &&other)
+		:	m_stream{std::move(other.m_stream)},
+			m_delimiters{std::move(other.m_delimiters)}
+		{
+		}
+
+		Stream &operator=(Stream &&other)
+		{
+			m_stream = std::move(other.m_stream);
+			m_delimiters = std::move(other.m_delimiters);
+
+			return *this;
+		}
+
+		~Stream() = default;
+
+		void read(std::string streamName, std::istream &istream);
+		void read(const boost::filesystem::path &path);
+
+		void reset();
+		void seek(Position position);
+		Position position() const;
+		StreamCoordinate coordinate() const;
+
+		char currentCharacter() const;
+		void advance();
+		bool atEnd() const;
+
+		void check() const;
+
+	protected:
+		mutable std::stringstream m_stream;
+
+		std::vector<Delimiter> m_delimiters;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/utils/StreamCoordinate.h

@@ -0,0 +1,29 @@
+#ifndef __PLASP__UTILS__STREAM_COORDINATE_H
+#define __PLASP__UTILS__STREAM_COORDINATE_H
+
+#include <string>
+
+namespace plasp
+{
+namespace utils
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// StreamCoordinate
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct StreamCoordinate
+{
+	std::string sectionName;
+	size_t row;
+	size_t column;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/utils/TranslatorException.h

@@ -1,12 +1,12 @@
-#ifndef __PLASP__SAS__TRANSLATOR_EXCEPTION_H
+#ifndef __PLASP__UTILS__TRANSLATOR_EXCEPTION_H
-#define __PLASP__SAS__TRANSLATOR_EXCEPTION_H
+#define __PLASP__UTILS__TRANSLATOR_EXCEPTION_H
 
 #include <exception>
 #include <string>
 
 namespace plasp
 {
-namespace sas
+namespace utils
 {
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -39,7 +39,7 @@ class TranslatorException: public std::exception
 		const char *what() const throw()
 		{
 			if (m_message.empty())
-				return "Unspecified error while translating SAS description";
+				return "Unspecified error while translating description";
 
 			return m_message.c_str();
 		}

instances/PDDL/ipc-1998-gripper/domain.pddl

@@ -0,0 +1,34 @@
+(define (domain gripper-strips)
+   (:predicates (room ?r)
+		(ball ?b)
+		(gripper ?g)
+		(at-robby ?r)
+		(at ?b ?r)
+		(free ?g)
+		(carry ?o ?g))
+
+   (:action move
+       :parameters  (?from ?to)
+       :precondition (and  (room ?from) (room ?to) (at-robby ?from))
+       :effect (and  (at-robby ?to)
+		     (not (at-robby ?from))))
+
+
+
+   (:action pick
+       :parameters (?obj ?room ?gripper)
+       :precondition  (and  (ball ?obj) (room ?room) (gripper ?gripper)
+			    (at ?obj ?room) (at-robby ?room) (free ?gripper))
+       :effect (and (carry ?obj ?gripper)
+		    (not (at ?obj ?room)) 
+		    (not (free ?gripper))))
+
+
+   (:action drop
+       :parameters  (?obj  ?room ?gripper)
+       :precondition  (and  (ball ?obj) (room ?room) (gripper ?gripper)
+			    (carry ?obj ?gripper) (at-robby ?room))
+       :effect (and (at ?obj ?room)
+		    (free ?gripper)
+		    (not (carry ?obj ?gripper)))))
+

instances/PDDL/ipc-1998-gripper/problem-01.pddl

@@ -0,0 +1,22 @@
+(define (problem strips-gripper-x-1)
+   (:domain gripper-strips)
+   (:objects rooma roomb ball4 ball3 ball2 ball1 left right)
+   (:init (room rooma)
+          (room roomb)
+          (ball ball4)
+          (ball ball3)
+          (ball ball2)
+          (ball ball1)
+          (at-robby rooma)
+          (free left)
+          (free right)
+          (at ball4 rooma)
+          (at ball3 rooma)
+          (at ball2 rooma)
+          (at ball1 rooma)
+          (gripper left)
+          (gripper right))
+   (:goal (and (at ball4 roomb)
+               (at ball3 roomb)
+               (at ball2 roomb)
+               (at ball1 roomb))))

instances/PDDL/ipc-1998-gripper/problem-02.pddl

@@ -0,0 +1,28 @@
+(define (problem strips-gripper-x-2)
+   (:domain gripper-strips)
+   (:objects rooma roomb ball6 ball5 ball4 ball3 ball2 ball1 left right)
+   (:init (room rooma)
+          (room roomb)
+          (ball ball6)
+          (ball ball5)
+          (ball ball4)
+          (ball ball3)
+          (ball ball2)
+          (ball ball1)
+          (at-robby rooma)
+          (free left)
+          (free right)
+          (at ball6 rooma)
+          (at ball5 rooma)
+          (at ball4 rooma)
+          (at ball3 rooma)
+          (at ball2 rooma)
+          (at ball1 rooma)
+          (gripper left)
+          (gripper right))
+   (:goal (and (at ball6 roomb)
+               (at ball5 roomb)
+               (at ball4 roomb)
+               (at ball3 roomb)
+               (at ball2 roomb)
+               (at ball1 roomb))))

