def test_merge(self):
function_name = "one"
function_one = "( = (" + function_name + ") {0} )".format(1)
function_two = "( = (" + function_name + ") {0} )".format(2)
one = PDDL(statement=function_one,
functions=function_name,
time_stamp=rospy.Time(secs=10))
two = PDDL(statement=function_two,
functions=function_name,
time_stamp=rospy.Time(secs=11))
merged = mergeStatePDDL(one, two)
self.assertIsNotNone(merged)
self.assertEquals(function_two, merged.statement)
two.time_stamp = rospy.Time(
secs=9) # check again with two becoming older
merged = mergeStatePDDL(one, two)
self.assertIsNotNone(merged)
self.assertEquals(function_one, merged.statement)
def test_empty(self):
"""
test PDDL.empty property
"""
empty_pddl = PDDL()
non_empty_pddl = PDDL(
statement="(:action test_action\n:parameters ()\n",
functions="costs")
self.assertTrue(empty_pddl.empty, "Empty PDDL is not empty")
self.assertFalse(non_empty_pddl.empty, "not empty PDDL is empty")
def getPreconditionPDDL(self, satisfaction_threshold):
# Calling getSensorPreconditionPDDL for all sensors
conditions = [self._activator.get_sensor_precondition_pddl_using_current_value(s.name, satisfaction_threshold,
self._get_value_of_sensor_for_pddl_creation(s)) for s in
self._sensors]
# TODO this code is copy pasted from conjuction condition
pddl = PDDL(statement = "(and")
for cond_pddl in conditions:
pddl.statement += " {0}".format(cond_pddl.statement)
pddl.predicates = pddl.predicates.union(cond_pddl.predicates)
pddl.functions = pddl.functions.union(cond_pddl.functions)
pddl.statement += ")"
return pddl
def getSensorStatePDDL(self, sensorName, normalizedValue):
functionName = self.getPDDLFunctionName(sensorName)
return PDDL(statement = "( = (" + functionName + ") {0:f} )".format(normalizedValue), functions = functionName)
def getSensorPreconditionPDDL(self, sensorName, satisfaction_threshold):
functionName = self.getPDDLFunctionName(sensorName)
satisfaction_bound = self._calculate_satisfaction_bound(satisfaction_threshold)
return PDDL(statement = "( >= (" + functionName + ") {0:f} )".format(satisfaction_bound) if self.getDirection() == 1 else "( <= (" + functionName + ") {0:f} )".format(satisfaction_bound), functions = functionName)
def get_sensor_precondition_pddl_using_current_value(self, sensor_name, satisfaction_threshold, current_value):
function_name = self.getPDDLFunctionName(sensor_name)
next_threshold = current_value + self.__step_size * self.getDirection()
operator = '>=' if self.getDirection() > 0 else '<='
statement = '( {0} ({1}) {2:f})'.format(operator,function_name,next_threshold)
return PDDL(statement=statement, functions=function_name)
def getSensorStatePDDL(self, sensorName, normalizedValue):
functionName = self.getPDDLFunctionName(sensorName)
return PDDL(statement="(" + functionName + ")" if normalizedValue == True else "(not (" + functionName + "))", predicates=functionName)
def getSensorPreconditionPDDL(self, sensorName, satisfaction_threshold):
functionName = self.getPDDLFunctionName(sensorName)
return PDDL(statement = "(" + functionName + ")" if self._desired == True else "(not (" + functionName + "))", predicates=functionName)
def getSensorStatePDDL(self, sensorName, normalizedValue, sensor_update_time):
functionName = self.getPDDLFunctionName(sensorName)
return PDDL(statement="(" + functionName + ")" if normalizedValue == self._desired else "(not (" + functionName
+ "))", predicates=functionName, time_stamp=sensor_update_time)
def getSensorPreconditionPDDL(self, sensorName, satisfaction_threshold, current_sensor_value):
functionName = self.getPDDLFunctionName(sensorName)
return PDDL(statement="(" + functionName + ")", predicates=functionName)
def getSensorPreconditionPDDL(self, sensorName, satisfaction_threshold, current_sensor_value):
functionName = self.getPDDLFunctionName(sensorName)
return PDDL(statement="( = (" + functionName + ") {0} )".format(self._desired), functions=functionName)
def getSensorPreconditionPDDL(self, sensorName, satisfaction_threshold, current_sensor_value):
functionName = self.getPDDLFunctionName(sensorName)
return PDDL(statement="( >= (" + functionName + ") {0:f} )".format(self._threshold) if self.getDirection() == 1 else "( <= (" + functionName + ") {0:f} )".format(self._threshold), functions = functionName)