relax temporal constraint on increase effect

planning/planners/src/encode.rs

@@ -1006,11 +1006,15 @@ pub fn encode(pb: &FiniteProblem, metric: Option<Metric>) -> std::result::Result
 
         // Convert the increase effects into conditions in order to check that the new value is in the state variable domain.
         for &&(eff_id, prez, eff) in &increases {
-            assert!(
-                eff.transition_start + FAtom::EPSILON == eff.persistence_start && eff.min_persistence_end.is_empty(),
-                "Only instantaneous effects are supported"
-            );
-            // Get the bounds of the state variable.
+            if RELAXED_TEMPORAL_CONSTRAINT.get() {
+                solver.enforce(eq(eff.transition_start + FAtom::EPSILON, eff.persistence_start), [prez]);
+            } else {
+                assert!(
+                    eff.transition_start + FAtom::EPSILON == eff.persistence_start && eff.min_persistence_end.is_empty(),
+                    "Only instantaneous effects are supported"
+                );
+            }
+
             let (lb, ub) = if let Type::Int { lb, ub } = eff.state_var.fluent.return_type() {
                 (lb, ub)
             } else {