mirror of
https://github.com/RAIRLab/Spectra.git
synced 2024-11-09 11:10:34 -05:00
better toString for actions and some more tests.
This commit is contained in:
parent
8c78a2f8e5
commit
598f9b3dff
10 changed files with 307 additions and 44 deletions
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@ -2,6 +2,7 @@ package edu.rpi.rair;
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import com.naveensundarg.shadow.prover.representations.formula.And;
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import com.naveensundarg.shadow.prover.representations.formula.And;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.representations.value.Compound;
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import com.naveensundarg.shadow.prover.representations.value.Value;
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import com.naveensundarg.shadow.prover.representations.value.Value;
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import com.naveensundarg.shadow.prover.representations.value.Variable;
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import com.naveensundarg.shadow.prover.representations.value.Variable;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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@ -27,6 +28,8 @@ public class Action {
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private int weight;
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private int weight;
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private final Compound shorthand;
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private Action(String name, Set<Formula> preconditions, Set<Formula> additions, Set<Formula> deletions, List<Variable> freeVariables) {
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private Action(String name, Set<Formula> preconditions, Set<Formula> additions, Set<Formula> deletions, List<Variable> freeVariables) {
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this.name = name;
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this.name = name;
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this.preconditions = preconditions;
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this.preconditions = preconditions;
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@ -46,6 +49,35 @@ public class Action {
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this.weight = preconditions.stream().mapToInt(Formula::getWeight).sum() +
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this.weight = preconditions.stream().mapToInt(Formula::getWeight).sum() +
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additions.stream().mapToInt(Formula::getWeight).sum() +
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additions.stream().mapToInt(Formula::getWeight).sum() +
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deletions.stream().mapToInt(Formula::getWeight).sum();
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deletions.stream().mapToInt(Formula::getWeight).sum();
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List<Value> valuesList = freeVariables.stream().collect(Collectors.toList());;
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this.shorthand = new Compound(name, valuesList);
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}
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private Action(String name, Set<Formula> preconditions, Set<Formula> additions,
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Set<Formula> deletions, List<Variable> freeVariables,
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Compound shorthand
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) {
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this.name = name;
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this.preconditions = preconditions;
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this.additions = additions;
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this.deletions = deletions;
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List<Variable> computedFreeVariables = preconditions.
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stream().
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map(x -> Sets.difference(x.variablesPresent(), x.boundVariablesPresent())).
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reduce(Sets.newSet(), Sets::union).
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stream().sorted().collect(Collectors.toList());
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this.freeVariables = freeVariables;
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this.precondition = new And(preconditions.stream().collect(Collectors.toList()));
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this.weight = preconditions.stream().mapToInt(Formula::getWeight).sum() +
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additions.stream().mapToInt(Formula::getWeight).sum() +
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deletions.stream().mapToInt(Formula::getWeight).sum();
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this.shorthand = shorthand;
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}
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}
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@ -97,16 +129,20 @@ public class Action {
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newFreeVraibles.add(var);
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newFreeVraibles.add(var);
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}
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}
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}
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}
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return new Action(name, newPreconditions, newAdditions, newDeletions, newFreeVraibles);
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List<Value> valuesList = freeVariables.stream().collect(Collectors.toList());;
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Compound shorthand = (Compound)(new Compound(name, valuesList)).apply(binding);
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return new Action(name, newPreconditions, newAdditions, newDeletions, newFreeVraibles, shorthand);
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}
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}
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public String getName() {
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return name;
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}
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@Override
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@Override
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public String toString() {
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public String toString() {
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return "Action{" +
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return shorthand.getArguments().length == 0? name: shorthand.toString();
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"preconditions=" + preconditions +
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", additions=" + additions +
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", deletions=" + deletions +
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", name='" + name + '\'' +
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'}';
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}
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}
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@Override
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@Override
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12
src/main/java/edu/rpi/rair/utils/Commons.java
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12
src/main/java/edu/rpi/rair/utils/Commons.java
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@ -0,0 +1,12 @@
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package edu.rpi.rair.utils;
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import edu.rpi.rair.State;
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import us.bpsm.edn.parser.Parseable;
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/**
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* Created by naveensundarg on 1/15/17.
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*/
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public class Commons {
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}
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@ -2,6 +2,7 @@ package edu.rpi.rair.utils;
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import clojure.lang.Obj;
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import clojure.lang.Obj;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.representations.formula.Formula;
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import com.naveensundarg.shadow.prover.representations.value.Value;
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import com.naveensundarg.shadow.prover.representations.value.Variable;
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import com.naveensundarg.shadow.prover.representations.value.Variable;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.CollectionUtils;
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import com.naveensundarg.shadow.prover.utils.Reader;
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import com.naveensundarg.shadow.prover.utils.Reader;
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@ -16,10 +17,8 @@ import us.bpsm.edn.parser.Token;
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import java.io.InputStream;
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import java.io.InputStream;
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import java.io.InputStreamReader;
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import java.io.InputStreamReader;
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import java.util.List;
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import java.security.Key;
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import java.util.Map;
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import java.util.*;
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import java.util.Objects;
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import java.util.Set;
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import java.util.stream.Collectors;
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import java.util.stream.Collectors;
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/**
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/**
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@ -27,11 +26,13 @@ import java.util.stream.Collectors;
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*/
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*/
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public class PlanningProblem {
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public class PlanningProblem {
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public Set<Formula> background;
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private Set<Formula> background;
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public Set<Action> actions;
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private Set<Action> actions;
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public State start;
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private State start;
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public State goal;
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private State goal;
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public String name;
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private String name;
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private Optional<Set<List<Action>>> expectedActionSequencesOpt;
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private Map<String, Action> actionMap;
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private static final Keyword BACKGROUND = Keyword.newKeyword("background");
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private static final Keyword BACKGROUND = Keyword.newKeyword("background");
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private static final Keyword START = Keyword.newKeyword("start");
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private static final Keyword START = Keyword.newKeyword("start");
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@ -45,6 +46,7 @@ public class PlanningProblem {
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private static final Symbol ACTION_DEFINER = Symbol.newSymbol("define-action");
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private static final Symbol ACTION_DEFINER = Symbol.newSymbol("define-action");
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private static final Keyword EXPECTED_PLANS = Keyword.newKeyword("expected-plans");
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public PlanningProblem(String name, Set<Formula> background, State start, State goal, Set<Action> actions) {
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public PlanningProblem(String name, Set<Formula> background, State start, State goal, Set<Action> actions) {
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@ -53,6 +55,19 @@ public class PlanningProblem {
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this.actions = actions;
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this.actions = actions;
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this.goal = goal;
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this.goal = goal;
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this.name = name;
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this.name = name;
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this.actionMap = CollectionUtils.newMap();
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this.expectedActionSequencesOpt = Optional.empty();
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}
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public PlanningProblem(String name, Set<Formula> background, State start, State goal, Set<Action> actions, Set<List<Action>> expectedActionSequences) {
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this.background = background;
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this.start = start;
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this.actions = actions;
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this.goal = goal;
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this.name = name;
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this.actionMap = CollectionUtils.newMap();
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this.expectedActionSequencesOpt = Optional.of(expectedActionSequences);
