Refactored PDDL tests.
This commit is contained in:
parent
1c8958ad9d
commit
ad23c89266
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@ -22,6 +22,7 @@ class Description
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{
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public:
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static Description fromStream(std::istream &istream);
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static Description fromFile(const std::string &path);
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static Description fromFiles(const std::vector<std::string> &paths);
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public:
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@ -45,6 +45,20 @@ Description Description::fromStream(std::istream &istream)
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////////////////////////////////////////////////////////////////////////////////////////////////////
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Description Description::fromFile(const std::string &path)
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{
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Description description;
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description.m_parser.readFile(path);
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description.parseContent();
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description.checkConsistency();
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return description;
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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Description Description::fromFiles(const std::vector<std::string> &paths)
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{
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BOOST_ASSERT(!paths.empty());
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@ -15,275 +15,214 @@
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////////////////////////////////////////////////////////////////////////////////////////////////////
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class PDDLParserTests : public ::testing::Test
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{
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protected:
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PDDLParserTests()
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: m_blocksworldDomainFile(readFile("data/blocksworld-domain.pddl")),
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m_storageDomainFile(readFile("data/storage-domain.pddl")),
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m_whiteSpaceTestFile(readFile("data/white-space-test.pddl")),
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m_woodworkingDomainFile(readFile("data/woodworking-domain.pddl"))
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{
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}
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static std::stringstream readFile(const std::string &path)
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{
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std::ifstream fileStream(path, std::ios::in);
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std::stringstream outputStream;
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if (!fileStream.is_open())
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throw std::runtime_error("Could not open file \"" + path + "\"");
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outputStream << fileStream.rdbuf();
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return outputStream;
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}
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std::stringstream m_blocksworldDomainFile;
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std::stringstream m_storageDomainFile;
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std::stringstream m_whiteSpaceTestFile;
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std::stringstream m_woodworkingDomainFile;
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};
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////////////////////////////////////////////////////////////////////////////////////////////////////
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TEST_F(PDDLParserTests, ParseBlocksWorldDomain)
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TEST(PDDLParserTests, ParseBlocksWorldDomain)
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{
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using namespace plasp::pddl;
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try
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{
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const auto description = Description::fromStream(m_blocksworldDomainFile);
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const auto description = Description::fromFile("data/blocksworld-domain.pddl");
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ASSERT_NO_THROW(description.domain());
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ASSERT_NO_THROW(description.domain());
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const auto &domain = description.domain();
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const auto &domain = description.domain();
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// Name
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ASSERT_EQ(domain.name(), "blocks");
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// Name
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ASSERT_EQ(domain.name(), "blocks");
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// Requirements
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ASSERT_EQ(domain.requirements().size(), 2u);