instances/PDDL/ipc-1998-gripper/solutions

@@ -0,0 +1,4 @@
+instance | minimal horizon | #solutions with minimal horizon
+============================================================
+problem-01.pddl | 11 | 384
+problem-02.pddl | 17 | 46080

instances/PDDL/ipc-2000-blocks-track-1-typed/domain.pddl

@@ -0,0 +1,49 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; 4 Op-blocks world
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(define (domain BLOCKS)
+  (:requirements :strips :typing)
+  (:types block)
+  (:predicates (on ?x - block ?y - block)
+	       (ontable ?x - block)
+	       (clear ?x - block)
+	       (handempty)
+	       (holding ?x - block)
+	       )
+
+  (:action pick-up
+	     :parameters (?x - block)
+	     :precondition (and (clear ?x) (ontable ?x) (handempty))
+	     :effect
+	     (and (not (ontable ?x))
+		   (not (clear ?x))
+		   (not (handempty))
+		   (holding ?x)))
+
+  (:action put-down
+	     :parameters (?x - block)
+	     :precondition (holding ?x)
+	     :effect
+	     (and (not (holding ?x))
+		   (clear ?x)
+		   (handempty)
+		   (ontable ?x)))
+  (:action stack
+	     :parameters (?x - block ?y - block)
+	     :precondition (and (holding ?x) (clear ?y))
+	     :effect
+	     (and (not (holding ?x))
+		   (not (clear ?y))
+		   (clear ?x)
+		   (handempty)
+		   (on ?x ?y)))
+  (:action unstack
+	     :parameters (?x - block ?y - block)
+	     :precondition (and (on ?x ?y) (clear ?x) (handempty))
+	     :effect
+	     (and (holding ?x)
+		   (clear ?y)
+		   (not (clear ?x))
+		   (not (handempty))
+		   (not (on ?x ?y)))))

instances/PDDL/ipc-2000-blocks-track-1-typed/problem-04-00.pddl

@@ -0,0 +1,7 @@
+(define (problem BLOCKS-4-0)
+(:domain BLOCKS)
+(:objects D B A C - block)
+(:INIT (CLEAR C) (CLEAR A) (CLEAR B) (CLEAR D) (ONTABLE C) (ONTABLE A)
+ (ONTABLE B) (ONTABLE D) (HANDEMPTY))
+(:goal (AND (ON D C) (ON C B) (ON B A)))
+)

instances/PDDL/ipc-2000-blocks-track-1-typed/problem-05-01.pddl

@@ -0,0 +1,7 @@
+(define (problem BLOCKS-5-1)
+(:domain BLOCKS)
+(:objects A D C E B - block)
+(:INIT (CLEAR B) (CLEAR E) (CLEAR C) (ONTABLE D) (ONTABLE E) (ONTABLE C)
+ (ON B A) (ON A D) (HANDEMPTY))
+(:goal (AND (ON D C) (ON C B) (ON B A) (ON A E)))
+)

instances/PDDL/ipc-2000-blocks-track-1-typed/problem-08-01.pddl

@@ -0,0 +1,7 @@
+(define (problem BLOCKS-8-1)
+(:domain BLOCKS)
+(:objects B A G C F D H E - block)
+(:INIT (CLEAR E) (CLEAR H) (CLEAR D) (CLEAR F) (ONTABLE C) (ONTABLE G)
+ (ONTABLE D) (ONTABLE F) (ON E C) (ON H A) (ON A B) (ON B G) (HANDEMPTY))
+(:goal (AND (ON C D) (ON D B) (ON B G) (ON G F) (ON F H) (ON H A) (ON A E)))
+)

instances/PDDL/ipc-2000-blocks-track-1-typed/problem-09-02.pddl

@@ -0,0 +1,8 @@
+(define (problem BLOCKS-9-2)
+(:domain BLOCKS)
+(:objects B I C E D A G F H - block)
+(:INIT (CLEAR H) (CLEAR F) (ONTABLE G) (ONTABLE F) (ON H A) (ON A D) (ON D E)
+ (ON E C) (ON C I) (ON I B) (ON B G) (HANDEMPTY))
+(:goal (AND (ON F G) (ON G H) (ON H D) (ON D I) (ON I E) (ON E B) (ON B C)
+            (ON C A)))
+)

