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plasp/lib/pddl/tests/TestNormalization.cpp

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Added basic normalization tests. These tests make sure that simple PDDL descriptions are preserved by normalization.
2017-11-08 18:36:08 +01:00
#include <catch.hpp>
#include <experimental/filesystem>
#include <pddl/AST.h>
#include <pddl/Parse.h>
#include <pddl/Normalize.h>
namespace fs = std::experimental::filesystem;
const pddl::Context::WarningCallback ignoreWarnings = [](const auto &, const auto &){};
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[normalization] A simple PDDL description is preserved by normalization", "[normalization]")
{
pddl::Tokenizer tokenizer;
pddl::Context context(std::move(tokenizer), ignoreWarnings);
const auto domainFile = fs::path("data") / "normalization" / "normalization-1.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto normalizedDescription = pddl::normalize(std::move(description));
const auto &types = normalizedDescription.domain->types;
REQUIRE(types.size() == 2);
CHECK(types[0]->name == "block");
CHECK(types[1]->name == "gripper");
const auto &predicates = normalizedDescription.domain->predicates;
REQUIRE(predicates.size() == 3);
CHECK(predicates[0]->name == "test-predicate-0");
CHECK(predicates[0]->parameters.size() == 0);
CHECK(predicates[2]->name == "test-predicate-2");
REQUIRE(predicates[2]->parameters.size() == 2);
CHECK(predicates[2]->parameters[0]->name == "x");
REQUIRE(predicates[2]->parameters[0]->type);
CHECK(predicates[2]->parameters[0]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[0].get());
CHECK(predicates[2]->parameters[1]->name == "y");
REQUIRE(predicates[2]->parameters[1]->type);
CHECK(predicates[2]->parameters[1]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[1].get());
const auto &actions = normalizedDescription.domain->actions;
REQUIRE(actions.size() == 2);
CHECK(actions[0]->name == "test-action-1");
CHECK(actions[0]->parameters.size() == 1);
CHECK(actions[0]->parameters[0]->name == "x");
CHECK(actions[0]->parameters[0]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[0].get());
CHECK(actions[0]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[1].get());
CHECK(actions[0]->effect.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[1].get());
CHECK(actions[1]->name == "test-action-2");
CHECK(actions[1]->parameters.size() == 2);
CHECK(actions[1]->parameters[0]->name == "x");
CHECK(actions[1]->parameters[0]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[0].get());
CHECK(actions[1]->parameters[1]->name == "y");
CHECK(actions[1]->parameters[1]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[1].get());
const auto &pre1And = actions[1]->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(pre1And->arguments.size() == 2);
const auto &pre1And1Not = pre1And->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>();
CHECK(pre1And1Not->argument.get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[0].get());
CHECK(pre1And->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[2].get());
const auto &objects = normalizedDescription.problem.value()->objects;
REQUIRE(objects.size() == 6);
CHECK(objects[0]->name == "a");
CHECK(objects[0]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[0].get());
CHECK(objects[5]->name == "f");
CHECK(objects[5]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[1].get());
const auto &initialState = normalizedDescription.problem.value()->initialState;
REQUIRE(initialState.facts.size() == 5);
CHECK(initialState.facts[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[0].get());
const auto &fact4 = initialState.facts[4].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(fact4->declaration == predicates[2].get());
REQUIRE(fact4->arguments.size() == 2);
CHECK(fact4->arguments[0].get<pddl::normalizedAST::ConstantPointer>()->declaration == objects[2].get());
CHECK(fact4->arguments[1].get<pddl::normalizedAST::ConstantPointer>()->declaration == objects[5].get());
const auto &goal = normalizedDescription.problem.value()->goal.value();
const auto &goalAnd = goal.get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
CHECK(goalAnd->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[0].get());
const auto &goalAnd1Not = goalAnd->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>();
CHECK(goalAnd1Not->argument.get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[1].get());
const auto &goalAnd2 = goalAnd->arguments[2].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(goalAnd2->declaration == predicates[2].get());
REQUIRE(goalAnd2->arguments.size() == 2);
CHECK(goalAnd2->arguments[0].get<pddl::normalizedAST::ConstantPointer>()->declaration == objects[1].get());
CHECK(goalAnd2->arguments[1].get<pddl::normalizedAST::ConstantPointer>()->declaration == objects[5].get());
}
Added normalization tests for implications. These tests ensure that implications are correctly reduced to disjunctions in preconditions (nested and not) and goal descriptions.
