Added normalization tests for negations.
These tests ensure that multiple negations are eliminated, negated quantifiers are replaced appropriately, negations introduced by reduction are correctly handled, and negated disjunctions and conjunctions are replaced according to De Morgan’s rules.
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@ -224,3 +224,79 @@ TEST_CASE("[normalization] Universal quantifiers are correctly reduced", "[norma
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CHECK(dp->declaration->parameters[1]->name == "y");
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}
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////
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TEST_CASE("[normalization] Negations are correctly normalized", "[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-4.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 &actions = normalizedDescription.domain->actions;
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SECTION("multiple negations are correctly eliminated")
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{
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const auto &p1 = actions[0]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(p1->declaration->name == "test-predicate-1");
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REQUIRE(p1->arguments.size() == 1);
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CHECK(p1->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration->name == "x");
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const auto &p2 = actions[1]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::PredicatePointer>();
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CHECK(p2->declaration->name == "test-predicate-1");
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REQUIRE(p2->arguments.size() == 1);
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CHECK(p2->arguments[0].get<pddl::normalizedAST::VariablePointer>()->declaration->name == "x");
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}
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SECTION("“exists” statements with negations are correctly normalized")
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{
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const auto &dp = actions[2]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::NotPointer<pddl::normalizedAST::AtomicFormula>>()->argument.get<pddl::normalizedAST::DerivedPredicatePointer>();
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CHECK(dp->declaration->existentialParameters.size() == 2);
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const auto &dpp = dp->declaration->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(dpp->declaration->name == "test-predicate-2");
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}
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SECTION("“forall” statements with negations are correctly normalized")
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{
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const auto &dp = actions[3]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
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CHECK(dp->declaration->existentialParameters.size() == 2);
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const auto &dpp = dp->declaration->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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CHECK(dpp->declaration->name == "test-predicate-2");
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}
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SECTION("negations introduced by reduction are correctly normalized")
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{
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const auto &d = actions[4]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
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const auto &do_ = d->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(do_->arguments.size() == 2);
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const auto &do1 = do_->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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REQUIRE(do1->declaration->name == "test-predicate-0");
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const auto &do2 = do_->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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REQUIRE(do2->declaration->name == "test-predicate-1");
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}
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SECTION("negated disjunctions are correctly normalized")
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{
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const auto &a = actions[5]->precondition.value().get<pddl::normalizedAST::AndPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(a->arguments.size() == 2);
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const auto &a1 = a->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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REQUIRE(a1->declaration->name == "test-predicate-0");
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const auto &a2 = a->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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REQUIRE(a2->declaration->name == "test-predicate-1");
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}
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SECTION("negated conjunctions are correctly normalized")
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{
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const auto &d = actions[6]->precondition.value().get<pddl::normalizedAST::Literal>().get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::DerivedPredicatePointer>();
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const auto &do_ = d->declaration->precondition.value().get<pddl::normalizedAST::OrPointer<pddl::normalizedAST::Literal>>();
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REQUIRE(do_->arguments.size() == 2);
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const auto &do1 = do_->arguments[0].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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REQUIRE(do1->declaration->name == "test-predicate-0");
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const auto &do2 = do_->arguments[1].get<pddl::normalizedAST::AtomicFormula>().get<pddl::normalizedAST::PredicatePointer>();
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REQUIRE(do2->declaration->name == "test-predicate-1");
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}
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}
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@ -0,0 +1,80 @@
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; tests that negations are correctly normalized
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(define (domain test-normalization)
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(:predicates
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(test-predicate-0)
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(test-predicate-1 ?x)
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(test-predicate-2 ?x ?y))
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; multiple negations
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(:action test-action-1
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:parameters
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(?x)
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:precondition
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(not (not (not (not (not (not (test-predicate-1 ?x)))))))
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:effect
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(test-predicate-1 ?x))
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; multiple negations
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(:action test-action-2
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:parameters
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(?x)
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:precondition
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(not (not (not (not (not (test-predicate-1 ?x))))))
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:effect
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(test-predicate-1 ?x))
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; negated “exists” statement
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(:action test-action-3
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:parameters
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(?x)
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:precondition
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(not (exists
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(?x ?y)
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(not (not (test-predicate-2 ?x ?y)))))
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:effect
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(test-predicate-1 ?x))
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; negated “forall” statement
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(:action test-action-4
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:parameters
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(?x)
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:precondition
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(not (forall
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(?x ?y)
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(not (not (not (test-predicate-2 ?x ?y))))))
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:effect
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(test-predicate-1 ?x))
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; negations introduced by reduction
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(:action test-action-5
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:parameters
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(?x)
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:precondition
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(imply
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(not (test-predicate-0))
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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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; negated disjunction
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(:action test-action-6
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:parameters
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(?x)
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:precondition
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(not (imply
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(test-predicate-0)
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(not (test-predicate-1 ?x))))
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:effect
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(test-predicate-1 ?x))
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; negated conjunction
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(:action test-action-7
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:parameters
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(?x)
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:precondition
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(not (and
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(not (test-predicate-0))
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(not (test-predicate-1 ?x))))
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:effect
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(test-predicate-1 ?x))
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)
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