instances/PDDL/ipc-2000-blocks-track-1-typed/solutions

@@ -0,0 +1,6 @@
+instance | minimal horizon | #solutions with minimal horizon
+============================================================
+problem-04-00.pddl | 6 | 1
+problem-05-01.pddl | 10 | 2
+problem-08-01.pddl | 20 | 60
+problem-09-02.pddl | 20 | 37

instances/PDDL/ipc-2000-elevator-m10-strips/domain.pddl

@@ -0,0 +1,66 @@
+(define (domain miconic)
+  (:requirements :strips)
+  (:types passenger - object
+          floor - object
+         )
+
+(:predicates 
+(origin ?person - passenger ?floor - floor)
+;; entry of ?person is ?floor
+;; inertia
+
+(destin ?person - passenger ?floor - floor)
+;; exit of ?person is ?floor
+;; inertia
+
+(above ?floor1 - floor  ?floor2 - floor)
+;; ?floor2 is located above of ?floor1
+
+(boarded ?person - passenger)
+;; true if ?person has boarded the lift
+
+(not-boarded ?person - passenger)
+;; true if ?person has not boarded the lift
+
+(served ?person - passenger)
+;; true if ?person has alighted as her destination
+
+(not-served ?person - passenger)
+;; true if ?person is not at their destination
+
+(lift-at ?floor - floor)
+;; current position of the lift is at ?floor
+)
+
+
+;;stop and allow boarding
+
+(:action board
+  :parameters (?f - floor ?p - passenger)
+  :precondition (and (lift-at ?f) (origin ?p ?f))
+  :effect (boarded ?p))
+
+(:action depart
+  :parameters (?f - floor ?p - passenger)
+  :precondition (and (lift-at ?f) (destin ?p ?f)
+		     (boarded ?p))
+  :effect (and (not (boarded ?p))
+	       (served ?p)))
+;;drive up
+
+(:action up
+  :parameters (?f1 - floor ?f2 - floor)
+  :precondition (and (lift-at ?f1) (above ?f1 ?f2))
+  :effect (and (lift-at ?f2) (not (lift-at ?f1))))
+
+
+;;drive down
+
+(:action down
+  :parameters (?f1 - floor ?f2 - floor)
+  :precondition (and (lift-at ?f1) (above ?f2 ?f1))
+  :effect (and (lift-at ?f2) (not (lift-at ?f1))))
+)
+
+
+

instances/PDDL/ipc-2000-elevator-m10-strips/problem-03-00.pddl

@@ -0,0 +1,58 @@
+
+
+
+(define (problem mixed-f6-p3-u0-v0-g0-a0-n0-A0-B0-N0-F0-r0)
+   (:domain miconic)
+   (:objects p0 p1 p2 - passenger
+             f0 f1 f2 f3 f4 f5 - floor)
+
+
+(:init
+(above f0 f1)
+(above f0 f2)
+(above f0 f3)
+(above f0 f4)
+(above f0 f5)
+
+(above f1 f2)
+(above f1 f3)
+(above f1 f4)
+(above f1 f5)
+
+(above f2 f3)
+(above f2 f4)
+(above f2 f5)
+
+(above f3 f4)
+(above f3 f5)
+
+(above f4 f5)
+
+
+
+(origin p0 f1)
+(destin p0 f4)
+
+(origin p1 f3)
+(destin p1 f1)
+
+(origin p2 f5)
+(destin p2 f1)
+
+
+
+
+
+
+(lift-at f0)
+)
+
+
+(:goal (and 
+(served p0)
+(served p1)
+(served p2)
+))
+)
+
+

instances/PDDL/ipc-2000-elevator-m10-strips/problem-03-01.pddl

@@ -0,0 +1,58 @@
+
+
+
+(define (problem mixed-f6-p3-u0-v0-g0-a0-n0-A0-B0-N0-F0-r1)
+   (:domain miconic)
+   (:objects p0 p1 p2 - passenger
+             f0 f1 f2 f3 f4 f5 - floor)
+
+
+(:init
+(above f0 f1)
+(above f0 f2)
+(above f0 f3)
+(above f0 f4)
+(above f0 f5)
+
+(above f1 f2)
+(above f1 f3)
+(above f1 f4)
+(above f1 f5)
+
+(above f2 f3)
+(above f2 f4)
+(above f2 f5)
+
+(above f3 f4)
+(above f3 f5)
+
+(above f4 f5)
+
+
+
+(origin p0 f2)
+(destin p0 f5)
+
+(origin p1 f5)
+(destin p1 f2)
+
+(origin p2 f4)
+(destin p2 f1)
+
+
+
+
+
+
+(lift-at f0)
+)
+
+
+(:goal (and 
+(served p0)
+(served p1)
+(served p2)
+))
+)
+
+

instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-00.pddl

@@ -0,0 +1,77 @@
+
+
+
+(define (problem mixed-f8-p4-u0-v0-g0-a0-n0-A0-B0-N0-F0-r0)
+   (:domain miconic)
+   (:objects p0 p1 p2 p3 - passenger
+             f0 f1 f2 f3 f4 f5 f6 f7 - floor)
+
+
+(:init
+(above f0 f1)
+(above f0 f2)
+(above f0 f3)
+(above f0 f4)
+(above f0 f5)
+(above f0 f6)
+(above f0 f7)
+
+(above f1 f2)
+(above f1 f3)
+(above f1 f4)
+(above f1 f5)
+(above f1 f6)
+(above f1 f7)
+
+(above f2 f3)
+(above f2 f4)
+(above f2 f5)
+(above f2 f6)
+(above f2 f7)
+
+(above f3 f4)
+(above f3 f5)
+(above f3 f6)
+(above f3 f7)
+
+(above f4 f5)
+(above f4 f6)
+(above f4 f7)
+
+(above f5 f6)
+(above f5 f7)
+
+(above f6 f7)
+
+
+
+(origin p0 f7)
+(destin p0 f6)
+
+(origin p1 f1)
+(destin p1 f3)
+
+(origin p2 f1)
+(destin p2 f7)
+
+(origin p3 f2)
+(destin p3 f4)
+
+
+
+
+
+
+(lift-at f0)
+)
+
+
+(:goal (and 
+(served p0)
+(served p1)
+(served p2)
+(served p3)
+))
+)
+
+

instances/PDDL/ipc-2000-elevator-m10-strips/problem-04-01.pddl

@@ -0,0 +1,77 @@
+
+
+
+(define (problem mixed-f8-p4-u0-v0-g0-a0-n0-A0-B0-N0-F0-r1)
+   (:domain miconic)
+   (:objects p0 p1 p2 p3 - passenger
+             f0 f1 f2 f3 f4 f5 f6 f7 - floor)
+
+
+(:init
+(above f0 f1)
+(above f0 f2)
+(above f0 f3)
+(above f0 f4)
+(above f0 f5)
+(above f0 f6)
+(above f0 f7)
+
+(above f1 f2)
+(above f1 f3)
+(above f1 f4)
+(above f1 f5)
+(above f1 f6)
+(above f1 f7)
+
+(above f2 f3)
+(above f2 f4)
+(above f2 f5)
+(above f2 f6)
+(above f2 f7)
+
+(above f3 f4)
+(above f3 f5)
+(above f3 f6)
+(above f3 f7)
+
+(above f4 f5)
+(above f4 f6)
+(above f4 f7)
+
+(above f5 f6)
+(above f5 f7)
+
+(above f6 f7)
+
+
+
+(origin p0 f0)
+(destin p0 f5)
+
+(origin p1 f7)
+(destin p1 f4)
+
+(origin p2 f0)
+(destin p2 f7)
+
+(origin p3 f1)
+(destin p3 f6)
+
+
+
+
+
+
+(lift-at f0)
+)
+
+
+(:goal (and 
+(served p0)
+(served p1)
+(served p2)
+(served p3)
+))
+)
+
+

instances/PDDL/ipc-2000-elevator-m10-strips/solutions

@@ -0,0 +1,6 @@
+instance | minimal horizon | #solutions with minimal horizon
+============================================================
+problem-03-00.pddl | 10 | 12
+problem-03-01.pddl | 11 | 40
+problem-04-00.pddl | 14 | 180
+problem-04-01.pddl | 13 | 120

instances/PDDL/ipc-2002-depots-strips/domain.pddl

@@ -0,0 +1,42 @@
+(define (domain Depot)
+(:requirements :typing)
+(:types place locatable - object
+	depot distributor - place
+        truck hoist surface - locatable
+        pallet crate - surface)
+
+(:predicates (at ?x - locatable ?y - place) 
+             (on ?x - crate ?y - surface)
+             (in ?x - crate ?y - truck)
+             (lifting ?x - hoist ?y - crate)
+             (available ?x - hoist)
+             (clear ?x - surface))
+	
+(:action Drive
+:parameters (?x - truck ?y - place ?z - place) 
+:precondition (and (at ?x ?y))
+:effect (and (not (at ?x ?y)) (at ?x ?z)))
+
+(:action Lift
+:parameters (?x - hoist ?y - crate ?z - surface ?p - place)
+:precondition (and (at ?x ?p) (available ?x) (at ?y ?p) (on ?y ?z) (clear ?y))
+:effect (and (not (at ?y ?p)) (lifting ?x ?y) (not (clear ?y)) (not (available ?x)) 
+             (clear ?z) (not (on ?y ?z))))
+
+(:action Drop 
+:parameters (?x - hoist ?y - crate ?z - surface ?p - place)
+:precondition (and (at ?x ?p) (at ?z ?p) (clear ?z) (lifting ?x ?y))
+:effect (and (available ?x) (not (lifting ?x ?y)) (at ?y ?p) (not (clear ?z)) (clear ?y)
+		(on ?y ?z)))
+
+(:action Load
+:parameters (?x - hoist ?y - crate ?z - truck ?p - place)
+:precondition (and (at ?x ?p) (at ?z ?p) (lifting ?x ?y))
+:effect (and (not (lifting ?x ?y)) (in ?y ?z) (available ?x)))
+
+(:action Unload 
+:parameters (?x - hoist ?y - crate ?z - truck ?p - place)
+:precondition (and (at ?x ?p) (at ?z ?p) (available ?x) (in ?y ?z))
+:effect (and (not (in ?y ?z)) (not (available ?x)) (lifting ?x ?y)))
+
+)