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}
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}
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public static List<PlanningProblem> readFromFile(InputStream inputStream) throws Reader.ParsingException {
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public static List<PlanningProblem> readFromFile(InputStream inputStream) throws Reader.ParsingException {
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@ -76,9 +91,44 @@ public class PlanningProblem {
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String name = planningProblemSpec.get(NAME).toString();
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String name = planningProblemSpec.get(NAME).toString();
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Set<Action> actions = readActionsFrom(actionDefinitions);
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Set<Action> actions = readActionsFrom(actionDefinitions);
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Map<String, Action> actionMap = CollectionUtils.newMap();
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planningProblems.add(new PlanningProblem(name, background, State.initializeWith(start),
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actions.stream().forEach(action->{
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actionMap.put(action.getName(), action);
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});
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if(planningProblemSpec.containsKey(EXPECTED_PLANS)){
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List<?> plans = (List<?>) planningProblemSpec.get(EXPECTED_PLANS);
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Set<List<Action>> expectedActions = plans.stream().map(plan->{
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List<?> instantActionList = (List<?>) plan;
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List<Action> actionsList = instantActionList.stream().map(x -> {
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try {
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return readInstantiatedAction(actionMap, x);
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} catch (Reader.ParsingException e) {
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return null;
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}
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}).collect(Collectors.toList());
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if(actionsList.stream().anyMatch(Objects::isNull)){
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return null;
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} else {
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return actionsList;
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}
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}).collect(Collectors.toSet());
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planningProblems.add(new PlanningProblem(name, background, State.initializeWith(start),
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State.initializeWith(goal), actions, expectedActions));
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} else {
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planningProblems.add(new PlanningProblem(name, background, State.initializeWith(start),
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State.initializeWith(goal), actions));
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State.initializeWith(goal), actions));
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}
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nextValue = parser.nextValue(parseable);
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nextValue = parser.nextValue(parseable);
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}
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}
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}
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}
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private static Action readInstantiatedAction(Map<String, Action> actionMap, Object instantiatedActionSpec) throws Reader.ParsingException {
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if(instantiatedActionSpec instanceof List<?>){
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List<?> instActionList = (List<?>) instantiatedActionSpec;
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String name = instActionList.get(0).toString();
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Action general = actionMap.get(name);
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List<Variable> variables = general.openVars();
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if(variables.size()!=instActionList.size()-1){
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throw new AssertionError("Not a proper instantiation of "+ name);
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}
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Map<Variable, Value> binding = CollectionUtils.newMap();
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for(int i = 1; i<instActionList.size(); i++){
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binding.put(variables.get(i-1), Reader.readLogicValue(instActionList.get(i)));
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}
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return general.instantiate(binding);
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} else {
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String name = instantiatedActionSpec.toString();
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if(actionMap.containsKey(name)){
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return actionMap.get(name);
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}
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else{
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return null;
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}
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}
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}
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private static Set<Action> readActionsFrom(List<?> actionSpecs) throws Reader.ParsingException {
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private static Set<Action> readActionsFrom(List<?> actionSpecs) throws Reader.ParsingException {
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Set<Action> actions = actionSpecs.stream().map(spec -> {
