def test_automaton_compute_parameters_1(self):
"""Test that the computation of parameters and object mapping are correct on triangle-tireworld."""
pddl_domain = self.parser(
open(
str(
Path(
TEST_ROOT_DIR,
"data",
"pddl-domains",
"triangle-tireworld",
"domain.pddl",
))).read())
grounded_symbols = [
Symbol("vehicleat", ["l31"]),
Symbol("vehicleat", ["l12"]),
Symbol("vehicleat", ["l22"]),
]
actual_params, actual_obj_map = self.aut_obj.compute_parameters(
pddl_domain.predicates, grounded_symbols)
expected_params = [
Term.variable("?loc-00", "location"),
Term.variable("?loc-01", "location"),
Term.variable("?loc-02", "location"),
]
expected_objmap = {
"l31": ["?loc-00", "location"],
"l12": ["?loc-01", "location"],
"l22": ["?loc-02", "location"],
}
assert actual_params == expected_params and actual_obj_map == expected_objmap
def test_automaton_compute_parameters_2(self):
"""Test that the computation of parameters and object mapping are correct on blocksworld."""
pddl_domain = self.parser(
open(
str(
Path(
TEST_ROOT_DIR,
"data",
"pddl-domains",
"blocksworld-ipc08",
"domain.pddl",
))).read())
grounded_symbols = [
Symbol("on", ["b1", "b2"]),
Symbol("on", ["b2", "b5"]),
Symbol("emptyhand"),
]
actual_params, actual_obj_map = self.aut_obj.compute_parameters(
pddl_domain.predicates, grounded_symbols)
expected_params = [
Term.variable("?b1-00", "block"),
Term.variable("?b2-01", "block"),
Term.variable("?b2-02", "block"),
]
expected_objmap = {
"b1": ["?b1-00", "block"],
"b2": ["?b2-01", "block"],
"b5": ["?b2-02", "block"],
}
assert actual_params == expected_params and actual_obj_map == expected_objmap
def test_automaton_compute_vars_mapping_1(self):
"""Test that the vars mapping is correct."""
grounded_symbols = [Symbol("vehicleat", ["l31"])]
objmap = {"l31": ["?loc-00", "location"]}
actual_vars_map = self.aut_obj.compute_varsMapping(
grounded_symbols, objmap)
expected_vars_map = {
Symbol("vehicleat", ["l31"]): [("?loc-00", "location")]
}
assert actual_vars_map == expected_vars_map
def test_automaton_compute_vars_mapping_2(self):
"""Test that the vars mapping is correct."""
grounded_symbols = [Symbol("on", ["b1", "b2"])]
objmap = {"b1": ["?b1-00", "block"], "b2": ["?b2-01", "block"]}
actual_vars_map = self.aut_obj.compute_varsMapping(
grounded_symbols, objmap)
expected_vars_map = {
Symbol("on", ["b1", "b2"]): [("?b1-00", "block"),
("?b2-01", "block")]
}
assert actual_vars_map == expected_vars_map
def compute_symb_vars(formula):
"""Compute Symbols from the temporal formula."""
ground_predicates = re.findall(r"(?!true|false)[_a-z0-9]+", str(formula))
symb_vars_list = []
for predicate in ground_predicates:
temp = predicate.split("_")
if len(temp) == 1:
symb_vars_list.append(Symbol(temp[0]))
else:
symb_vars_list.append(Symbol(temp[0], temp[1:]))
return symb_vars_list
def test_compute_formula_symbols():
"""Test symbols check."""
formula = "vehicleat_l31 & O(vehicleat_l12)"
syms = fond4ltlfpltlf.core.compute_symb_vars(formula)
true_syms = [Symbol("vehicleat", ["l31"]), Symbol("vehicleat", ["l12"])]
assert true_syms == syms
formula = "F(emptyhand & on_b_e & ontable_e)"
syms = fond4ltlfpltlf.core.compute_symb_vars(formula)
true_syms = [
Symbol("emptyhand"),
Symbol("on", ["b", "e"]),
Symbol("ontable", ["e"]),
]
assert true_syms == syms
def test_automaton_create_trans_op_2(self):
"""Test that the created trans operator is correct."""
