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plasp/tests/TestPDDLNormalization.cpp

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#include <gtest/gtest.h>
#include <plasp/pddl/expressions/And.h>
#include <plasp/pddl/expressions/Dummy.h>
#include <plasp/pddl/expressions/Exists.h>
#include <plasp/pddl/expressions/ForAll.h>
#include <plasp/pddl/expressions/Imply.h>
#include <plasp/pddl/expressions/Not.h>
#include <plasp/pddl/expressions/Or.h>
#include <plasp/pddl/expressions/Variable.h>
using namespace plasp::pddl;
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, Reduce)
{
auto n1 = expressions::NotPointer(new expressions::Not);
auto n2 = expressions::NotPointer(new expressions::Not);
auto a = expressions::AndPointer(new expressions::And);
auto o = expressions::OrPointer(new expressions::Or);
auto i = expressions::ImplyPointer(new expressions::Imply);
i->setArgument(0, new expressions::Dummy("a"));
i->setArgument(1, new expressions::Dummy("b"));
o->addArgument(i);
o->addArgument(new expressions::Dummy("c"));
a->addArgument(o);
a->addArgument(new expressions::Dummy("d"));
n2->setArgument(a);
n1->setArgument(n2);
std::stringstream output;
n1->reduced()->print(output);
ASSERT_EQ(output.str(), "(not (not (and (or (or (not (a)) (b)) (c)) (d))))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, Simplify)
{
auto a1 = expressions::AndPointer(new expressions::And);
auto a2 = expressions::AndPointer(new expressions::And);
auto o1 = expressions::OrPointer(new expressions::Or);
auto o2 = expressions::OrPointer(new expressions::Or);
a1->addArgument(new expressions::Dummy("a"));
a1->addArgument(new expressions::Dummy("b"));
a1->addArgument(a2);
a2->addArgument(new expressions::Dummy("c"));
a2->addArgument(new expressions::Dummy("d"));
a2->addArgument(o1);
o1->addArgument(new expressions::Dummy("e"));
o1->addArgument(new expressions::Dummy("f"));
o1->addArgument(o2);
o2->addArgument(new expressions::Dummy("g"));
o2->addArgument(new expressions::Dummy("h"));
std::stringstream output;
a1->simplified()->print(output);
ASSERT_EQ(output.str(), "(and (a) (b) (c) (d) (or (e) (f) (g) (h)))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, Implication)
{
auto i = expressions::ImplyPointer(new expressions::Imply);
i->setArgument(0, new expressions::Dummy("a"));
i->setArgument(1, new expressions::Dummy("b"));
std::stringstream output;
i->normalized()->print(output);
ASSERT_EQ(output.str(), "(or (not (a)) (b))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, DoubleNegation)
{
auto n1 = expressions::NotPointer(new expressions::Not);
auto n2 = expressions::NotPointer(new expressions::Not);
n2->setArgument(new expressions::Dummy("a"));
n1->setArgument(n2);
std::stringstream output;
n1->normalized()->print(output);
ASSERT_EQ(output.str(), "(a)");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, DeMorganNegativeConjunction)
{
auto a = expressions::AndPointer(new expressions::And);
a->addArgument(new expressions::Dummy("a"));
a->addArgument(new expressions::Dummy("b"));
a->addArgument(new expressions::Dummy("c"));
auto n = expressions::NotPointer(new expressions::Not);
n->setArgument(a);
std::stringstream output;
n->normalized()->print(output);
ASSERT_EQ(output.str(), "(or (not (a)) (not (b)) (not (c)))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, DeMorganNegativeDisjunction)
{
auto a = expressions::OrPointer(new expressions::Or);
a->addArgument(new expressions::Dummy("a"));
a->addArgument(new expressions::Dummy("b"));
a->addArgument(new expressions::Dummy("c"));