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ASSERT_EQ(domain.requirements()[0].type(), Requirement::Type::STRIPS);
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ASSERT_EQ(domain.requirements()[1].type(), Requirement::Type::Typing);
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// Requirements
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ASSERT_EQ(domain.requirements().size(), 2u);
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ASSERT_EQ(domain.requirements()[0].type(), Requirement::Type::STRIPS);
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ASSERT_EQ(domain.requirements()[1].type(), Requirement::Type::Typing);
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// Types
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ASSERT_EQ(domain.types().size(), 1u);
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// Types
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ASSERT_EQ(domain.types().size(), 1u);
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const auto &block = *domain.types()[0];
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const auto &block = *domain.types()[0];
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ASSERT_EQ(block.name(), "block");
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ASSERT_EQ(block.parentTypes().size(), 0u);
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ASSERT_EQ(block.name(), "block");
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ASSERT_EQ(block.parentTypes().size(), 0u);
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// Predicates
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ASSERT_EQ(domain.predicates().size(), 5u);
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// Predicates
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ASSERT_EQ(domain.predicates().size(), 5u);
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const auto &on = *domain.predicates()[0];
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const auto &on = *domain.predicates()[0];
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ASSERT_EQ(on.name(), "on");
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ASSERT_EQ(on.arguments().size(), 2u);
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ASSERT_EQ(on.arguments()[0]->name(), "x");
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const auto *onArgument0Type = dynamic_cast<const expressions::PrimitiveType *>(on.arguments()[0]->type());
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ASSERT_EQ(onArgument0Type, &block);
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ASSERT_EQ(on.arguments()[1]->name(), "y");
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const auto onArgument1Type = dynamic_cast<const expressions::PrimitiveType *>(on.arguments()[1]->type());
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ASSERT_EQ(onArgument1Type, &block);
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ASSERT_EQ(on.name(), "on");
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ASSERT_EQ(on.arguments().size(), 2u);
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ASSERT_EQ(on.arguments()[0]->name(), "x");
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const auto *onArgument0Type = dynamic_cast<const expressions::PrimitiveType *>(on.arguments()[0]->type());
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ASSERT_EQ(onArgument0Type, &block);
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ASSERT_EQ(on.arguments()[1]->name(), "y");
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const auto onArgument1Type = dynamic_cast<const expressions::PrimitiveType *>(on.arguments()[1]->type());
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ASSERT_EQ(onArgument1Type, &block);
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const auto &handempty = *domain.predicates()[3];
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const auto &handempty = *domain.predicates()[3];
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ASSERT_EQ(handempty.name(), "handempty");
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ASSERT_TRUE(handempty.arguments().empty());
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ASSERT_EQ(handempty.name(), "handempty");
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ASSERT_TRUE(handempty.arguments().empty());
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// Actions
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ASSERT_EQ(domain.actions().size(), 4u);
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// Actions
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ASSERT_EQ(domain.actions().size(), 4u);
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const auto &pickUp = *domain.actions()[0];
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const auto &pickUp = *domain.actions()[0];
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ASSERT_EQ(pickUp.name(), "pick-up");
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ASSERT_EQ(pickUp.parameters().size(), 1u);
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ASSERT_EQ(pickUp.parameters()[0]->name(), "x");
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ASSERT_EQ(pickUp.parameters()[0]->type(), &block);
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ASSERT_EQ(pickUp.name(), "pick-up");
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ASSERT_EQ(pickUp.parameters().size(), 1u);
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ASSERT_EQ(pickUp.parameters()[0]->name(), "x");
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ASSERT_EQ(pickUp.parameters()[0]->type(), &block);
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const auto &pickUpPre = dynamic_cast<const expressions::And &>(pickUp.precondition());
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ASSERT_EQ(pickUpPre.arguments().size(), 3u);
