hop9

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.

Documentation

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