pddl_domain = self.parser(
open(
str(
Path(
TEST_ROOT_DIR,
"data",
"pddl-domains",
"blocksworld-ipc08",
"domain.pddl",
))).read())
grounded_symbols = [
Symbol("emptyhand"),
Symbol("on", ["b", "e"]),
Symbol("ontable", ["e"]),
]
actual_trans_ops, actual_params = self.aut_obj.create_operators_trans(
pddl_domain.predicates, grounded_symbols)
expected_trans_ops = [
Action(
name="trans-0",
parameters=[
Term.variable("?b1-00", "block"),
Term.variable("?b2-01", "block"),
],
preconditions=FormulaAnd([
FormulaOr([
FormulaAnd([
Literal.positive(
Predicate(
"q1",
["?b1-00", "?b2-01"],
)),
Literal.negative(Predicate("emptyhand")),
]),
FormulaAnd([
Literal.positive(
Predicate(
"q1",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate("emptyhand")),
Literal.negative(
Predicate(
"on",
["?b1-00", "?b2-01"],
)),
]),
FormulaAnd([
Literal.positive(
Predicate(
"q1",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate("emptyhand")),
Literal.positive(
Predicate(
"on",
["?b1-00", "?b2-01"],
)),
Literal.negative(Predicate(
"ontable",
["?b2-01"],
)),
]),
FormulaAnd([
Literal.positive(
Predicate(
"q2",
["?b1-00", "?b2-01"],
)),
Literal.negative(Predicate("emptyhand")),
]),
FormulaAnd([
Literal.positive(
Predicate(
"q2",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate("emptyhand")),
Literal.negative(
Predicate(
"on",
["?b1-00", "?b2-01"],
)),
]),
FormulaAnd([
Literal.positive(
Predicate(
"q2",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate("emptyhand")),
Literal.positive(
Predicate(
"on",
["?b1-00", "?b2-01"],
)),
Literal.negative(Predicate(
"ontable",
["?b2-01"],
)),
]),
]),
Literal.negative(Predicate("turnDomain")),
]),
effects=FormulaAnd([
Literal.positive(Predicate(
"q2",
["?b1-00", "?b2-01"],
)),
Literal.negative(Predicate(
"q1",
["?b1-00", "?b2-01"],
)),
Literal.negative(Predicate(
"q3",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate("turnDomain")),
]),
),
Action(
name="trans-1",
parameters=[
Term.variable("?b1-00", "block"),
Term.variable("?b2-01", "block"),
],
preconditions=FormulaAnd([
FormulaOr([
FormulaAnd([
Literal.positive(
Predicate(
"q1",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate("emptyhand")),
Literal.positive(
Predicate(
"on",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate(
"ontable",
["?b2-01"],
)),
]),
FormulaAnd([
Literal.positive(
Predicate(
"q2",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate("emptyhand")),
Literal.positive(
Predicate(
"on",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate(
"ontable",
["?b2-01"],
)),
]),
Literal.positive(
Predicate(
"q3",
["?b1-00", "?b2-01"],
)),
]),
Literal.negative(Predicate("turnDomain")),
]),
effects=FormulaAnd([
Literal.positive(Predicate(
"q3",
["?b1-00", "?b2-01"],
)),
Literal.negative(Predicate(
"q1",
["?b1-00", "?b2-01"],
)),
Literal.negative(Predicate(
"q2",
["?b1-00", "?b2-01"],
)),
Literal.positive(Predicate("turnDomain")),
]),
),
]
expected_params = [
Term.variable("?b1-00", "block"),
Term.variable("?b2-01", "block"),
]
assert actual_trans_ops == expected_trans_ops
assert actual_params == expected_params
def test_automaton_create_trans_op(self):
"""Test that the created trans operator is correct."""
pddl_domain = self.parser(
open(
str(
Path(
TEST_ROOT_DIR,
"data",
"pddl-domains",
"triangle-tireworld",
"domain.pddl",
))).read())
grounded_symbols = [Symbol("vehicleat", ["l31"])]
actual_trans_ops, actual_params = self.aut_obj.create_operators_trans(
pddl_domain.predicates, grounded_symbols)
expected_trans_ops = [
Action(
name="trans-0",
parameters=[Term.variable("?loc-00", "location")],
preconditions=FormulaAnd([
FormulaOr([
FormulaAnd([
Literal.positive(Predicate("q1", ["?loc-00"])),
Literal.negative(
Predicate("vehicleat", ["?loc-00"])),
]),
FormulaAnd([
Literal.positive(Predicate("q2", ["?loc-00"])),
Literal.negative(
Predicate("vehicleat", ["?loc-00"])),
]),
]),
Literal.negative(Predicate("turnDomain")),
]),
effects=FormulaAnd([
Literal.positive(Predicate("q2", ["?loc-00"])),
Literal.negative(Predicate("q1", ["?loc-00"])),
Literal.negative(Predicate("q3", ["?loc-00"])),
Literal.positive(Predicate("turnDomain")),
]),
),
Action(
name="trans-1",
parameters=[Term.variable("?loc-00", "location")],
preconditions=FormulaAnd([
FormulaOr([
FormulaAnd([
Literal.positive(Predicate("q1", ["?loc-00"])),
Literal.positive(
Predicate("vehicleat", ["?loc-00"])),
]),
FormulaAnd([
Literal.positive(Predicate("q2", ["?loc-00"])),
Literal.positive(
Predicate("vehicleat", ["?loc-00"])),
]),
Literal.positive(Predicate("q3", ["?loc-00"])),
]),
Literal.negative(Predicate("turnDomain")),
]),
effects=FormulaAnd([
Literal.positive(Predicate("q3", ["?loc-00"])),
Literal.negative(Predicate("q1", ["?loc-00"])),
Literal.negative(Predicate("q2", ["?loc-00"])),
Literal.positive(Predicate("turnDomain")),
]),
),
]
expected_params = [Term.variable("?loc-00", "location")]
assert actual_trans_ops == expected_trans_ops
assert actual_params == expected_params