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const auto &pickUpPre0 = dynamic_cast<const expressions::Predicate &>(*pickUpPre.arguments()[0]);
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ASSERT_EQ(pickUpPre0.name(), "clear");
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ASSERT_EQ(pickUpPre0.arguments().size(), 1u);
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const auto &pickUpPre00 = *dynamic_cast<const expressions::Reference<expressions::Variable> &>(*pickUpPre0.arguments()[0]).value();
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ASSERT_EQ(pickUpPre00.name(), "x");
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ASSERT_EQ(pickUpPre00.type(), &block);
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ASSERT_EQ(&pickUpPre00, pickUp.parameters()[0].get());
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const auto &pickUpPre2 = dynamic_cast<const expressions::Predicate &>(*pickUpPre.arguments()[2]);
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ASSERT_EQ(pickUpPre2.name(), "handempty");
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ASSERT_EQ(pickUpPre2.arguments().size(), 0u);
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const auto &pickUpPre = dynamic_cast<const expressions::And &>(pickUp.precondition());
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ASSERT_EQ(pickUpPre.arguments().size(), 3u);
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const auto &pickUpPre0 = dynamic_cast<const expressions::Predicate &>(*pickUpPre.arguments()[0]);
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ASSERT_EQ(pickUpPre0.name(), "clear");
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ASSERT_EQ(pickUpPre0.arguments().size(), 1u);
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const auto &pickUpPre00 = *dynamic_cast<const expressions::Reference<expressions::Variable> &>(*pickUpPre0.arguments()[0]).value();
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ASSERT_EQ(pickUpPre00.name(), "x");
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ASSERT_EQ(pickUpPre00.type(), &block);
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ASSERT_EQ(&pickUpPre00, pickUp.parameters()[0].get());
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const auto &pickUpPre2 = dynamic_cast<const expressions::Predicate &>(*pickUpPre.arguments()[2]);
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ASSERT_EQ(pickUpPre2.name(), "handempty");
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ASSERT_EQ(pickUpPre2.arguments().size(), 0u);
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const auto &pickUpEff = dynamic_cast<const expressions::And &>(pickUp.effect());
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ASSERT_EQ(pickUpEff.arguments().size(), 4u);
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const auto &pickUpEff0 = dynamic_cast<const expressions::Not &>(*pickUpEff.arguments()[0]);
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const auto &pickUpEff00 = dynamic_cast<const expressions::Predicate &>(pickUpEff0.argument());
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ASSERT_EQ(pickUpEff00.name(), "ontable");
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ASSERT_EQ(pickUpEff00.arguments().size(), 1u);
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const auto &pickUpEff000 = *dynamic_cast<const expressions::Reference<expressions::Variable> &>(*pickUpEff00.arguments()[0]).value();
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ASSERT_EQ(pickUpEff000.name(), "x");
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ASSERT_EQ(pickUpEff000.type(), &block);
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}
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catch (const std::exception &e)
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{
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FAIL() << e.what();
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}
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const auto &pickUpEff = dynamic_cast<const expressions::And &>(pickUp.effect());
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ASSERT_EQ(pickUpEff.arguments().size(), 4u);
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const auto &pickUpEff0 = dynamic_cast<const expressions::Not &>(*pickUpEff.arguments()[0]);
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const auto &pickUpEff00 = dynamic_cast<const expressions::Predicate &>(pickUpEff0.argument());
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ASSERT_EQ(pickUpEff00.name(), "ontable");
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ASSERT_EQ(pickUpEff00.arguments().size(), 1u);
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const auto &pickUpEff000 = *dynamic_cast<const expressions::Reference<expressions::Variable> &>(*pickUpEff00.arguments()[0]).value();
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ASSERT_EQ(pickUpEff000.name(), "x");
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ASSERT_EQ(pickUpEff000.type(), &block);
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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TEST_F(PDDLParserTests, ParseStorageDomain)
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TEST(PDDLParserTests, ParseStorageDomain)
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{
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using namespace plasp::pddl;
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try
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{
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const auto description = plasp::pddl::Description::fromStream(m_storageDomainFile);
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const auto description = plasp::pddl::Description::fromFile("data/storage-domain.pddl");
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ASSERT_NO_THROW(description.domain());