2017-11-09 19:34:47 +01:00
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[normalization] Implications are correctly reduced", "[normalization]")
{
pddl::Tokenizer tokenizer;
pddl::Context context(std::move(tokenizer), ignoreWarnings);
const auto domainFile = fs::path("data") / "normalization" / "normalization-2.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto normalizedDescription = pddl::normalize(std::move(description));
const auto &actions = normalizedDescription.domain->actions;
SECTION("top-level “imply” statement")
{
const auto &a1Pre = actions[0]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
REQUIRE(a1Pre->arguments.size() == 1);
CHECK(a1Pre->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration->name == "x");
CHECK(a1Pre->declaration->existentialParameters.empty());
CHECK(a1Pre->declaration->parameters.size() == 1);
const auto &a1PreOr = a1Pre->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a1PreOr->arguments.size() == 2);
const auto &a1PreOr1Not = a1PreOr->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(a1PreOr1Not->declaration->name == "test-predicate-0");
const auto &a1PreOr2 = a1PreOr->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a1PreOr2->declaration->name == "test-predicate-1");
}
SECTION("nested “imply” statement")
{
const auto &and1 = actions[1]->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(and1->arguments.size() == 2);
const auto &d1 = and1->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
const auto &and2 = d1->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(and2->arguments.size() == 2);
const auto &d2 = and2->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
const auto &or_ = d2->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
REQUIRE(or_->arguments.size() == 2);
const auto &or1Not = or_->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(or1Not->declaration->name == "test-predicate-0");
const auto &or2 = or_->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(or2->declaration->name == "test-predicate-1");
}
SECTION("“imply” statement in goal description")
{
const auto &goal = normalizedDescription.problem.value()->goal.value();
const auto &and_ = goal.get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(and_->arguments.size() == 2);
const auto &d = and_->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
const auto &or_ = d->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
REQUIRE(or_->arguments.size() == 2);
const auto &or1Not = or_->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(or1Not->declaration->name == "test-predicate-0");
const auto &or2 = or_->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(or2->declaration->name == "test-predicate-1");
}
}
Added normalization tests for “forall” statements. These tests ensure that universal quantifiers are correctly reduced to negated existential quantifiers over the negated argument via derived predicates in preconditions (nested and not) and goal descriptions.
2017-11-15 17:26:56 +01:00
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[normalization] Universal quantifiers are correctly reduced", "[normalization]")
{
pddl::Tokenizer tokenizer;
pddl::Context context(std::move(tokenizer), ignoreWarnings);
const auto domainFile = fs::path("data") / "normalization" / "normalization-3.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto normalizedDescription = pddl::normalize(std::move(description));
const auto &actions = normalizedDescription.domain->actions;
SECTION("top-level “forall” statement is replaced with negated “exists” statement over negated argument")
{
const auto &d = actions[0]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
REQUIRE(d->arguments.empty());
REQUIRE(d->declaration->existentialParameters.size() == 2);
CHECK(d->declaration->existentialParameters[0]->name == "x");
CHECK(d->declaration->existentialParameters[1]->name == "y");
const auto &dp = d->declaration->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(dp->declaration->name == "test-predicate-2");
REQUIRE(dp->declaration->parameters.size() == 2);
CHECK(dp->declaration->parameters[0]->name == "x");
CHECK(dp->declaration->parameters[1]->name == "y");
}
SECTION("nested “forall” statement is replaced with negated “exists” statement over negated argument")
{
const auto &and1 = actions[1]->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(and1->arguments.size() == 2);
const auto &d1 = and1->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
const auto &and2 = d1->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(and2->arguments.size() == 2);
const auto &d2 = and2->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
REQUIRE(d2->arguments.empty());
REQUIRE(d2->declaration->existentialParameters.size() == 2);
CHECK(d2->declaration->existentialParameters[0]->name == "x");
CHECK(d2->declaration->existentialParameters[1]->name == "y");
