Metric-FF is a domain independent planning system developed by Joerg Hoffmann. The system is an extension of the FF planner to (ADL combined with) numerical state variables, more precisely to PDDL 2.1 level 2, yet more precisely to the subset of PDDL 2.1 level 2 described below with the algorithmic principles. The system is implemented in C.
$ make ff
./ff -o domain.pddl -f problem.pddl
This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.
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