diff --git a/include/plasp/pddl/translation/Predicate.h b/include/plasp/pddl/translation/Predicate.h
index 2b19230..2fb380d 100644
--- a/include/plasp/pddl/translation/Predicate.h
+++ b/include/plasp/pddl/translation/Predicate.h
@@ -5,6 +5,7 @@
 #include <plasp/pddl/expressions/DerivedPredicate.h>
 #include <plasp/pddl/expressions/Predicate.h>
 #include <plasp/pddl/expressions/PredicateDeclaration.h>
+#include <plasp/pddl/expressions/Variable.h>
 #include <plasp/pddl/translation/Variables.h>
 
 namespace plasp
@@ -20,11 +21,73 @@ namespace translation
 //
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
+// TODO: refactor (overly redundant)
+void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate);
+void translateDerivedPredicate(output::ColorStream &outputStream, const expressions::DerivedPredicate &derivedPredicate);
 void printPredicateName(output::ColorStream &outputStream, const expressions::PredicateDeclaration &predicateDeclaration);
 void printDerivedPredicateName(output::ColorStream &outputStream, const expressions::DerivedPredicate &derivedPredicate);
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
+inline void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate)
+{
+	const auto &arguments = predicate.arguments();
+
+	if (arguments.empty())
+	{
+		outputStream << output::String(predicate.name().c_str());
+
+		return;
+	}
+
+	outputStream << "(" << output::String(predicate.name().c_str());
+
+	for (const auto &argument : arguments)
+	{
+		outputStream << ", ";
+
+		if (argument->is<expressions::Constant>())
+		{
+			const auto &constant = argument->as<expressions::Constant>();
+
+			outputStream << output::Keyword("constant") << "(" << output::String(constant.name().c_str()) << ")";
+		}
+		else if (argument->is<expressions::Variable>())
+		{
+			const auto &variable = argument->as<expressions::Variable>();
+
+			outputStream << output::Variable(variable.name().c_str());
+		}
+		else
+			throw output::TranslatorException("only variables and constants supported in predicates currently");
+	}
+
+	outputStream << ")";
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+inline void translateDerivedPredicate(output::ColorStream &outputStream, const expressions::DerivedPredicate &derivedPredicate)
+{
+	const auto &parameters = derivedPredicate.parameters();
+	const auto id = derivedPredicate.id();
+
+	if (parameters.empty())
+	{
+		outputStream << output::Number<decltype(id)>(id);
+		return;
+	}
+
+	outputStream << "(" << output::Number<decltype(id)>(id);
+
+	for (const auto &parameter : parameters)
+		outputStream << ", " << output::Variable(parameter->name().c_str());
+
+	outputStream << ")";
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
 inline void printPredicateName(output::ColorStream &outputStream, const expressions::PredicateDeclaration &predicateDeclaration)
 {
 	outputStream << output::Keyword("variable") << "(";
diff --git a/include/plasp/pddl/translation/Primitives.h b/include/plasp/pddl/translation/Primitives.h
index fca8872..51f2b29 100644
--- a/include/plasp/pddl/translation/Primitives.h
+++ b/include/plasp/pddl/translation/Primitives.h
@@ -6,6 +6,7 @@
 #include <plasp/pddl/Description.h>
 #include <plasp/pddl/expressions/Not.h>
 #include <plasp/pddl/expressions/Predicate.h>
+#include <plasp/pddl/translation/Predicate.h>
 
