def test_ground_differential_constraints_for_hybrid_problem():
prob = create_particles_world()
index = ProblemGrounding(prob)
index.process_symbols(prob)
index.state_variables = SymbolIndex()
grounder = DifferentialConstraintGrounder(prob, index)
grounder.calculate_constraints()
assert len(prob.ground_differential_constraints) == 8
def test_ground_reactions_for_hybrid_problem():
prob = create_billiards_world()
index = ProblemGrounding(prob)
index.process_symbols(prob)
index.state_variables = SymbolIndex()
grounder = ReactionGrounder(prob, index)
grounder.calculate_reactions()
assert len(prob.ground_reactions) == 4
def test_create_state_variables_for_hybrid_problem_with_reactions():
prob = create_billiards_world()
index = ProblemGrounding(prob)
index.process_symbols(prob)
index.state_variables = SymbolIndex()
for var in create_all_possible_state_variables(index.fluent_terms):
index.state_variables.add(var)
assert len(index.state_variables) == 4
def test_ground_sensors_for_small_contingent_problem():
prob = localize.create_small_task()
index = ProblemGrounding(prob)
index.process_symbols(prob)
index.state_variables = SymbolIndex()
grounder = SensorGrounder(prob, index)
grounder.calculate_sensors()
assert len(prob.ground_sensors) == 4
def test_enumeration_of_action_parameters_for_small_bw():
prob, index = create_small_bw_with_index()
index.ground_actions = SymbolIndex()
actions = list(prob.actions.values())
card, syms, substs = instantiation.enumerate_groundings(
actions[0].parameters)
assert card == 6
assert len(syms) == 1
assert len(substs) == 1
def test_task_index_create_state_variables_blocksworld():
prob = create_4blocks_task()
index = ProblemGrounding(prob)
index.process_symbols(prob)
index.state_variables = SymbolIndex()
for var in create_all_possible_state_variables(index.fluent_terms):
index.state_variables.add(var)
# print(','.join([str(var) for var in index.state_variables]))
assert len(index.state_variables) == 12
def test_all_state_variables_can_be_evaluated_in_init_parcprinter():
prob = parcprinter.create_small_task()
index = ProblemGrounding(prob)
index.process_symbols(prob)
index.state_variables = SymbolIndex()
for var in create_all_possible_state_variables(index.fluent_terms):
index.state_variables.add(var)
for var in index.state_variables:
val = prob.init[var.ground]
assert val in (True, False, 0.0)
def create_small_bw_with_index():
problem = create_4blocks_task()
grounding = ProblemGrounding(problem)
grounding.process_symbols(problem)
grounding.state_variables = SymbolIndex()
for var in create_all_possible_state_variables(grounding.fluent_terms):
grounding.state_variables.add(var)
return problem, grounding
def test_generate_substitutions_for_small_bw():
import itertools
prob, index = create_small_bw_with_index()
index.ground_actions = SymbolIndex()
actions = list(prob.actions.values())
card, syms, substs = instantiation.enumerate_groundings(
actions[0].parameters)
for values in itertools.product(*substs):
assert (len(syms) == len(values))
subst = create_substitution(syms, values)
assert len(subst) == 1