Support unordered tasks

Hypertension_U.rb

@@ -107,7 +107,7 @@ def execute(current_task, probability, tasks, level, plan)
   # Problem
   #-----------------------------------------------
 
-  def problem(state, tasks, debug = false, max_plans = -1, min_prob = 0)
+  def problem(state, tasks, debug = false, max_plans = -1, min_prob = 0, ordered = true)
     @nostack = false
     @debug = debug
     @state = state
@@ -118,7 +118,7 @@ def problem(state, tasks, debug = false, max_plans = -1, min_prob = 0)
     print_data(tasks)
     puts 'Planning'.center(50,'-')
     t = Time.now.to_f
-    planning(tasks)
+    ordered ? planning(tasks) : task_permutations(state, tasks)
     puts "Time: #{Time.now.to_f - t}s", "Plans found: #{@plans.size}"
     if @plans.each_with_index {|(probability,valuation,*plan),i|
       puts "Plan #{i.succ}".center(50,'-'),
@@ -136,4 +136,18 @@ def problem(state, tasks, debug = false, max_plans = -1, min_prob = 0)
   rescue
     puts $!, $@
   end
+
+  #-----------------------------------------------
+  # Task permutations
+  #-----------------------------------------------
+
+  def task_permutations(state, tasks)
+    # All permutations are considered
+    tasks.permutation {|task_list|
+      @state = state
+      task_list = Marshal.load(Marshal.dump(task_list))
+      planning(task_list)
+      return if @plans.size == @max_plans
+    }
+  end
 end

UHyper_Compiler.rb

@@ -389,7 +389,7 @@ def compile_problem(domain_name, problem_name, operators, methods, predicates, s
     # Tasks
     problem_str << "\n  },\n  # Tasks\n  [" <<
       tasks.map! {|task,*terms| "\n    ['#{task}'#{terms.map! {|o| o.instance_of?(String) ? o.match?(/^-?\d/) ? ", '#{o.to_f}'" : ', _' << o : ', ' << evaluate(o, namespace)}.join}]"}.join(',') <<
-      "\n  ],\n  # Debug\n  ARGV.first == 'debug',\n  # Maximum plans found\n  ARGV[1] ? ARGV[1].to_i : -1,\n  # Minimum probability for plans\n  ARGV[2] ? ARGV[2].to_f : 0"
+      "\n  ],\n  # Debug\n  ARGV.first == 'debug',\n  # Maximum plans found\n  ARGV[1] ? ARGV[1].to_i : -1,\n  # Minimum probability for plans\n  ARGV[2] ? ARGV[2].to_f : 0#{",\n  # Ordered\n  false" unless ordered}"
     tasks.unshift(ordered) unless tasks.empty?
     problem_str.gsub!(/\b-\b/,'_')
     domain_filename ? "# Generated by Hype\nrequire_relative '#{domain_filename}'\n\n#{problem_str}\n)" : "#{problem_str}\n)"