Relaxed Plan Structures

Relaxed Plan Structures for CFP

A temporal relaxed plan from colin2 looks like this:
1
(move r2 p_01_16 p_02_16) 2.001 (move r2 p_02_16 p_02_15) (move r2 p_02_16 p_02_17) (push r2 c p_02_16 p_03_16 p_04_16) 3.002 (move r2 p_02_15 p_02_14) (move r2 p_02_15 p_03_15) (move r2 p_02_17 p_03_17) 4.003 (move r2 p_02_14 p_02_13) (move r2 p_02_14 p_03_14) (push r2 c p_03_17 p_03_16 p_03_15)
CoalitionStructure.cpp was expanded to read relaxed plans using two structures.
The first structure is called rplan.
rplan is just a list of each line from the plan file, numbered on reading order:
0: 1 1: (move r2 p_01_16 p_02_16) 2: 2.001 3: (move r2 p_02_16 p_02_15) 4: (move r2 p_02_16 p_02_17) ...
The second structure is called rplan_timed.
rplan_timed maps double time stamps to sets of strings: sets of actions at each time stamp:
[1]: (move r2 p_01_16 p_02_16) [2.001]: (move r2 p_02_16 p_02_15) (move r2 p_02_16 p_02_17) (push r2 c p_02_16 p_03_16 p_04_16) [3.002]: (move r2 p_02_15 p_02_14) (move r2 p_02_15 p_03_15) (move r2 p_02_17 p_03_17) [4.003]: (move r2 p_02_14 p_02_13) (move r2 p_02_14 p_03_14) (push r2 c p_03_17 p_03_16 p_03_15)
Follow this link for the raw script.