## Set some parameters for the page
#pragma section-numbers 2
#pragma keywords HATP, hatp, htn planning, hatpconsole, hatptester
#pragma description Homepage for HATP software, an open-source HTN task planner

= HATP: Hierarchical Agent-based Task Planner =
||<bgcolor="#FF5555"> Under construction ! ||

HATP is an open-source HTN planner developed by LAAS

The documentation: [[attachment:HATP-User-Documentation.pdf]] (install part is deprecated, refer to this page for updated version).

''Intro: to come''

||<bgcolor="#EEEEFF"> <<TableOfContents(2)>>||

To know the '''compatibility of HATP''' with your system please see: [[http://robotpkg.openrobots.org/rbulk/robotpkg-wip/planning/index.html | Compatibility grid ]].

''This grid only represents the state of the robotpkg packages, not the Git version ... may be different.''

== Most important pages ==

|| [[HATP/install]] || Set of instruction on how to install HATP's core||
|| [[HATP/run]] || Page presenting a quick setup guide and basic usage||
|| [[HATP/doc]] || Presents some information on domain writing||
|| [[HATP/dev]] || Page aimed at developers that want to go further in the details||

== HATP's main components ==
<<Anchor(modules)>>

HATP is composed of several parts:
|| [[HATP/hatponboard]] || The core of the planner (actual planning process)||
|| [[HATP/hatpconsole]] || The plan displayer, allows to visualise the plan in different format||
|| [[HATP/hatptester]] || The plan-request sender, sends planning requests to the core||
|| ''--([[HATP/msgconnector]])--'' || ''--(The middleware used by all the components to communicate)-- (deprecated, now relies on ROS)''||
|| ''--([[HATP/libhatp]])--'' || ''--(A C++ to handle plan found by HATP)-- (deprecated, now integrated in ROS messages)''||

== Overview of HTN task planning ==

== HATP, more than an HTN planner ==





== References ==

The documentation: [[attachment:HATP-User-Documentation.pdf]] (install part is deprecated, refer to this page to updated version).

To get more information on the HATP domains' language, see [[HATP/doc]].

To get a insight on HATP's inner mechanic please look at [[HATP/dev]].

=== List of publications ===

||'''[[http://icaps14.icaps-conference.org/proceedings/planrob/PlanRob2014_Proceedings.pdf|HATP: An HTN Planner for Robotics]]''', ''!PlanRob 2014'', R. Lallement, L. de Silva and R. Alami||
||'''[[http://hci.cs.wisc.edu/workshops/RSS2014/?page_id=13|On Human-aware Task and Motion Planning Abilities for a Teammate Robot]]''', ''RSS HRCIM 2014'', R. Alami, M. Gharbi, B. Vadant, R. Lallement and A. Suarez||

== Acknowledgement ==

This software has been developed in the following projects:
||<tablestyle="width:100%;" style="border:none;"> [[http://www.arcas-project.eu/|{{http://www.arcas-project.eu/themes/marinelli/logo.png|ARCAS logo|height=50}}]]<<BR>>'''ARCAS Project'''||<style="border:none;">[[http://www.saphari.eu/|{{http://www.saphari.eu/templates/showcase/images/SAPHARI_logo_portrait.jpg|SAPHARI logo|height=50}}]]<<BR>>'''SAPHARI Project'''||<style="border:none;">[[http://mardi.metz.supelec.fr|{{http://mardi.metz.supelec.fr/_static/anr_white.png|ANR logo|height=50}}]]<<BR>> '''MaRDi project'''||<style="border:none;">[[http://www.agence-nationale-recherche.fr/?Projet=ANR-12-CORD-0030|{{http://www.agence-nationale-recherche.fr/fileadmin/tpl/img/logo.gif|ANR logo|height=50}}]]<<BR>> '''ROBOERGOSUM project'''||

== Troubleshooting ==

If facing problem contact a maintainer (addresses bellow), or go to the bug tracker: [[https://git.openrobots.org/projects/hatp]].


== License and Maintainer ==

HATP is distributed under 2-clause BSD license. ([[http://opensource.org/licenses/BSD-2-Clause|See here for details.]])

Current maintainer(s):
 * '''Raphaël Lallement''': [[mailto:raphael.lallement [at] laas.fr|raphael.lallement [at] laas.fr]], [[http://homepages.laas.fr/rlalleme|Website]].
##Later can use <<MailTo(raphael DOT lallement AT laas DOT fr)>>

{{{#!wiki comment
EXPECTED STRUCTURE FOR THE WIKI
[Homepage]
	short intro (~3 lines)
		HATP = HTN
		HTN = task planning
		task planning goal !

	Presentation of HTN principle
		...
	
	Presentation of HATP
		HTN + belief + ILGTP + Multi-stream + ...
	
	Main components of HATP
		hatpconsole
		hatptester
	
	References
		Papes
		Doc v1
		Doc v2
	
	License and maintainer

[HATP/doc]
	Usage
		Workflow
			.dom and .cost
			./check
			./parse
			./run
		
		Start everything by hand
				
		Language reference
			TODO
	
	Detailed exemples
		Complete DWR domain
	
	Common structures
		go through elements (and pruning)
	
	Advance usage
		Belief management
		Social rules
		ILGTP

[HATP/dev]
	HATP modules
	msgconnnector
		server
		client

	HATPOnboard
		principle
		decomposition
	
	hatponboard-lib
		principle
		fuctionnalities
		decomposition
	
	libhatp
		principle
		
	hatptester-hatpconsole
		priciple
		decomposition

[hatptester]
}}}