def setUp(self): self.p = have_cake() self.pg = PlanningGraph(self.p, self.p.initial) # some independent nodes for testing mutex self.na1 = PgNode_a( Action(expr('Go(here)'), [[], []], [[expr('At(here)')], []])) self.na2 = PgNode_a( Action(expr('Go(there)'), [[], []], [[expr('At(there)')], []])) self.na3 = PgNode_a( Action(expr('Noop(At(there))'), [[expr('At(there)')], []], [[expr('At(there)')], []])) self.na4 = PgNode_a( Action(expr('Noop(At(here))'), [[expr('At(here)')], []], [[expr('At(here)')], []])) self.na5 = PgNode_a( Action(expr('Reverse(At(here))'), [[expr('At(here)')], []], [[], [expr('At(here)')]])) self.ns1 = PgNode_s(expr('At(here)'), True) self.ns2 = PgNode_s(expr('At(there)'), True) self.ns3 = PgNode_s(expr('At(here)'), False) self.ns4 = PgNode_s(expr('At(there)'), False) self.na1.children.add(self.ns1) self.ns1.parents.add(self.na1) self.na2.children.add(self.ns2) self.ns2.parents.add(self.na2) self.na1.parents.add(self.ns3) self.na2.parents.add(self.ns4)
def test_show(self): # validate show() helpers n = PgNode_s("Have(Cake)", False) self.assertEqual(n.__str__(), "s*~Have(Cake){0pr 0ch 0mx}") act1 = Action(expr('Eat(Cake)'), [[expr('Have(Cake)')], []], [[expr('Eaten(Cake)')], [expr('Have(Cake)')]]) n = PgNode_a(act1) self.assertEqual(n.__str__(), "a*Eat(Cake,){0pr 0ch 0mx}")
effect_add = [expr("Have(Cake)")] effect_rem = [] bake_action = Action(expr("Bake(Cake)"), [precond_pos, precond_neg], [effect_add, effect_rem]) return [eat_action, bake_action] actions = get_actions() a_node_1 = PgNode_a(actions[0]) a_node_2 = PgNode_a(actions[0]) a_node_3 = PgNode_a(actions[0]) s_node_1 = PgNode_s("eaten", True) s_node_2 = PgNode_s("eaten", True) s_node_3 = PgNode_s("eaten", True) a_nodes = set() s_nodes = set() print(len(a_nodes), len(s_nodes)) a_node_3.children.add(s_node_3) s_node_3.parents.add(a_node_3) a_nodes.add(a_node_3) s_nodes.add(s_node_3) s_node_3.show()