const auto &d2p = d2->declaration->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(d2p->declaration->name == "test-predicate-2");
REQUIRE(d2p->declaration->parameters.size() == 2);
CHECK(d2p->declaration->parameters[0]->name == "x");
CHECK(d2p->declaration->parameters[1]->name == "y");
}
SECTION("“forall” statement in goal description is replaced with negated “exists” statement over negated argument")
{
const auto &goal = normalizedDescription.problem.value()->goal.value();
const auto &and_ = goal.get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(and_->arguments.size() == 2);
const auto &d = and_->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
REQUIRE(d->arguments.empty());
REQUIRE(d->declaration->existentialParameters.size() == 2);
CHECK(d->declaration->existentialParameters[0]->name == "x");
CHECK(d->declaration->existentialParameters[1]->name == "y");
const auto &dp = d->declaration->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(dp->declaration->name == "test-predicate-2");
REQUIRE(dp->declaration->parameters.size() == 2);
CHECK(dp->declaration->parameters[0]->name == "x");
CHECK(dp->declaration->parameters[1]->name == "y");
}
}
Added normalization tests for negations. These tests ensure that multiple negations are eliminated, negated quantifiers are replaced appropriately, negations introduced by reduction are correctly handled, and negated disjunctions and conjunctions are replaced according to De Morgan’s rules.
2017-11-15 18:53:43 +01:00
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[normalization] Negations are correctly normalized", "[normalization]")
{
pddl::Tokenizer tokenizer;
pddl::Context context(std::move(tokenizer), ignoreWarnings);
const auto domainFile = fs::path("data") / "normalization" / "normalization-4.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto normalizedDescription = pddl::normalize(std::move(description));
const auto &actions = normalizedDescription.domain->actions;
SECTION("multiple negations are correctly eliminated")
{
const auto &p1 = actions[0]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(p1->declaration->name == "test-predicate-1");
REQUIRE(p1->arguments.size() == 1);
CHECK(p1->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration->name == "x");
const auto &p2 = actions[1]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(p2->declaration->name == "test-predicate-1");
REQUIRE(p2->arguments.size() == 1);
CHECK(p2->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration->name == "x");
}
SECTION("“exists” statements with negations are correctly normalized")
{
const auto &dp = actions[2]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
CHECK(dp->declaration->existentialParameters.size() == 2);
const auto &dpp = dp->declaration->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(dpp->declaration->name == "test-predicate-2");
}
SECTION("“forall” statements with negations are correctly normalized")
{
const auto &dp = actions[3]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
CHECK(dp->declaration->existentialParameters.size() == 2);
const auto &dpp = dp->declaration->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(dpp->declaration->name == "test-predicate-2");
}
SECTION("negations introduced by reduction are correctly normalized")
{
const auto &d = actions[4]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
const auto &do_ = d->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
REQUIRE(do_->arguments.size() == 2);
const auto &do1 = do_->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
REQUIRE(do1->declaration->name == "test-predicate-0");
const auto &do2 = do_->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
REQUIRE(do2->declaration->name == "test-predicate-1");
}
SECTION("negated disjunctions are correctly normalized")
{
const auto &a = actions[5]->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a->arguments.size() == 2);
const auto &a1 = a->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
REQUIRE(a1->declaration->name == "test-predicate-0");
const auto &a2 = a->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
REQUIRE(a2->declaration->name == "test-predicate-1");
}
SECTION("negated conjunctions are correctly normalized")
{
const auto &d = actions[6]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
const auto &do_ = d->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
REQUIRE(do_->arguments.size() == 2);
const auto &do1 = do_->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
REQUIRE(do1->declaration->name == "test-predicate-0");
const auto &do2 = do_->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
REQUIRE(do2->declaration->name == "test-predicate-1");
}
}
Added normalization tests for nested expressions. These tests ensure that nested expressions in preconditions and effects are correctly flattened via derived predicates.