instances/PDDL/ipc-2002-depots-strips/problem-01.pddl

@@ -0,0 +1,34 @@
+(define (problem depotprob1818) (:domain Depot)
+(:objects
+	depot0 - Depot
+	distributor0 distributor1 - Distributor
+	truck0 truck1 - Truck
+	pallet0 pallet1 pallet2 - Pallet
+	crate0 crate1 - Crate
+	hoist0 hoist1 hoist2 - Hoist)
+(:init
+	(at pallet0 depot0)
+	(clear crate1)
+	(at pallet1 distributor0)
+	(clear crate0)
+	(at pallet2 distributor1)
+	(clear pallet2)
+	(at truck0 distributor1)
+	(at truck1 depot0)
+	(at hoist0 depot0)
+	(available hoist0)
+	(at hoist1 distributor0)
+	(available hoist1)
+	(at hoist2 distributor1)
+	(available hoist2)
+	(at crate0 distributor0)
+	(on crate0 pallet1)
+	(at crate1 depot0)
+	(on crate1 pallet0)
+)
+
+(:goal (and
+		(on crate0 pallet2)
+		(on crate1 pallet1)
+	)
+))

instances/PDDL/ipc-2002-depots-strips/problem-02.pddl

@@ -0,0 +1,40 @@
+(define (problem depotprob7512) (:domain Depot)
+(:objects
+	depot0 - Depot
+	distributor0 distributor1 - Distributor
+	truck0 truck1 - Truck
+	pallet0 pallet1 pallet2 - Pallet
+	crate0 crate1 crate2 crate3 - Crate
+	hoist0 hoist1 hoist2 - Hoist)
+(:init
+	(at pallet0 depot0)
+	(clear crate0)
+	(at pallet1 distributor0)
+	(clear crate3)
+	(at pallet2 distributor1)
+	(clear crate2)
+	(at truck0 depot0)
+	(at truck1 depot0)
+	(at hoist0 depot0)
+	(available hoist0)
+	(at hoist1 distributor0)
+	(available hoist1)
+	(at hoist2 distributor1)
+	(available hoist2)
+	(at crate0 depot0)
+	(on crate0 pallet0)
+	(at crate1 distributor1)
+	(on crate1 pallet2)
+	(at crate2 distributor1)
+	(on crate2 crate1)
+	(at crate3 distributor0)
+	(on crate3 pallet1)
+)
+
+(:goal (and
+		(on crate0 pallet2)
+		(on crate1 crate3)
+		(on crate2 pallet0)
+		(on crate3 pallet1)
+	)
+))

instances/PDDL/ipc-2002-depots-strips/solutions

@@ -0,0 +1,4 @@
+instance | minimal horizon | #solutions with minimal horizon
+============================================================
+problem-01.pddl | 10 | 16
+problem-02.pddl | 15 | 448

instances/PDDL/ipc-2002-driver-log-strips/domain.pddl

@@ -0,0 +1,79 @@
+(define (domain driverlog)
+  (:requirements :typing) 
+  (: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)
+)
+
+
+(:action LOAD-TRUCK
+  :parameters
+   (?obj - obj
+    ?truck - truck
+    ?loc - location)
+  :precondition
+   (and (at ?truck ?loc) (at ?obj ?loc))
+  :effect
+   (and (not (at ?obj ?loc)) (in ?obj ?truck)))
+
+(:action UNLOAD-TRUCK
+  :parameters
+   (?obj - obj
+    ?truck - truck
+    ?loc - location)
+  :precondition
+   (and (at ?truck ?loc) (in ?obj ?truck))
+  :effect
+   (and (not (in ?obj ?truck)) (at ?obj ?loc)))
+
+(:action BOARD-TRUCK
+  :parameters
+   (?driver - driver
+    ?truck - truck
+    ?loc - location)
+  :precondition
+   (and (at ?truck ?loc) (at ?driver ?loc) (empty ?truck))
+  :effect
+   (and (not (at ?driver ?loc)) (driving ?driver ?truck) (not (empty ?truck))))
+
+(:action DISEMBARK-TRUCK
+  :parameters
+   (?driver - driver
+    ?truck - truck
+    ?loc - location)
+  :precondition
+   (and (at ?truck ?loc) (driving ?driver ?truck))
+  :effect
+   (and (not (driving ?driver ?truck)) (at ?driver ?loc) (empty ?truck)))
+
+(:action DRIVE-TRUCK
+  :parameters
+   (?truck - truck
+    ?loc-from - location
+    ?loc-to - location
+    ?driver - driver)
+  :precondition
+   (and (at ?truck ?loc-from)
+   (driving ?driver ?truck) (link ?loc-from ?loc-to))
+  :effect
+   (and (not (at ?truck ?loc-from)) (at ?truck ?loc-to)))
+
+(:action WALK
+  :parameters
+   (?driver - driver
+    ?loc-from - location
+    ?loc-to - location)
+  :precondition
+   (and (at ?driver ?loc-from) (path ?loc-from ?loc-to))
+  :effect
+   (and (not (at ?driver ?loc-from)) (at ?driver ?loc-to)))
+
+ 
+)

