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Date: Tue, 10 Dec 1996 17:53:08 GMTServer: NCSA/1.4.2Content-type: text/html<html><head><title>PDB REFERENCE MANUAL</title></head><!-- Changed by: Cody Chung Tin Kwok, 21-Sep-1995 --><body><center><h1>PDB REFERENCE MANUAL</h1><p>Version 4.0<br>HTML version by David Christianson and Chung Kwok<p></center><p><hr><p> <h5> © 1990-1995 Copyright © University of Washington<br>Originally written by Tony Barrett. <br>Version (3.0) by David Christianson<br>Version (4.0) by Chung Kwok<p>This research was funded in part by Office of Naval Research Grants90-J-1904s and N00014-94-1-0060, by National Science Foundation GrantsIRI-8957302 and IRI-9303461 and by a donation from Apple Computer.<p>All rights reserved. Use of this software is permitted for non-commercialresearch purposes, and it may be copied only for that use. All copies mustinclude this copyright message. This software is made available AS IS, andneither the authors nor the University of Washington make any warranty aboutthe software or its performance.<p>When you first acquire this software please send mail tobug-ucpop@cs.washington.edu; the same address should be used for problems."</h5><hr> This document is best viewed with an HTML browser that supports tables.<hr><p><h2>Table of Contents</h2><ol><li><a href="#Intro">Introduction</a><li><a href="#Runni">Running PDB</a><li><a href="#Layou">General window layouts</a><li><a href="#Shell">Planning system overview</a><li><a href="#VCRdi">Graphic plan space display</a><li><a href="#PlanD">Individual plan display</a><li><a href="#Brows">PDB browsers</a><li><a href="#Examp">A simple example</a><li><a href="#Custo">Customizations and options</a><li><a href="#KBugs">Known bugs</a><li><a href="#Portg">Porting PDB</a></ol><hr><h2><a name="Intro">Introduction</a></h2><p>The primary function of PDB is to allow the user to schedule planning problemsto be run by the planner, record the actions taken by the planner, and thenreconstruct that information in a meaningful way. Since UCPOP does extensivesearch in plan-space, PDB focuses on recording and presenting plan-space searchtrees generated by the planner.<p>PDB is an interactive application which makes the UCPOP planning process moreaccessible to the user by the use of graphical interfaces to the planningprocess. It is intended to be used in several ways:<ul><li>Domain Construction<li>Search Control Development<li>Planner Modification</ul><p>PDB exists because of the difficulty involved in performing planner researchwithout adequate visualization tools. In the case of UCPOP, users whowere trying to use the planner as well as programmers trying to improve and debug the system were having to wade through extensive trace informationgenerated by the planner. PDB evolved as a way of presenting this informationin a graphical format in order to make these tasks easier.<p><hr><h2><a name="Runni">Running PDB</a></h2><p>Recording Plans From The Lisp Listener To start PDB, just run <tt>(pdb-setup)</tt> in the UCPOP package.To start recording planning sessions, use PDB-RECORD:<p><tt>(pdb-record &key (record-firings nil))</tt><p>Then invoke the UCPOP planner. To stop recording, use PDB-STOP:<p><tt>(pdb-stop)</tt><p>If you use the <tt>def-search</tt>procedure to wrap around search functions, all planning sessions will be recorded wheneven the Recording toggle button in the shell. You can turn off the recording by clicking on the Recording toggle button in the shell(please refer to the <a href="#Shell">Shell window</a>).<p> <hr><p><!----------------------------------------------------------------------><h2><a name="Layou">General window layout</a></h2><p><h4>Menu and Menubar</h4><img src="images/menubar.gif"><br>All windows has a menubar. On all menubars there is a menu labelled"Windows". The menu has the following items:<table border=3><tr><td rowspan=5>Windows</td> <th> Refresh</th><td> Redisplays the window contents.</tr> <tr><th> Find</th><td> Displays a list of active subwindows. Selecting a window will bring it to the front of the screen.</tr> <tr><th> Remove all</th><td> Closes all active subwindows.</tr> <tr><th> Quit</th><td> Close this window.</tr><tr></table>Note: the "Remove all" item is only available in the shell window.<h4>Commands</h4>You can click on buttons or objects on the screen highlighted byboxes. The effects will be discussed in subsequent sections.<hr><!