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ASSERT_NO_THROW(description.domain());
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const auto &domain = description.domain();
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const auto &domain = description.domain();
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// Name
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ASSERT_EQ(domain.name(), "storage-propositional");
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// Name
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ASSERT_EQ(domain.name(), "storage-propositional");
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// Requirements
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ASSERT_EQ(domain.requirements().size(), 1u);
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ASSERT_EQ(domain.requirements()[0].type(), Requirement::Type::Typing);
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// Requirements
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ASSERT_EQ(domain.requirements().size(), 1u);
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ASSERT_EQ(domain.requirements()[0].type(), Requirement::Type::Typing);
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// Types
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ASSERT_EQ(domain.types().size(), 10u);
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// Types
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ASSERT_EQ(domain.types().size(), 10u);
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const auto &hoist = *domain.types()[0];
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const auto &surface = *domain.types()[1];
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const auto &area = *domain.types()[3];
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const auto &object = *domain.types()[4];
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const auto &storearea = *domain.types()[7];
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const auto &crate = *domain.types()[9];
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const auto &hoist = *domain.types()[0];
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const auto &surface = *domain.types()[1];
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const auto &area = *domain.types()[3];
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const auto &object = *domain.types()[4];
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const auto &storearea = *domain.types()[7];
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const auto &crate = *domain.types()[9];
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const auto &hoistParents = hoist.parentTypes();
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ASSERT_EQ(hoistParents.size(), 1u);
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ASSERT_TRUE(std::find(hoistParents.cbegin(), hoistParents.cend(), &object) != hoistParents.cend());
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const auto &hoistParents = hoist.parentTypes();
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ASSERT_EQ(hoistParents.size(), 1u);
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ASSERT_TRUE(std::find(hoistParents.cbegin(), hoistParents.cend(), &object) != hoistParents.cend());
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const auto &areaParents = area.parentTypes();
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ASSERT_EQ(areaParents.size(), 2u);
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ASSERT_TRUE(std::find(areaParents.cbegin(), areaParents.cend(), &object) != areaParents.cend());
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ASSERT_TRUE(std::find(areaParents.cbegin(), areaParents.cend(), &surface) != areaParents.cend());
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const auto &areaParents = area.parentTypes();
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ASSERT_EQ(areaParents.size(), 2u);
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ASSERT_TRUE(std::find(areaParents.cbegin(), areaParents.cend(), &object) != areaParents.cend());
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ASSERT_TRUE(std::find(areaParents.cbegin(), areaParents.cend(), &surface) != areaParents.cend());
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// Predicates
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ASSERT_EQ(domain.predicates().size(), 8u);
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// Predicates
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ASSERT_EQ(domain.predicates().size(), 8u);
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const auto &on = *domain.predicates()[5];
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const auto &on = *domain.predicates()[5];
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ASSERT_EQ(on.name(), "on");
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ASSERT_EQ(on.arguments().size(), 2u);
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ASSERT_EQ(on.arguments()[0]->name(), "c");
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const auto onArgument0Type = dynamic_cast<const expressions::PrimitiveType *>(on.arguments()[0]->type());
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ASSERT_EQ(onArgument0Type, &crate);
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ASSERT_EQ(on.arguments()[1]->name(), "s");
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const auto onArgument1Type = dynamic_cast<const expressions::PrimitiveType *>(on.arguments()[1]->type());
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ASSERT_EQ(onArgument1Type, &storearea);
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ASSERT_EQ(on.name(), "on");
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ASSERT_EQ(on.arguments().size(), 2u);
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ASSERT_EQ(on.arguments()[0]->name(), "c");