auto n = expressions::NotPointer(new expressions::Not);
n->setArgument(a);
std::stringstream output;
n->normalized()->print(output);
ASSERT_EQ(output.str(), "(and (not (a)) (not (b)) (not (c)))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, DoubleNegationInner)
{
auto n1 = expressions::NotPointer(new expressions::Not);
auto n2 = expressions::NotPointer(new expressions::Not);
auto n3 = expressions::NotPointer(new expressions::Not);
auto a = expressions::AndPointer(new expressions::And);
a->addArgument(new expressions::Dummy("a"));
a->addArgument(new expressions::Dummy("b"));
a->addArgument(new expressions::Dummy("c"));
n3->setArgument(a);
n2->setArgument(n3);
n1->setArgument(n2);
std::stringstream output;
n1->normalized()->print(output);
ASSERT_EQ(output.str(), "(or (not (a)) (not (b)) (not (c)))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, SimplifyNestedForAll)
{
auto v1 = expressions::VariablePointer(new expressions::Variable("x"));
auto v2 = expressions::VariablePointer(new expressions::Variable("y"));
auto v3 = expressions::VariablePointer(new expressions::Variable("z"));
auto v4 = expressions::VariablePointer(new expressions::Variable("u"));
auto v5 = expressions::VariablePointer(new expressions::Variable("v"));
auto v6 = expressions::VariablePointer(new expressions::Variable("w"));
auto f1 = expressions::ForAllPointer(new expressions::ForAll);
auto f2 = expressions::ForAllPointer(new expressions::ForAll);
f1->variables() = {v1, v2, v3};
f2->variables() = {v4, v5, v6};
f1->setArgument(f2);
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f2->setArgument(new expressions::Dummy("a"));
std::stringstream output;
f1->normalized()->print(output);
ASSERT_EQ(output.str(), "(forall (?x ?y ?z ?u ?v ?w) (a))");
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, SimplifyNestedExists)
{
auto v1 = expressions::VariablePointer(new expressions::Variable("x"));
auto v2 = expressions::VariablePointer(new expressions::Variable("y"));
auto v3 = expressions::VariablePointer(new expressions::Variable("z"));
auto v4 = expressions::VariablePointer(new expressions::Variable("u"));
auto v5 = expressions::VariablePointer(new expressions::Variable("v"));
auto v6 = expressions::VariablePointer(new expressions::Variable("w"));
auto e1 = expressions::ExistsPointer(new expressions::Exists);
auto e2 = expressions::ExistsPointer(new expressions::Exists);
e1->variables() = {v1, v2, v3};
e2->variables() = {v4, v5, v6};
e1->setArgument(e2);
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e2->setArgument(new expressions::Dummy("a"));
std::stringstream output;
e1->normalized()->print(output);
ASSERT_EQ(output.str(), "(exists (?x ?y ?z ?u ?v ?w) (a))");
}
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////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, Prenex)
{
auto a = expressions::AndPointer(new expressions::And);
auto f1 = expressions::ForAllPointer(new expressions::ForAll);
auto o = expressions::OrPointer(new expressions::Or);
auto e = expressions::ExistsPointer(new expressions::Exists);
auto f2 = expressions::ForAllPointer(new expressions::ForAll);
auto v1 = expressions::VariablePointer(new expressions::Variable("x"));
auto v2 = expressions::VariablePointer(new expressions::Variable("y"));
auto v3 = expressions::VariablePointer(new expressions::Variable("z"));
a->addArgument(new expressions::Dummy("a"));
a->addArgument(f1);
f1->variables() = {v1};
f1->setArgument(o);
o->addArgument(e);
e->variables() = {v3};
e->setArgument(new expressions::Dummy("b"));
o->addArgument(f2);
f2->variables() = {v2};