2017-11-16 16:29:12 +01:00
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[normalization] Nested expressions are correctly flattened via derived predicates", "[normalization]")
{
pddl::Tokenizer tokenizer;
pddl::Context context(std::move(tokenizer), ignoreWarnings);
const auto domainFile = fs::path("data") / "normalization" / "normalization-5.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto normalizedDescription = pddl::normalize(std::move(description));
const auto &actions = normalizedDescription.domain->actions;
SECTION("nested expressions in action preconditions are correctly flattened")
{
const auto &a = actions[0]->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a->arguments.size() == 3);
const auto &a1 = a->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
REQUIRE(a1->declaration->parameters.size() == 1);
CHECK(a1->declaration->existentialParameters.size() == 1);
const auto &a11 = a1->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a11->arguments.size() == 2);
const auto &a111 = a11->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a111->declaration->name == "p1");
REQUIRE(a111->arguments.size() == 2);
CHECK(a111->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
CHECK(a111->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a1->declaration->existentialParameters[0].get());
const auto &a112 = a11->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(a112->declaration->name == "p2");
const auto &a2 = a->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a2->declaration->name == "p3");
REQUIRE(a2->arguments.size() == 2);
CHECK(a2->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[0].get());
const auto &a3 = a->arguments[2].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
REQUIRE(a3->arguments.size() == 2);
const auto &a31 = a3->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a31->arguments.size() == 2);
const auto &a311 = a31->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
const auto &a3111 = a311->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a3111->arguments.size() == 2);
const auto &a31111 = a3111->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a31111->declaration->name == "p4");
const auto &a31112 = a3111->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
CHECK(a31112->declaration->parameters.size() == 2);
CHECK(a31112->declaration->existentialParameters.size() == 1);
const auto &a311121 = a31112->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a311121->arguments.size() == 2);
const auto &a3111211 = a311121->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a3111211->declaration->name == "p5");
const auto &a3111212 = a311121->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(a3111212->declaration->name == "p3");
const auto &a312 = a31->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
const auto &a3121 = a312->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a3121->arguments.size() == 2);
const auto &a31211 = a3121->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a31111->declaration->name == "p4");
const auto &a31212 = a3121->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
REQUIRE(a31212->declaration->parameters.size() == 1);
REQUIRE(a31212->declaration->existentialParameters.size() == 2);
const auto &a312121 = a31212->declaration->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a312121->arguments.size() == 2);
const auto &a3121211 = a312121->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a3121211->declaration->name == "p6");
REQUIRE(a3121211->arguments.size() == 3);
CHECK(a3121211->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a31212->declaration->existentialParameters[0].get());
CHECK(a3121211->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a31212->declaration->existentialParameters[1].get());
CHECK(a3121211->arguments[2].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
const auto &a3121212 = a312121->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a3121212->declaration->name == "p3");
REQUIRE(a3121212->arguments.size() == 2);
CHECK(a3121212->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a31212->declaration->existentialParameters[0].get());
CHECK(a3121212->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
}
SECTION("nested expressions in conditional effect preconditions are correctly flattened")
{
const auto &a = actions[0]->effect.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Effect>>();
REQUIRE(a->arguments.size() == 3);
const auto &a1 = a->arguments[0].get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
CHECK(a1->declaration->name == "p3");
REQUIRE(a1->arguments.size() == 2);
CHECK(a1->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[0].get());
CHECK(a1->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
const auto &a2 = a->arguments[1].get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a2->declaration->name == "p9");
REQUIRE(a2->arguments.size() == 1);
CHECK(a2->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[0].get());