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const auto onArgument0Type = dynamic_cast<const expressions::PrimitiveType *>(on.arguments()[0]->type());
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ASSERT_EQ(onArgument0Type, &crate);
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ASSERT_EQ(on.arguments()[1]->name(), "s");
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const auto onArgument1Type = dynamic_cast<const expressions::PrimitiveType *>(on.arguments()[1]->type());
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ASSERT_EQ(onArgument1Type, &storearea);
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const auto &in = *domain.predicates()[1];
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ASSERT_EQ(in.name(), "in");
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ASSERT_EQ(in.arguments().size(), 2u);
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ASSERT_EQ(in.arguments()[0]->name(), "x");
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const auto inArgument0Type = dynamic_cast<const expressions::Either *>(in.arguments()[0]->type());
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ASSERT_EQ(inArgument0Type->arguments().size(), 2u);
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const auto inArgument0Type0 = dynamic_cast<const expressions::Reference<expressions::PrimitiveType> *>(inArgument0Type->arguments()[0].get())->value();
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ASSERT_EQ(inArgument0Type0, &storearea);
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const auto inArgument0Type1 = dynamic_cast<const expressions::Reference<expressions::PrimitiveType> *>(inArgument0Type->arguments()[1].get())->value();
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ASSERT_EQ(inArgument0Type1, &crate);
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const auto &in = *domain.predicates()[1];
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ASSERT_EQ(in.name(), "in");
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ASSERT_EQ(in.arguments().size(), 2u);
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ASSERT_EQ(in.arguments()[0]->name(), "x");
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const auto inArgument0Type = dynamic_cast<const expressions::Either *>(in.arguments()[0]->type());
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ASSERT_EQ(inArgument0Type->arguments().size(), 2u);
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const auto inArgument0Type0 = dynamic_cast<const expressions::Reference<expressions::PrimitiveType> *>(inArgument0Type->arguments()[0].get())->value();
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ASSERT_EQ(inArgument0Type0, &storearea);
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const auto inArgument0Type1 = dynamic_cast<const expressions::Reference<expressions::PrimitiveType> *>(inArgument0Type->arguments()[1].get())->value();
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ASSERT_EQ(inArgument0Type1, &crate);
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// Actions
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ASSERT_EQ(domain.actions().size(), 5u);
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// Actions
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ASSERT_EQ(domain.actions().size(), 5u);
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const auto &drop = *domain.actions()[1];
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const auto &drop = *domain.actions()[1];
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ASSERT_EQ(drop.name(), "drop");
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ASSERT_EQ(drop.parameters().size(), 5u);
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ASSERT_EQ(drop.parameters()[3]->name(), "a2");
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ASSERT_EQ(drop.parameters()[3]->type(), &area);
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ASSERT_EQ(drop.name(), "drop");
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ASSERT_EQ(drop.parameters().size(), 5u);
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ASSERT_EQ(drop.parameters()[3]->name(), "a2");
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ASSERT_EQ(drop.parameters()[3]->type(), &area);
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const auto &dropPre = dynamic_cast<const expressions::And &>(drop.precondition());
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ASSERT_EQ(dropPre.arguments().size(), 5u);
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const auto &dropPre2 = dynamic_cast<const expressions::Predicate &>(*dropPre.arguments()[2]);
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ASSERT_EQ(dropPre2.name(), "lifting");
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ASSERT_EQ(dropPre2.arguments().size(), 2u);
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const auto &dropPre21 = *dynamic_cast<const expressions::Reference<expressions::Variable> &>(*dropPre2.arguments()[1]).value();
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ASSERT_EQ(dropPre21.name(), "c");
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ASSERT_EQ(dropPre21.type(), &crate);
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const auto &dropPre = dynamic_cast<const expressions::And &>(drop.precondition());
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ASSERT_EQ(dropPre.arguments().size(), 5u);
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const auto &dropPre2 = dynamic_cast<const expressions::Predicate &>(*dropPre.arguments()[2]);
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ASSERT_EQ(dropPre2.name(), "lifting");
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ASSERT_EQ(dropPre2.arguments().size(), 2u);
