def test_inconsistent_support_mutex(self):
self.assertFalse(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"Independent node paths should NOT be inconsistent-support mutex")
mutexify(self.na1, self.na2)
self.assertTrue(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"Mutex parent actions should result in inconsistent-support mutex")
self.na6 = PgNode_a(
Action(expr('Go(everywhere)'), [[], []],
[[expr('At(here)'), expr('At(there)')], []]))
self.na6.children.add(self.ns1)
self.ns1.parents.add(self.na6)
self.na6.children.add(self.ns2)
self.ns2.parents.add(self.na6)
self.na6.parents.add(self.ns3)
self.na6.parents.add(self.ns4)
mutexify(self.na1, self.na6)
mutexify(self.na2, self.na6)
self.assertFalse(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"If one parent action can achieve both states, should NOT be inconsistent-support mutex, even if parent actions are themselves mutex"
)
def test_inconsistent_support_mutex(self):
self.assertFalse(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"Independent node paths should NOT be inconsistent-support mutex")
mutexify(self.na1, self.na2)
self.assertTrue(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"Mutex parent actions should result in inconsistent-support mutex")
def test_inconsistent_support_mutex(self):
self.assertFalse(PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1, self.ns2),
"Independent node paths should NOT be inconsistent-support mutex")
mutexify(self.na1, self.na2)
self.assertTrue(PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1, self.ns2),
"Mutex parent actions should result in inconsistent-support mutex")
self.na6 = PgNode_a(Action(expr('Go(everywhere)'),
[[], []], [[expr('At(here)'), expr('At(there)')], []]))
self.na6.children.add(self.ns1)
self.ns1.parents.add(self.na6)
self.na6.children.add(self.ns2)
self.ns2.parents.add(self.na6)
self.na6.parents.add(self.ns3)
self.na6.parents.add(self.ns4)
mutexify(self.na1, self.na6)
mutexify(self.na2, self.na6)
self.assertFalse(PlanningGraph.inconsistent_support_mutex(
self.pg, self.ns1, self.ns2),
"If one parent action can achieve both states, should NOT be inconsistent-support mutex, even if parent actions are themselves mutex")