const auto &a3 = a->arguments[2].get<pddl::normalizedAST::WhenPointer<pddl::normalizedAST::Precondition, pddl::normalizedAST::ConditionalEffect>>();
const auto &a31 = a3->argumentLeft.get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a31->arguments.size() == 2);
const auto &a311 = a31->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
CHECK(a311->declaration->parameters.size() == 1);
CHECK(a311->declaration->existentialParameters.size() == 1);
const auto &a3111 = a311->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
REQUIRE(a3111->arguments.size() == 2);
const auto &a31111 = a3111->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a31111->declaration->name == "p7");
REQUIRE(a31111->arguments.size() == 2);
CHECK(a31111->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a311->declaration->existentialParameters[0].get());
CHECK(a31111->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
const auto &a31112 = a3111->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a31112->declaration->name == "p3");
REQUIRE(a31112->arguments.size() == 2);
CHECK(a31112->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == actions[0]->parameters[1].get());
CHECK(a31112->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a311->declaration->existentialParameters[0].get());
const auto &a312 = a31->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
CHECK(a312->declaration->parameters.size() == 0);
CHECK(a312->declaration->existentialParameters.size() == 2);
const auto &a3121 = a312->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
const auto &a31211 = a3121->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a31211->declaration->name == "p4");
REQUIRE(a31211->arguments.size() == 2);
CHECK(a31211->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a312->declaration->existentialParameters[0].get());
CHECK(a31211->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a312->declaration->existentialParameters[1].get());
const auto &a31212 = a3121->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
CHECK(a31212->declaration->name == "p3");
REQUIRE(a31212->arguments.size() == 2);
CHECK(a31212->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration == a312->declaration->existentialParameters[1].get());
CHECK(a31212->arguments[1].get<pddl::normalizedAST::VariablePointer>()->declaration == a312->declaration->existentialParameters[0].get());
}
}
Added tests for derived predicate numbering. These tests ensure that derived predicates are numbered correctly, whether they are introduced by the domain, the problem, or both.
2017-11-16 17:30:53 +01:00
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[normalization] Derived predicates are correctly numbered", "[normalization]")
{
pddl::Tokenizer tokenizer;
pddl::Context context(std::move(tokenizer), ignoreWarnings);
SECTION("derived predicates introduced by both domain and problem")
{
const auto domainFile = fs::path("data") / "normalization" / "normalization-6-1.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto normalizedDescription = pddl::normalize(std::move(description));
const auto &domain = normalizedDescription.domain;
const auto &problem = normalizedDescription.problem.value();
REQUIRE(domain->derivedPredicates.size() == 4);
REQUIRE(problem->derivedPredicates.size() == 2);
CHECK(domain->derivedPredicates[0]->name == "derived-predicate-1");
CHECK(domain->derivedPredicates[1]->name == "derived-predicate-2");
CHECK(domain->derivedPredicates[2]->name == "derived-predicate-3");
CHECK(domain->derivedPredicates[3]->name == "derived-predicate-4");
CHECK(problem->derivedPredicates[0]->name == "derived-predicate-5");
CHECK(problem->derivedPredicates[1]->name == "derived-predicate-6");
}
SECTION("derived predicates introduced by domain only")
{
const auto domainFile = fs::path("data") / "normalization" / "normalization-6-2.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto normalizedDescription = pddl::normalize(std::move(description));
const auto &domain = normalizedDescription.domain;
REQUIRE(!normalizedDescription.problem);
REQUIRE(domain->derivedPredicates.size() == 4);
CHECK(domain->derivedPredicates[0]->name == "derived-predicate-1");
CHECK(domain->derivedPredicates[1]->name == "derived-predicate-2");
CHECK(domain->derivedPredicates[2]->name == "derived-predicate-3");
CHECK(domain->derivedPredicates[3]->name == "derived-predicate-4");
}
SECTION("derived predicates introduced by both domain and problem")
{
const auto domainFile = fs::path("data") / "normalization" / "normalization-6-3.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto normalizedDescription = pddl::normalize(std::move(description));
const auto &domain = normalizedDescription.domain;
const auto &problem = normalizedDescription.problem.value();
REQUIRE(domain->derivedPredicates.empty());
REQUIRE(problem->derivedPredicates.size() == 2);
CHECK(problem->derivedPredicates[0]->name == "derived-predicate-1");
CHECK(problem->derivedPredicates[1]->name == "derived-predicate-2");
}
}
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