 namespace plasp
 {
@@ -20,49 +21,10 @@ namespace translation
 //
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate);
 void translateLiteral(output::ColorStream &outputStream, const Expression &literal);
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-inline void translatePredicate(output::ColorStream &outputStream, const expressions::Predicate &predicate)
-{
-	const auto &arguments = predicate.arguments();
-
-	if (arguments.empty())
-	{
-		outputStream << output::String(predicate.name().c_str());
-
-		return;
-	}
-
-	outputStream << "(" << output::String(predicate.name().c_str());
-
-	for (const auto &argument : arguments)
-	{
-		outputStream << ", ";
-
-		if (argument->is<expressions::Constant>())
-		{
-			const auto &constant = argument->as<expressions::Constant>();
-
-			outputStream << output::Keyword("constant") << "(" << output::String(constant.name().c_str()) << ")";
-		}
-		else if (argument->is<expressions::Variable>())
-		{
-			const auto &variable = argument->as<expressions::Variable>();
-
-			outputStream << output::Variable(variable.name().c_str());
-		}
-		else
-			throw output::TranslatorException("only variables and constants supported in predicates currently");
-	}
-
-	outputStream << ")";
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
 inline void translateLiteral(output::ColorStream &outputStream, const Expression &literal)
 {
 	// Translate single predicate
diff --git a/src/plasp/pddl/TranslatorASP.cpp b/src/plasp/pddl/TranslatorASP.cpp
index 8c9470a..1fab18b 100644
--- a/src/plasp/pddl/TranslatorASP.cpp
+++ b/src/plasp/pddl/TranslatorASP.cpp
@@ -8,6 +8,7 @@
 #include <plasp/pddl/expressions/Not.h>
 #include <plasp/pddl/expressions/Predicate.h>
 #include <plasp/pddl/translation/Precondition.h>
+#include <plasp/pddl/translation/Predicate.h>
 #include <plasp/pddl/translation/Primitives.h>
 #include <plasp/pddl/translation/Variables.h>
 
@@ -144,31 +145,13 @@ void TranslatorASP::translatePredicates() const
 
 	const auto &predicates = m_description.domain().predicates();
 
-	const auto printPredicateName =
-		[&](const auto &predicate)
-		{
-			if (predicate->parameters().empty())
-			{
-				m_outputStream << output::String(predicate->name().c_str());
-
-				return;
-			}
-
-			m_outputStream << "(" << output::String(predicate->name().c_str());
-			translation::translateVariablesForRuleHead(m_outputStream, predicate->parameters());
-			m_outputStream << ")";
-		};
-
 	for (const auto &predicate : predicates)
 	{
-		m_outputStream
-			<< std::endl
-			<< output::Function("variable") << "("
-			<< output::Keyword("variable") << "(";
+		m_outputStream << std::endl << output::Function("variable") << "(";
 
-		printPredicateName(predicate);
+		translation::printPredicateName(m_outputStream, *predicate);
 
-		m_outputStream << "))";
+		m_outputStream << ")";
 
 		translation::translateVariablesForRuleBody(m_outputStream, predicate->parameters());
 
@@ -198,27 +181,15 @@ void TranslatorASP::translateDerivedPredicates() const
 
 	for (const auto &derivedPredicate : derivedPredicates)
 	{
-		const auto printDerivedPredicateName =
-			[&derivedPredicate](output::ColorStream &outputStream)
+		const auto printObjectName =
+			[&](auto &outputStream)
 			{
-				outputStream << output::Keyword("derivedVariable") << "(";
-
-				const auto id = derivedPredicate->id();
-
-				if (derivedPredicate->parameters().empty())
-				{
-					outputStream << output::Number<decltype(id)>(id) << ")";
-					return;
-				}
-
-				outputStream << "(" << output::Number<decltype(id)>(id);
-				translation::translateVariablesForRuleHead(outputStream, derivedPredicate->parameters());
-				outputStream << "))";
+				translation::printDerivedPredicateName(outputStream, *derivedPredicate);
 			};
 
 		m_outputStream << std::endl << output::Function("derivedVariable") << "(";
 
-		printDerivedPredicateName(m_outputStream);
+		printObjectName(m_outputStream);
 
 		m_outputStream << ")";
 
@@ -226,7 +197,7 @@ void TranslatorASP::translateDerivedPredicates() const
 
 		m_outputStream << ".";
 
-		translation::translatePreconditionDisjunction(m_outputStream, "derivedVariable", printDerivedPredicateName, derivedPredicate->preconditions());
+		translation::translatePreconditionDisjunction(m_outputStream, "derivedVariable", printObjectName, derivedPredicate->preconditions());
 
 		m_outputStream << std::endl;
 	}