----------------------------------------------------------------------><h2><a name="Shell">Planning system overview</a></h2><p><h4>The Shell Window</h4><p> <center><img src="images/shell.gif"></center><p> The first window opened by PDB is the Plan System Overview Window.The right hand side of this window maintains a list of recorded planning sessions while the left hand side displays the state of the planner.<h4>Specifying a Problem</h4><img align=left border=3 src="images/new-session-labeled.gif">In order to start a new planning session, select <tt>New Session</tt> fromthe <tt>Debugger</tt> menu. You will then be asked to specify the problem you want to solve and the search method to use via a dialog box. Onthe top left of the dialog box is a list of domains. Next to it is alist of problems. When the item ``Any'' is selected from the domainlist, all problems are listed: otherwise this list only containsproblems from the currently selected domain. Once a problem isselected, a complete description of the problem is presented in thearea below the domain and problem lists.<br clear=left><p><h4>Setting the Search Control Options</h4>The controls beneath the problem description allow you to specifyvarious search control options. The first button selects the type ofsearch to use. When it is pushed in, the planner uses search controlrules to guide search. When it is pushed out, the planner uses aspecific search function. In the latter case, the user must use thebox below this button to specify the search function to be used,whereas in the former case you will use this box to specify a searchcontroller. The other controls allow you to specify whether or not torecord the planning session, whether or not to record search controlrule firings(this slows down planning considerably), as well as themaximum number of nodes to search.<p><h4>Viewing the Results of Planning</h4><img align=right border=3 src="images/planning-result-labeled.gif">Once you've specified the planning options and clicked the <tt>Plan</tt>button, PDB calls UCPOP to begin planning. The Plan SystemOverview Window displays a progress report on planning and returns theresults of planning when done. Theseresults include a short description of the last plan searched, whichwill be the solution if the planner was successful. PDB printsplans in the following manner: the initial state is printed first,then the steps in order to the goal state. Only the preconditions ofthe steps are displayed. Each precondition has a number to its leftrepresenting the step which supports that precondition. If the plan isnot complete, any unsupported preconditions appear with question marksinstead of numbers on the left, while threats are identified by the step number of the threateningstep, shown to the right of the threatened condition.<p><h4>Menu Commands</h4><table border=3><tr><td>Windows</td><td colspan=2>Please refer to <a href="#Layou">General window layout</a></td><tr><td rowspan=5> Debug</td> <th> New Session</th><td> Execute a new planning problem. This brings up a dialog window containing the following options: <table border=1> <tr><th>Domain</th><td> Domain to take problems from. <tr><th>Problem</th><td> Problem to execute. <tr><th>Search Limit</th><td> Number of nodes to search before stopping. <tr><th>Search Control</th><td> Yes or no. If yes, you must specify a controller. If no, you must specify a search function. <tr><th>Record Debugging</th><td> Yes if you want to record this as a session. <tr><th>Record Firings</th><td> Yes is you want to record all search control rule firings(slow). </table> <tr><th> New Browser</th><td> Browse domains, problems, and search control. <tr><th> Open Session</th><td> Open a VCR window on a session. <tr><th> Delete Session</th><td> Delete a session so that it will no longer appear in the window. <tr><th> Clear Session</th><td> Delete all sessions. All sessions will be lost.</td></tr><tr><td rowspan=2>Options</td> <th> Reset Options</th><td> Reads back the defaults saved in .plandebugrc</td></tr> <tr><th> Save Options</th><td> Writes defaults out to .plandebugrc </table> </table><tr><th><h4>Plan System Overview Commands</h4><img src="images/shell-buttons.gif">The Sessions window (right) shows the sessions recorded by the system.The PlannerStatus window (left) shows various information about the session selected. <table border=3> <tr><th> Info</th><td> Display the result of the current session.</tr> <tr><th> VCR</th><td> Display a trace of the current session.</tr> <tr><th> Remove</th><td> Remove the current session.</tr> <tr><th> Recording</th><td> Toggle plan recording on/off.