hop9 is a hierarchical task network (HTN) planner written in C++. It’s heavily inspired by Dana Nau’s pyhop but is, you know, written in C++ and also separates concerns between state, agent(s), and parameters. It does not have any dependencies aside from a C++20 compiler and a standard library implementation.


Here: https://gitlab.com/drdewhurst/hop9/-/tree/master/test.


Here: https://davidrushingdewhurst.com/hop9/docs/index.html


hop9 is licensed under the GPL v3. If you would like a license exception please contact hop9@davidrushingdewhurst.com.

Copyright David Rushing Dewhurst, 2023 - present.