Added normalization tests for nested expressions.
These tests ensure that nested expressions in preconditions and effects are correctly flattened via derived predicates.
This commit is contained in:
@@ -300,3 +300,132 @@ TEST_CASE("[normalization] Negations are correctly normalized", "[normalization]
|
||||
REQUIRE(do2->declaration->name == "test-predicate-1");
|
||||
}
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
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());
|
||||
}
|
||||
}
|
||||
|
||||
58
tests/data/normalization/normalization-5.pddl
Normal file
58
tests/data/normalization/normalization-5.pddl
Normal file
@@ -0,0 +1,58 @@
|
||||
(define (domain test-normalization)
|
||||
(:predicates
|
||||
(p1 ?x ?y)
|
||||
(p2 ?x ?y)
|
||||
(p3 ?x ?y)
|
||||
(p4 ?x ?y)
|
||||
(p5 ?x ?y ?z)
|
||||
(p6 ?x ?y ?z)
|
||||
(p7 ?x ?y)
|
||||
(p8 ?x)
|
||||
(p9 ?x))
|
||||
|
||||
(:action test-action-1
|
||||
:parameters
|
||||
(?x
|
||||
?y)
|
||||
:precondition
|
||||
(and
|
||||
(forall
|
||||
(?z)
|
||||
(imply
|
||||
(p1 ?y ?z)
|
||||
(p2 ?z ?y)))
|
||||
(p3 ?x ?y)
|
||||
(or
|
||||
(and
|
||||
(p4 ?x ?y)
|
||||
(forall
|
||||
(?z)
|
||||
(imply
|
||||
(p5 ?z ?x ?y)
|
||||
(p3 ?z ?y))))
|
||||
(and
|
||||
(p7 ?x ?y)
|
||||
(not (exists
|
||||
(?z ?a)
|
||||
(and
|
||||
(p6 ?z ?a ?y)
|
||||
(p3 ?z ?y)))))))
|
||||
:effect
|
||||
(and
|
||||
(not (p3 ?x ?y))
|
||||
(p9 ?x)
|
||||
(when
|
||||
(and
|
||||
(not (forall
|
||||
(?p)
|
||||
(and
|
||||
(not (p7 ?p ?y))
|
||||
(not (p3 ?y ?p)))))
|
||||
(exists
|
||||
(?z ?a)
|
||||
(or
|
||||
(p4 ?z ?a)
|
||||
(p3 ?a ?z))))
|
||||
(and
|
||||
(p8 ?y)
|
||||
(p9 ?y))))))
|
||||
Reference in New Issue
Block a user