feat(encode): Allow setting the planning horizon through an env-param.

plaans · Dec 11, 2023 · 650ef16 · 650ef16
1 parent 739726c
commit 650ef16
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/planning/planners/src/encode.rs b/planning/planners/src/encode.rs
@@ -570,7 +570,7 @@ pub fn encode(pb: &FiniteProblem, metric: Option<Metric>) -> std::result::Result
         .map(|(eff_id, prez, _)| {
             let var = solver.model.new_optional_fvar(
                 ORIGIN * TIME_SCALE.get(),
-                HORIZON * TIME_SCALE.get(),
+                HORIZON.get() * TIME_SCALE.get(),
                 TIME_SCALE.get(),
                 *prez,
                 Container::Instance(eff_id.instance_id) / VarType::EffectEnd,

diff --git a/planning/planners/src/encoding.rs b/planning/planners/src/encoding.rs
@@ -1,8 +1,15 @@
 use aries::core::Lit;
 use aries::model::lang::FAtom;
 use aries_planning::chronicles::*;
+use env_param::EnvParam;
 use std::collections::{BTreeSet, HashSet};
 
+/// Temporal origin
+pub const ORIGIN: i32 = 0;
+
+/// The maximum duration of the plan.
+pub static HORIZON: EnvParam<i32> = EnvParam::new("ARIES_PLANNING_HORIZON", "10000");
+
 /// Identifier of a condition
 #[derive(Ord, PartialOrd, Eq, PartialEq, Hash, Copy, Clone)]
 pub struct CondID {
@@ -78,9 +85,6 @@ pub fn conditions(pb: &FiniteProblem) -> impl Iterator<Item = (CondID, Lit, &Con
     })
 }
 
-pub const ORIGIN: i32 = 0;
-pub const HORIZON: i32 = 999999;
-
 pub struct TaskRef<'a> {
     pub presence: Lit,
     pub start: FAtom,