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Set<Action> actions = actionSpecs.stream().map(spec -> {
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@ -156,6 +244,34 @@ public class PlanningProblem {
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}
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}
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public Set<Formula> getBackground() {
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return background;
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}
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public Set<Action> getActions() {
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return actions;
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}
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public State getStart() {
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return start;
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}
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public State getGoal() {
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return goal;
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}
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public String getName() {
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return name;
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}
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public Optional<Set<List<Action>>> getExpectedActionSequencesOpt() {
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return expectedActionSequencesOpt;
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}
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public Map<String, Action> getActionMap() {
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return actionMap;
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}
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@Override
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@Override
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public String toString() {
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public String toString() {
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return "PlanningProblem{" +
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return "PlanningProblem{" +
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@ -8,7 +8,7 @@
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:additions [R]
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:additions [R]
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:deletions [Q]})]
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:deletions [Q]})]
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:expected-plan [a1]
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:expected-plans ([a1])
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}
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}
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@ -119,4 +119,54 @@
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[(define-action post-new-bid (?number)
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[(define-action post-new-bid (?number)
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{:preconditions [(bid ?number)]
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{:preconditions [(bid ?number)]
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:additions [(bid ($$sum 1 ?number))]
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:additions [(bid ($$sum 1 ?number))]
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:deletions [(bid ?number)]})]}
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:deletions [(bid ?number)]})]
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:expected-plans ([(post-new-bid 0)
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(post-new-bid 1)
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(post-new-bid 2)
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(post-new-bid 3)
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(post-new-bid 4)])}
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{:name "Moving Between Rooms"
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:background [ (not (= room1 room2))]
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:start [(In self room1)
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(In commander room2)
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(In prisoner room1)
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(Open (door room2))
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(not (Open (door room1))) ]
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:goal [(In prisoner room2)]
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:actions
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[(define-action open-door [?room]
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{:preconditions [(not (Open (door ?room)))]
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:additions [(Open (door ?room))]
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:deletions [(not (Open (door ?room)))]})
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(define-action move-thing-from-to [?thing ?room1 ?room2]
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{:preconditions [(not (= ?room1 ?room2))
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(In ?thing ?room1)
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(Open (door ?room1))
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(Open (door ?room2))]
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:additions [(In ?thing ?room2)]
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:deletions [(In ?thing ?room1)
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(In self ?room1)]})
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(define-action accompany-from-to [?thing ?room1 ?room2]
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{:preconditions [(not (= ?room1 ?room2))
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(In self ?room1)
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(In ?thing ?room1)
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(Open (door ?room1))
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(Open (door ?room2))]
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:additions [(In ?thing ?room2)
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(In ?self ?room2)]
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:deletions [(In ?thing ?room1)
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(In self ?room1)]})]
