def composition(nodes: Set[Node], name: str = None, description: str = None) -> Node:
try:
new_goal = Goal.composition(nodes, name, description)
except GoalException as e:
raise CGGOperationFail(nodes=nodes, operation=CGGFailOperations.algebra_op, goal_ex=e)
new_node = Node(goal=new_goal)
new_node.add_children(link=Link.COMPOSITION, nodes=set(nodes))
return new_node
from world.simple_gridworld import SimpleGridWorld
"""Let us instantiate a variables"""
sw = SimpleGridWorld()
t = sw.typeset
"""Definition of a goals"""
g1_a = Goal(name="init_a",
description="Begin from location a",
specification=Init(t["a"]))
g1_b = Goal(name="patrol_a_b",
description="Patrolling of locations a and b",
specification=Patrolling([t["a"], t["b"]]) & Init(t["a"]))
try:
g1 = Goal.composition({g1_a, g1_b})
print(g1)
except GoalException as e:
raise e
g1 = Goal(
name="patrol_a_b_init_a",
description="Patrolling of locations a and b, beginning from location a",
specification=Patrolling([t["a"], t["b"]]) & Init(t["a"]))
g2 = Goal(
name="patrol_c_d_init_c",
description="Patrolling of locations c and d, beginning from location c",
specification=Patrolling([t["c"], t["d"]]) & Init(t["c"]))
try: