Added basic normalization tests.
These tests make sure that simple PDDL descriptions are preserved by normalization.
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99
lib/pddl/tests/TestNormalization.cpp
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lib/pddl/tests/TestNormalization.cpp
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#include <catch.hpp>
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#include <experimental/filesystem>
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#include <pddl/AST.h>
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#include <pddl/Parse.h>
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#include <pddl/Normalize.h>
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namespace fs = std::experimental::filesystem;
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const pddl::Context::WarningCallback ignoreWarnings = [](const auto &, const auto &){};
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////////////////////////////////////////////////////////////////////////////////////////////////////
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TEST_CASE("[normalization] A simple PDDL description is preserved by normalization", "[normalization]")
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{
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pddl::Tokenizer tokenizer;
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pddl::Context context(std::move(tokenizer), ignoreWarnings);
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const auto domainFile = fs::path("data") / "normalization" / "normalization-1.pddl";
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context.tokenizer.read(domainFile);
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auto description = pddl::parseDescription(context);
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const auto normalizedDescription = pddl::normalize(std::move(description));
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const auto &types = normalizedDescription.domain->types;
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REQUIRE(types.size() == 2);
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CHECK(types[0]->name == "block");
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CHECK(types[1]->name == "gripper");
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const auto &predicates = normalizedDescription.domain->predicates;
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REQUIRE(predicates.size() == 3);
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CHECK(predicates[0]->name == "test-predicate-0");
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CHECK(predicates[0]->parameters.size() == 0);
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CHECK(predicates[2]->name == "test-predicate-2");
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REQUIRE(predicates[2]->parameters.size() == 2);
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CHECK(predicates[2]->parameters[0]->name == "x");
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REQUIRE(predicates[2]->parameters[0]->type);
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CHECK(predicates[2]->parameters[0]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[0].get());
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CHECK(predicates[2]->parameters[1]->name == "y");
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REQUIRE(predicates[2]->parameters[1]->type);
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CHECK(predicates[2]->parameters[1]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[1].get());
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const auto &actions = normalizedDescription.domain->actions;
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REQUIRE(actions.size() == 2);
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CHECK(actions[0]->name == "test-action-1");
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CHECK(actions[0]->parameters.size() == 1);
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CHECK(actions[0]->parameters[0]->name == "x");
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CHECK(actions[0]->parameters[0]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[0].get());
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CHECK(actions[0]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[1].get());
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CHECK(actions[0]->effect.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[1].get());
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CHECK(actions[1]->name == "test-action-2");
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CHECK(actions[1]->parameters.size() == 2);
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CHECK(actions[1]->parameters[0]->name == "x");
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CHECK(actions[1]->parameters[0]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[0].get());
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CHECK(actions[1]->parameters[1]->name == "y");
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CHECK(actions[1]->parameters[1]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[1].get());
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const auto &pre1And = actions[1]->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(pre1And->arguments.size() == 2);
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const auto &pre1And1Not = pre1And->arguments[0].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>();
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CHECK(pre1And1Not->argument.get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[0].get());
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CHECK(pre1And->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[2].get());
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const auto &objects = normalizedDescription.problem.value()->objects;
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REQUIRE(objects.size() == 6);
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CHECK(objects[0]->name == "a");
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CHECK(objects[0]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[0].get());
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CHECK(objects[5]->name == "f");
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CHECK(objects[5]->type.value().get<pddl::normalizedAST::PrimitiveTypePointer>()->declaration == types[1].get());
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const auto &initialState = normalizedDescription.problem.value()->initialState;
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REQUIRE(initialState.facts.size() == 5);
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CHECK(initialState.facts[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[0].get());
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const auto &fact4 = initialState.facts[4].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(fact4->declaration == predicates[2].get());
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REQUIRE(fact4->arguments.size() == 2);
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CHECK(fact4->arguments[0].get<pddl::normalizedAST::ConstantPointer>()->declaration == objects[2].get());
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CHECK(fact4->arguments[1].get<pddl::normalizedAST::ConstantPointer>()->declaration == objects[5].get());
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const auto &goal = normalizedDescription.problem.value()->goal.value();
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const auto &goalAnd = goal.get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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CHECK(goalAnd->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[0].get());
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const auto &goalAnd1Not = goalAnd->arguments[1].get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>();
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CHECK(goalAnd1Not->argument.get<pddl::normalizedAST::PredicatePointer>()->declaration == predicates[1].get());
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const auto &goalAnd2 = goalAnd->arguments[2].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(goalAnd2->declaration == predicates[2].get());
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REQUIRE(goalAnd2->arguments.size() == 2);
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CHECK(goalAnd2->arguments[0].get<pddl::normalizedAST::ConstantPointer>()->declaration == objects[1].get());
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CHECK(goalAnd2->arguments[1].get<pddl::normalizedAST::ConstantPointer>()->declaration == objects[5].get());
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}
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45
tests/data/normalization/normalization-1.pddl
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tests/data/normalization/normalization-1.pddl
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; tests that a simple PDDL description is preserved by normalization
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(define (domain test-normalization)
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(:requirements :typing)
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(:types block gripper)
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(:predicates
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(test-predicate-0)
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(test-predicate-1 ?x - block)
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(test-predicate-2 ?x - block ?y - gripper))
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(:action test-action-1
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:parameters
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(?x - block)
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:precondition
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(test-predicate-1 ?x)
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:effect
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(test-predicate-1 ?x))
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(:action test-action-2
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:parameters
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(?x - block ?y - gripper)
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:precondition
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(and
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(not (test-predicate-0))
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(test-predicate-2 ?x ?y))
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:effect
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(test-predicate-2 ?x ?y))
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)
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(define (problem test-normalization)
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(:domain test-normalization)
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(:objects a b c d - block e f - gripper)
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(:init
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(test-predicate-0)
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(test-predicate-1 a)
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(test-predicate-1 d)
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(test-predicate-2 a e)
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(test-predicate-2 c f))
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(:goal (and
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(test-predicate-0)
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(not (test-predicate-1 d))
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(test-predicate-2 b f))))
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