</tr></table> <tr><th><h4>Mouse Commands</h4><table border=3> <tr><th> Sessions<table border=3> <tr><th> L</th><td> Find Window Clicking the left mouse button on a session will select that session.</table> </table><hr><!----------------------------------------------------------------------> <h2><a name="VCRdi">Graphic plan space display</a></h2><p><h4>The VCR Window</h4><p><center><img src="images/vcr.gif"></center><p>VCR Windows provide the user with a graphical depiction of the searchspace explored by the planner during a given planning session. Oncethe user has seleted a session in the Plan System Overview Window,they can create a VCR Window for that session either by selecting<tt>New VCR Window</tt> from the <tt>Debug</tt> menu, or by pressingthe <tt>VCR</tt> button in the window itself. <p><center><img src="images/tree.gif"><br clear=left>Anatomy of the Search Tree</center><br>Most of the VCR Window is taken up by a graphical depiction of theplanning trace in the form of a tree (we will refer to this as either the planning tree or the searchtree). Each node in the tree is a partial plan; the root node plancontains only the start and goal states, while each subsequentgeneration represents one application of the UCPOP algorithm. Thechildren of a given node represent individual solutions or <em>refinements</em> generated in the support or protection of aprecondition. The type of refinement is printed beneath eachnode. Accordingly, each branch of the tree is associated with anunsupported or threatened precondition(known as a <em>flaw</em>),which is denoted by a label printed along the branch. Figure\ref{tree} gives a breakdown of these conventions.<p>The tree is formatted so that the left hand side of the tree leads tothe last node encountered by the planner. If the solution was found,this will be the solution path. Note that the formatting algorithmputs nodes near the root of the tree farther apart than nodes at theleaves, so that sometimes you will have trouble using the VCR Windowto view all the children of some nodes. You can solve some of theseproblems by changing or restricting the display of various nodes inthe tree via the <tt>Tree</tt> and <tt>Options</tt> menus.<p><img align=left src="images/nodes1.gif">The label below nodes refers to the reason for which the plan is made. For examplein the figure above "S:PUTON" means a new step "PUTON" is added, "L:0" means a new link to step 0 is added, and finally"3<1" means an ordering constraint (from promotion or demotion) is added.<p>The <em>red</em> node is the currently selected node. You can press theleft or middle button.<p> <table border=3> <tr><th> L</th><td> Select Node: Centers the cursor over this node. If the cursor is already at this node, PDB will open a plan window on that node. <tr><th> M</th><td> Describe object: If Composer is running, PDB will open a Composer window on the partial plan associated with this node. </table><p>The <em>green</em> is a visited node. A node (plan) is visited if the planrefined it during planning.<p>The <em>white</em> node is an unvisited node. The planner has not refined the plan during planning.<p>The word "CLEAR" above the horizontal line represents the open conditionbeing resolved by the different siblings plans connected by the line.<p><h4>Menu Commands</h4> <table border=3><tr><td>Windows</td><td colspan=2>Please refer to <a href="#Layou">General window layout</a></td><tr><td rowspan=10>Tree</td> <th> Print</th><td> Print the current window. Asks for filename via dialog. <tr><th> All Nodes</th><td> Display all nodes in the tree. <tr><th> Steps Only</th><td> Display nodes for plans with newly added steps. <tr><th> Searched Only</th><td> Display only those nodes that have been searched. <tr><th> Solution Only</th><td> Display solution node only (if found). <tr><th> Solution Path Only</th><td> Display nodes on solution path (if found). <tr><th> Expand Node</th><td> Display the children of the current plan. <tr><th> Contract Node</th><td> Do not display the children of the current plan. <tr><th> Expand Branch</th><td> Display the branch rooted at the current plan. <tr><th> Contract Branch</th><td> Do not display the branch rooted at the current plan.</td></tr><tr><td rowspan=4> Options</td> <th> View</th><td> Change the node picture of the tree nodes to one of the following <table border=1> <tr><th>Order</th><td> Color the nodes from dark to light green depending on visitation order. <tr><th>Rank</th><td> Color the nodes from dark to light green depending on the absolute rank. </table></td></tr>⌨️ 快捷键说明
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