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const auto &dropPre21 = *dynamic_cast<const expressions::Reference<expressions::Variable> &>(*dropPre2.arguments()[1]).value();
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ASSERT_EQ(dropPre21.name(), "c");
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ASSERT_EQ(dropPre21.type(), &crate);
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const auto &dropEff = dynamic_cast<const expressions::And &>(drop.effect());
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ASSERT_EQ(dropEff.arguments().size(), 5u);
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const auto &dropEff2 = dynamic_cast<const expressions::Not &>(*dropEff.arguments()[2]);
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const auto &dropEff20 = dynamic_cast<const expressions::Predicate &>(dropEff2.argument());
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ASSERT_EQ(dropEff20.name(), "clear");
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ASSERT_EQ(dropEff20.arguments().size(), 1u);
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const auto &dropEff200 = *dynamic_cast<const expressions::Reference<expressions::Variable> &>(*dropEff20.arguments()[0]).value();
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ASSERT_EQ(dropEff200.name(), "a1");
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ASSERT_EQ(dropEff200.type(), &storearea);
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}
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catch (const std::exception &e)
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{
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FAIL() << e.what();
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}
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const auto &dropEff = dynamic_cast<const expressions::And &>(drop.effect());
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ASSERT_EQ(dropEff.arguments().size(), 5u);
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const auto &dropEff2 = dynamic_cast<const expressions::Not &>(*dropEff.arguments()[2]);
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const auto &dropEff20 = dynamic_cast<const expressions::Predicate &>(dropEff2.argument());
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ASSERT_EQ(dropEff20.name(), "clear");
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ASSERT_EQ(dropEff20.arguments().size(), 1u);
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const auto &dropEff200 = *dynamic_cast<const expressions::Reference<expressions::Variable> &>(*dropEff20.arguments()[0]).value();
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ASSERT_EQ(dropEff200.name(), "a1");
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ASSERT_EQ(dropEff200.type(), &storearea);
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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TEST_F(PDDLParserTests, ParseConstants)
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TEST(PDDLParserTests, ParseConstants)
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{
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using namespace plasp::pddl;
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try
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{
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const auto description = Description::fromStream(m_woodworkingDomainFile);
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const auto description = Description::fromFile("data/woodworking-domain.pddl");
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ASSERT_NO_THROW(description.domain());
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ASSERT_NO_THROW(description.domain());
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const auto &domain = description.domain();
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const auto &domain = description.domain();
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||||
|
||||
// Name
|
||||
ASSERT_EQ(domain.name(), "woodworking");
|
||||
// Name
|
||||
ASSERT_EQ(domain.name(), "woodworking");
|
||||
|
||||
// Types
|
||||
const auto &acolour = *domain.types()[0];
|
||||
const auto &surface = *domain.types()[4];
|
||||
const auto &treatmentstatus = *domain.types()[5];
|
||||
// Types
|
||||
const auto &acolour = *domain.types()[0];
|
||||
const auto &surface = *domain.types()[4];
|
||||
const auto &treatmentstatus = *domain.types()[5];
|
||||
|
||||
// Constants
|
||||
ASSERT_EQ(domain.constants().size(), 8u);
|
||||
ASSERT_EQ(domain.constants()[0]->type(), &surface);
|
||||
ASSERT_EQ(domain.constants()[2]->type(), &surface);
|
||||
ASSERT_EQ(domain.constants()[3]->type(), &treatmentstatus);
|
||||
ASSERT_EQ(domain.constants()[6]->type(), &treatmentstatus);
|
||||
ASSERT_EQ(domain.constants()[7]->type(), &acolour);
|
||||
// Constants
|
||||
ASSERT_EQ(domain.constants().size(), 8u);
|
||||
ASSERT_EQ(domain.constants()[0]->type(), &surface);
|
||||
ASSERT_EQ(domain.constants()[2]->type(), &surface);
|
||||
ASSERT_EQ(domain.constants()[3]->type(), &treatmentstatus);
|
||||
ASSERT_EQ(domain.constants()[6]->type(), &treatmentstatus);
|
||||
ASSERT_EQ(domain.constants()[7]->type(), &acolour);
|
||||
|
||||
// TODO: add test with constants in predicates
|
||||
}
|
||||
catch (const std::exception &e)
|
||||
{
|
||||
FAIL() << e.what();
|
||||
}
|
||||
// TODO: add test with constants in predicates
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
TEST_F(PDDLParserTests, ParseWithWhiteSpace)
|
||||
TEST(PDDLParserTests, ParseWithWhiteSpace)
|
||||
{
|
||||
using namespace plasp::pddl;
|
||||
|
||||
try
|
||||
{
|
||||
ASSERT_NO_THROW(Description::fromStream(m_whiteSpaceTestFile));
|
||||
}
|
||||
catch (const std::exception &e)
|
||||
{
|
||||
FAIL() << e.what();
|
||||
}
|
||||
ASSERT_NO_THROW(Description::fromFile("data/white-space-test.pddl"));
|
||||
}
|
||||
|
|
|
|||
Reference in New Issue