instances/PDDL/ipc-2002-driver-log-strips/problem-01.pddl

@@ -0,0 +1,48 @@
+(define (problem DLOG-2-2-2)
+	(:domain driverlog)
+	(:objects
+	driver1 - driver
+	driver2 - driver
+	truck1 - truck
+	truck2 - truck
+	package1 - obj
+	package2 - obj
+	s0 - location
+	s1 - location
+	s2 - location
+	p1-0 - location
+	p1-2 - location
+	)
+	(:init
+	(at driver1 s2)
+	(at driver2 s2)
+	(at truck1 s0)
+	(empty truck1)
+	(at truck2 s0)
+	(empty truck2)
+	(at package1 s0)
+	(at package2 s0)
+	(path s1 p1-0)
+	(path p1-0 s1)
+	(path s0 p1-0)
+	(path p1-0 s0)
+	(path s1 p1-2)
+	(path p1-2 s1)
+	(path s2 p1-2)
+	(path p1-2 s2)
+	(link s0 s1)
+	(link s1 s0)
+	(link s0 s2)
+	(link s2 s0)
+	(link s2 s1)
+	(link s1 s2)
+)
+	(:goal (and
+	(at driver1 s1)
+	(at truck1 s1)
+	(at package1 s0)
+	(at package2 s0)
+	))
+
+
+)

instances/PDDL/ipc-2002-driver-log-strips/problem-03.pddl

@@ -0,0 +1,59 @@
+(define (problem DLOG-2-2-4)
+	(:domain driverlog)
+	(:objects
+	driver1 - driver
+	driver2 - driver
+	truck1 - truck
+	truck2 - truck
+	package1 - obj
+	package2 - obj
+	package3 - obj
+	package4 - obj
+	s0 - location
+	s1 - location
+	s2 - location
+	p0-1 - location
+	p2-0 - location
+	p2-1 - location
+	)
+	(:init
+	(at driver1 s1)
+	(at driver2 s0)
+	(at truck1 s1)
+	(empty truck1)
+	(at truck2 s2)
+	(empty truck2)
+	(at package1 s0)
+	(at package2 s0)
+	(at package3 s1)
+	(at package4 s1)
+	(path s0 p0-1)
+	(path p0-1 s0)
+	(path s1 p0-1)
+	(path p0-1 s1)
+	(path s2 p2-0)
+	(path p2-0 s2)
+	(path s0 p2-0)
+	(path p2-0 s0)
+	(path s2 p2-1)
+	(path p2-1 s2)
+	(path s1 p2-1)
+	(path p2-1 s1)
+	(link s1 s0)
+	(link s0 s1)
+	(link s1 s2)
+	(link s2 s1)
+	(link s2 s0)
+	(link s0 s2)
+)
+	(:goal (and
+	(at driver2 s2)
+	(at truck1 s1)
+	(at truck2 s2)
+	(at package1 s1)
+	(at package2 s1)
+	(at package3 s2)
+	))
+
+
+)

instances/PDDL/ipc-2002-driver-log-strips/solutions

@@ -0,0 +1,4 @@
+instance | minimal horizon | #solutions with minimal horizon
+============================================================
+problem-01.pddl | 7 | 1
+problem-03.pddl | 12 | 1056

