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Added basic normalization tests. 

These tests make sure that simple PDDL descriptions are preserved by
normalization.
This commit is contained in:
Patrick Lühne 2017-11-08 18:36:08 +01:00
parent 08a2eebe2c
commit b063f5047e
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2 changed files with 144 additions and 0 deletions
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99
lib/pddl/tests/TestNormalization.cpp Normal file
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#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());
}

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tests/data/normalization/normalization-1.pddl Normal file
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; tests that a simple PDDL description is preserved by normalization
(define (domain test-normalization)
(:requirements :typing)
(:types block gripper)
(:predicates
(test-predicate-0)
(test-predicate-1 ?x - block)
(test-predicate-2 ?x - block ?y - gripper))
(:action test-action-1
:parameters
(?x - block)
:precondition
(test-predicate-1 ?x)
:effect
(test-predicate-1 ?x))
(:action test-action-2
:parameters
(?x - block ?y - gripper)
:precondition
(and
(not (test-predicate-0))
(test-predicate-2 ?x ?y))
:effect
(test-predicate-2 ?x ?y))
)
(define (problem test-normalization)
(:domain test-normalization)
(:objects a b c d - block e f - gripper)
(:init
(test-predicate-0)
(test-predicate-1 a)
(test-predicate-1 d)
(test-predicate-2 a e)
(test-predicate-2 c f))
(:goal (and
(test-predicate-0)
(not (test-predicate-1 d))
(test-predicate-2 b f))))