f2->setArgument(new expressions::Dummy("c"));
auto normalized = a->reduced()->negationNormalized()->prenex();
{
std::stringstream output;
normalized->print(output);
ASSERT_EQ(output.str(), "(forall (?x) (forall (?y) (exists (?z) (and (a) (or (b) (c))))))");
}
normalized = normalized->simplified();
{
std::stringstream output;
normalized->print(output);
ASSERT_EQ(output.str(), "(forall (?x ?y) (exists (?z) (and (a) (or (b) (c)))))");
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, PrenexGroupSameType)
{
auto f1 = expressions::ForAllPointer(new expressions::ForAll);
auto f2 = expressions::ForAllPointer(new expressions::ForAll);
auto f3 = expressions::ForAllPointer(new expressions::ForAll);
auto f4 = expressions::ForAllPointer(new expressions::ForAll);
auto f5 = expressions::ForAllPointer(new expressions::ForAll);
auto f6 = expressions::ForAllPointer(new expressions::ForAll);
auto e1 = expressions::ExistsPointer(new expressions::Exists);
auto e2 = expressions::ExistsPointer(new expressions::Exists);
auto e3 = expressions::ExistsPointer(new expressions::Exists);
auto a = expressions::AndPointer(new expressions::And);
f1->variables() = {new expressions::Variable("v1")};
f1->setArgument(a);
// forall exists forall exists
a->addArgument(f2);
f2->variables() = {new expressions::Variable("v2")};
f2->setArgument(e1);
e1->variables() = {new expressions::Variable("v3")};
e1->setArgument(f3);
f3->variables() = {new expressions::Variable("v4")};
f3->setArgument(e2);
e2->variables() = {new expressions::Variable("v5")};
e2->setArgument(new expressions::Dummy("a"));
// forall forall exists forall
a->addArgument(f4);
f4->variables() = {new expressions::Variable("v6")};
f4->setArgument(f5);
f5->variables() = {new expressions::Variable("v7")};
f5->setArgument(e3);
e3->variables() = {new expressions::Variable("v8")};
e3->setArgument(f6);
f6->variables() = {new expressions::Variable("v9")};
f6->setArgument(new expressions::Dummy("b"));
auto normalized = f1->normalized();
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std::stringstream output;
normalized->print(output);
ASSERT_EQ(output.str(), "(forall (?v1 ?v2 ?v6 ?v7) (exists (?v3 ?v8) (forall (?v4 ?v9) (exists (?v5) (and (a) (b))))))");
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
TEST(PDDLNormalizationTests, DisjunctiveNormalForm)
{
auto f = expressions::ForAllPointer(new expressions::ForAll);
auto e = expressions::ExistsPointer(new expressions::Exists);
auto a = expressions::AndPointer(new expressions::And);
auto o1 = expressions::OrPointer(new expressions::Or);
auto o2 = expressions::OrPointer(new expressions::Or);
auto o3 = expressions::OrPointer(new expressions::Or);
f->variables() = {new expressions::Variable("v1")};
f->setArgument(e);
e->variables() = {new expressions::Variable("v2")};
e->setArgument(o1);
o1->addArgument(a);
o1->addArgument(new expressions::Dummy("h"));
a->addArgument(new expressions::Dummy("a"));
a->addArgument(new expressions::Dummy("b"));
a->addArgument(o2);
a->addArgument(o3);
o2->addArgument(new expressions::Dummy("c"));
o2->addArgument(new expressions::Dummy("d"));
o2->addArgument(new expressions::Dummy("e"));
o3->addArgument(new expressions::Dummy("f"));
o3->addArgument(new expressions::Dummy("g"));
auto normalized = f->normalized();
std::stringstream output;
normalized->print(output);
ASSERT_EQ(output.str(), "(forall (?v1) (exists (?v2) (or "
"(and (a) (b) (c) (f)) "
"(h) "
"(and (a) (b) (d) (f)) "
"(and (a) (b) (e) (f)) "
"(and (a) (b) (c) (g)) "
"(and (a) (b) (d) (g)) "
"(and (a) (b) (e) (g))"
")))");
}