instances/PDDL/ipc-2004-satellite/domain.pddl

@@ -0,0 +1,75 @@
+
+(define (domain satellite)
+  (:requirements :strips :equality :typing)
+  (:types satellite direction instrument mode)
+ (:predicates 
+               (on_board ?i - instrument ?s - satellite)
+	       (supports ?i - instrument ?m - mode)
+	       (pointing ?s - satellite ?d - direction)
+	       (power_avail ?s - satellite)
+	       (power_on ?i - instrument)
+	       (calibrated ?i - instrument)
+	       (have_image ?d - direction ?m - mode)
+	       (calibration_target ?i - instrument ?d - direction))
+ 
+ 
+
+  (:action turn_to
+   :parameters (?s - satellite ?d_new - direction ?d_prev - direction)
+   :precondition (and (pointing ?s ?d_prev)
+              )
+   :effect (and  (pointing ?s ?d_new)
+                 (not (pointing ?s ?d_prev))
+           )
+  )
+
+ 
+  (:action switch_on
+   :parameters (?i - instrument ?s - satellite)
+ 
+   :precondition (and (on_board ?i ?s) 
+                      (power_avail ?s)
+                 )
+   :effect (and (power_on ?i)
+                (not (calibrated ?i))
+                (not (power_avail ?s))
+           )
+          
+  )
+
+ 
+  (:action switch_off
+   :parameters (?i - instrument ?s - satellite)
+ 
+   :precondition (and (on_board ?i ?s)
+                      (power_on ?i) 
+                  )
+   :effect (and (not (power_on ?i))
+                (power_avail ?s)
+           )
+  )
+
+  (:action calibrate
+   :parameters (?s - satellite ?i - instrument ?d - direction)
+   :precondition (and (on_board ?i ?s)
+		      (calibration_target ?i ?d)
+                      (pointing ?s ?d)
+                      (power_on ?i)
+                  )
+   :effect (calibrated ?i)
+  )
+
+
+  (:action take_image
+   :parameters (?s - satellite ?d - direction ?i - instrument ?m - mode)
+   :precondition (and (calibrated ?i)
+                      (on_board ?i ?s)
+                      (supports ?i ?m)
+                      (power_on ?i)
+                      (pointing ?s ?d)
+                      (power_on ?i)
+               )
+   :effect (have_image ?d ?m)
+  )
+)
+

instances/PDDL/ipc-2004-satellite/problem-01.pddl

@@ -0,0 +1,30 @@
+(define (problem strips-sat-x-1)
+(:domain satellite)
+(:objects
+	satellite0 - satellite
+	instrument0 - instrument
+	image1 - mode
+	spectrograph2 - mode
+	thermograph0 - mode
+	Star0 - direction
+	GroundStation1 - direction
+	GroundStation2 - direction
+	Phenomenon3 - direction
+	Phenomenon4 - direction
+	Star5 - direction
+	Phenomenon6 - direction
+)
+(:init
+	(supports instrument0 thermograph0)
+	(calibration_target instrument0 GroundStation2)
+	(on_board instrument0 satellite0)
+	(power_avail satellite0)
+	(pointing satellite0 Phenomenon6)
+)
+(:goal (and
+	(have_image Phenomenon4 thermograph0)
+	(have_image Star5 thermograph0)
+	(have_image Phenomenon6 thermograph0)
+))
+
+)

instances/PDDL/ipc-2004-satellite/problem-02.pddl

@@ -0,0 +1,40 @@
+(define (problem strips-sat-x-1)
+(:domain satellite)
+(:objects
+	satellite0 - satellite
+	instrument0 - instrument
+	instrument1 - instrument
+	infrared0 - mode
+	infrared1 - mode
+	image2 - mode
+	GroundStation1 - direction
+	Star0 - direction
+	GroundStation2 - direction
+	Planet3 - direction
+	Planet4 - direction
+	Phenomenon5 - direction
+	Phenomenon6 - direction
+	Star7 - direction
+)
+(:init
+	(supports instrument0 infrared1)
+	(supports instrument0 infrared0)
+	(calibration_target instrument0 Star0)
+	(supports instrument1 image2)
+	(supports instrument1 infrared1)
+	(supports instrument1 infrared0)
+	(calibration_target instrument1 GroundStation2)
+	(on_board instrument0 satellite0)
+	(on_board instrument1 satellite0)
+	(power_avail satellite0)
+	(pointing satellite0 Planet4)
+)
+(:goal (and
+	(have_image Planet3 infrared0)
+	(have_image Planet4 infrared0)
+	(have_image Phenomenon5 image2)
+	(have_image Phenomenon6 infrared0)
+	(have_image Star7 infrared0)
+))
+
+)