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:expected-plans ([(open-door room1)
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(accompany-from-to prisoner room1 room2)]
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[(open-door room1)
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(move-thing-from-to prisoner room1 room2)])
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}
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1
src/main/resources/edu/rpi/rair/debug.clj
Normal file
1
src/main/resources/edu/rpi/rair/debug.clj
Normal file
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@ -0,0 +1 @@
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@ -1,27 +1,30 @@
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{
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{:name "Sim"
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:name "test 1"
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:background []
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:background [ (forall (?x ?y ?room1 ?room2)
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:start [(In self room1)
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(if (and (Interrogates ?x ?y)
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(In ?x ?room1)
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(In ?y ?room2))
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|
||||||
(= ?room1 ?room2)))
|
|
||||||
|
|
||||||
(In commander room2)
|
(In commander room2)
|
||||||
()
|
(In prisoner room1)
|
||||||
]
|
(Open (door room2))
|
||||||
:start [Be_In_Room
|
(not (Open (door room1))) ]
|
||||||
(Closed (door room1))
|
|
||||||
(Accompany self prisoner)]
|
|
||||||
|
|
||||||
:goalSequence [
|
:actions [(define-action open-door [?room]
|
||||||
[G1 1 [(In prisoner1 room1)]]
|
{:preconditions [(not (Open (door ?room)))]
|
||||||
[G2 1 [(Closed (door room1))]]
|
:additions [(Open (door ?room))]
|
||||||
[G3 1 [(Accompany self prisoner)]]
|
:deletions [(not (Open (door ?room)))]})
|
||||||
|
|
||||||
[G4 2 [(Interrogates command robot)]]
|
|
||||||
[G5 2 []]
|
|
||||||
|
|
||||||
]
|
|
||||||
|
|
||||||
|
(define-action accompany-from-to [?thing ?room1 ?room2]
|
||||||
|
{:preconditions [(In self ?room1)
|
||||||
|
(In ?thing ?room1)
|
||||||
|
(Open (door ?room1))
|
||||||
|
(Open (door ?room2))]
|
||||||
|
|
||||||
|
:additions [(In ?thing ?room2)
|
||||||
|
(In ?self ?room2)]
|
||||||
|
:deletions [(In ?thing ?room1)
|
||||||
|
(In self ?room1)]})]
|
||||||
|
|
||||||
|
:expected-plans ([(open-door room1)
|
||||||
|
(accompany-from-to prisoner room1 room2)])
|
||||||
|
|
||||||
}
|
}
|
|
@ -10,6 +10,7 @@ import org.testng.annotations.Test;
|
||||||
import java.util.List;
|
import java.util.List;
|
||||||
import java.util.Optional;
|
import java.util.Optional;
|
||||||
import java.util.Set;
|
import java.util.Set;
|
||||||
|
import java.util.stream.Collectors;
|
||||||
|
|
||||||
import static org.testng.Assert.*;
|
import static org.testng.Assert.*;
|
||||||
|
|
||||||
|
@ -33,7 +34,7 @@ public class DepthFirstPlannerTest {
|
||||||
Planner depthFirstPlanner = new DepthFirstPlanner();
|
Planner depthFirstPlanner = new DepthFirstPlanner();
|
||||||
|
|
||||||
PlanningProblem planningProblem = planningProblemList.get(2);
|
PlanningProblem planningProblem = planningProblemList.get(2);
|
||||||
System.out.println(depthFirstPlanner.plan(planningProblem.background, planningProblem.actions, planningProblem.start, planningProblem.goal));
|
System.out.println(depthFirstPlanner.plan(planningProblem.getBackground(), planningProblem.getActions(), planningProblem.getStart(), planningProblem.getGoal()));
|
||||||
}
|
}
|
||||||
|
|
||||||
@DataProvider
|
@DataProvider
|
||||||
|
@ -55,16 +56,29 @@ public class DepthFirstPlannerTest {
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@Test(dataProvider = "testCompletenessDataProvider")
|
@Test(dataProvider = "testCompletenessDataProvider")
|
||||||
public void testCompletness(PlanningProblem planningProblem) throws Exception {
|
public void testCompletness(PlanningProblem planningProblem) throws Exception {
|
||||||
|
|
||||||
Optional<Set<Plan>> possiblePlans = depthFirstPlanner.plan(
|
Optional<Set<Plan>> possiblePlans = depthFirstPlanner.plan(
|
||||||
planningProblem.background,
|
planningProblem.getBackground(),
|
||||||
planningProblem.actions,
|
planningProblem.getActions(),
|
||||||
planningProblem.start,
|
planningProblem.getStart(),
|
||||||
planningProblem.goal);
|
planningProblem.getGoal());
|
||||||
|
|
||||||
Assert.assertTrue(possiblePlans.isPresent());
|
Assert.assertTrue(possiblePlans.isPresent());
|
||||||
|
|
||||||
|
Set<Plan> plans = possiblePlans.get();
|
||||||
|
|
||||||
|
if(planningProblem.getExpectedActionSequencesOpt().isPresent()){
|
||||||
|
|
||||||
|
Set<List<Action>> actionSequences = plans.stream().map(Plan::getActions).collect(Collectors.toSet());
|
||||||
|
Set<List<Action>> expectedActionSequences = planningProblem.getExpectedActionSequencesOpt().get();
|
||||||
|
|
||||||
|
|
||||||
|
Assert.assertEquals(actionSequences, expectedActionSequences);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
1
target/classes/edu/rpi/rair/debug.clj
Normal file
1
target/classes/edu/rpi/rair/debug.clj
Normal file
|
@ -0,0 +1 @@
|
||||||
|
|
30
target/classes/edu/rpi/rair/goal_tracking_tests.clj
Normal file
30
target/classes/edu/rpi/rair/goal_tracking_tests.clj
Normal file
|
@ -0,0 +1,30 @@
|
||||||
|
{:name "Sim"
|
||||||
|
:background []
|
||||||
|
:start [(In self room1)
|
||||||
|
(In commander room2)
|
||||||
|
(In prisoner room1)
|
||||||
|
(Open (door room2))
|
||||||
|
(not (Open (door room1))) ]
|
||||||
|
|
||||||
|
:actions [(define-action open-door [?room]
|
||||||
|
{:preconditions [(not (Open (door ?room)))]
|
||||||
|
:additions [(Open (door ?room))]
|
||||||
|
:deletions [(not (Open (door ?room)))]})
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
(define-action accompany-from-to [?thing ?room1 ?room2]
|
||||||
|
{:preconditions [(In self ?room1)
|
||||||
|
(In ?thing ?room1)
|
||||||
|
(Open (door ?room1))
|
||||||
|
(Open (door ?room2))]
|
||||||
|
|
||||||
|
:additions [(In ?thing ?room2)
|
||||||
|
(In ?self ?room2)]
|
||||||
|
:deletions [(In ?thing ?room1)
|
||||||
|
(In self ?room1)]})]
|
||||||
|
|
||||||
|
:expected-plans ([(open-door room1)
|
||||||
|
(accompany-from-to prisoner room1 room2)])
|
||||||
|
|
||||||
|
}
|
BIN
target/classes/edu/rpi/rair/utils/Commons.class
Normal file
BIN
target/classes/edu/rpi/rair/utils/Commons.class
Normal file
Binary file not shown.
Loading…
Reference in a new issue