instances/PDDL/ipc-2004-satellite/problem-03.pddl

@@ -0,0 +1,52 @@
+(define (problem strips-sat-x-1)
+(:domain satellite)
+(:objects
+	satellite0 - satellite
+	instrument0 - instrument
+	instrument1 - instrument
+	instrument2 - instrument
+	satellite1 - satellite
+	instrument3 - instrument
+	image1 - mode
+	infrared0 - mode
+	spectrograph2 - mode
+	Star1 - direction
+	Star2 - direction
+	Star0 - direction
+	Star3 - direction
+	Star4 - direction
+	Phenomenon5 - direction
+	Phenomenon6 - direction
+	Phenomenon7 - direction
+)
+(:init
+	(supports instrument0 spectrograph2)
+	(supports instrument0 infrared0)
+	(calibration_target instrument0 Star1)
+	(supports instrument1 image1)
+	(calibration_target instrument1 Star2)
+	(supports instrument2 infrared0)
+	(supports instrument2 image1)
+	(calibration_target instrument2 Star0)
+	(on_board instrument0 satellite0)
+	(on_board instrument1 satellite0)
+	(on_board instrument2 satellite0)
+	(power_avail satellite0)
+	(pointing satellite0 Star4)
+	(supports instrument3 spectrograph2)
+	(supports instrument3 infrared0)
+	(supports instrument3 image1)
+	(calibration_target instrument3 Star0)
+	(on_board instrument3 satellite1)
+	(power_avail satellite1)
+	(pointing satellite1 Star0)
+)
+(:goal (and
+	(pointing satellite0 Phenomenon5)
+	(have_image Star3 infrared0)
+	(have_image Star4 spectrograph2)
+	(have_image Phenomenon5 spectrograph2)
+	(have_image Phenomenon7 spectrograph2)
+))
+
+)

instances/PDDL/ipc-2004-satellite/solutions

@@ -0,0 +1,5 @@
+instance | minimal horizon | #solutions with minimal horizon
+============================================================
+problem-01.pddl | 9 | 12
+problem-02.pddl | 13 | 240
+problem-03.pddl | 11 | 276

instances/PDDL/ipc-2006-tpp-propositional/domain.pddl

@@ -0,0 +1,65 @@
+; IPC5 Domain: TPP Propositional
+; Authors: Alfonso Gerevini and Alessandro Saetti 
+
+(define (domain TPP-Propositional)
+(:requirements :strips :typing)
+(:types place locatable level - object
+	depot market - place
+	truck goods - locatable)
+
+(:predicates (loaded ?g - goods ?t - truck ?l - level)
+	     (ready-to-load ?g - goods ?m - market ?l - level) 
+	     (stored ?g - goods ?l - level) 
+	     (on-sale ?g - goods ?m -  market ?l - level)
+	     (next ?l1 ?l2 - level)
+	     (at ?t - truck ?p - place)
+	     (connected ?p1 ?p2 - place))
+
+(:action drive
+ :parameters (?t - truck ?from ?to - place)
+ :precondition (and (at ?t ?from) (connected ?from ?to))
+ :effect (and (not (at ?t ?from)) (at ?t ?to)))
+
+
+; ### LOAD ###
+; ?l1 is the level of ?g ready to be loaded at ?m before loading
+; ?l2 is the level of ?g ready to be loaded at ?m after loading
+; ?l3 is the level of ?g in ?t before loading
+; ?l4 is the level of ?g in ?t after loading
+
+(:action load
+ :parameters (?g - goods ?t - truck ?m - market ?l1 ?l2 ?l3 ?l4 - level)
+ :precondition (and (at ?t ?m) (loaded ?g ?t ?l3)
+		    (ready-to-load ?g ?m ?l2) (next ?l2 ?l1) (next ?l4 ?l3))
+ :effect (and (loaded ?g ?t ?l4) (not (loaded ?g ?t ?l3)) 
+	      (ready-to-load ?g ?m ?l1) (not (ready-to-load ?g ?m ?l2))))
+
+
+; ### UNLOAD ###
+; ?l1 is the level of ?g in ?t before unloading
+; ?l2 is the level of ?g in ?t after unloading
+; ?l3 is the level of ?g in ?d before unloading
+; ?l4 is the level of ?g in ?d after unloading
+
+(:action unload
+ :parameters (?g - goods ?t - truck ?d - depot ?l1 ?l2 ?l3 ?l4 - level)
+ :precondition (and (at ?t ?d) (loaded ?g ?t ?l2)
+		    (stored ?g ?l3) (next ?l2 ?l1) (next ?l4 ?l3))
+ :effect (and (loaded ?g ?t ?l1) (not (loaded ?g ?t ?l2)) 
+	      (stored ?g ?l4) (not (stored ?g ?l3))))
+
+
+; ### BUY ###
+; ?l1 is the level of ?g on sale at ?m before buying
+; ?l2 is the level of ?g on sale at ?m after buying 
+; ?l3 is the level of ?g ready to be loaded at ?m before buying
+; ?l4 is the level of ?g ready to be loaded at ?m after buying
+
+(:action buy
+ :parameters (?t - truck ?g - goods ?m - market ?l1 ?l2 ?l3 ?l4 - level)
+ :precondition (and (at ?t ?m) (on-sale ?g ?m ?l2) (ready-to-load ?g ?m ?l3)
+		    (next ?l2 ?l1) (next ?l4 ?l3))
+ :effect (and (on-sale ?g ?m ?l1) (not (on-sale ?g ?m ?l2)) 
+	      (ready-to-load ?g ?m ?l4) (not (ready-to-load ?g ?m ?l3))))
+
+)