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Added implementation of the cake problem, tests for cake and three towers problem #265

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Merged
merged 2 commits into from
Sep 27, 2016
Merged

Added implementation of the cake problem, tests for cake and three towers problem #265

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3f6d72d
Added implementation of the cake problem
opensourceware Sep 26, 2016
1f3b32f
Added test for three_block_tower and fixed a bug in three_block_tower…
opensourceware Sep 26, 2016
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34 changes: 30 additions & 4 deletions planning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -175,7 +175,7 @@ def goal_test(kb):
leave_overnight = Action(expr("LeaveOvernight"), [precond_pos, precond_neg], [effect_add, effect_rem])

return PDLL(init, [remove, put_on, leave_overnight], goal_test)

def three_block_tower():
init = [expr('On(A, Table)'),
expr('On(B, Table)'),
Expand All @@ -195,18 +195,44 @@ def goal_test(kb):

## Actions
# Move
precond_pos = [expr('On(b, x)'), expr('Clear(b)'), expr('Clear(y)'), expr('Block(b)'),
expr('Block(y)'), expr('b != x'), expr('b != y'), expr('x != y')]
precond_pos = [expr('On(b, x)'), expr('Clear(b)'), expr('Clear(y)'), expr('Block(b)'), expr('Block(y)')]
precond_neg = []
effect_add = [expr('On(b, y)'), expr('Clear(x)')]
effect_rem = [expr('On(b, x)'), expr('Clear(y)')]
move = Action(expr('Move(b, x, y)'), [precond_pos, precond_neg], [effect_add, effect_rem])

# MoveToTable
precond_pos = [expr('On(b, x)'), expr('Clear(b)'), expr('Block(b)'), expr('b != x')]
precond_pos = [expr('On(b, x)'), expr('Clear(b)'), expr('Block(b)')]
precond_neg = []
effect_add = [expr('On(b, Table)'), expr('Clear(x)')]
effect_rem = [expr('On(b, x)')]
moveToTable = Action(expr('MoveToTable(b, x)'), [precond_pos, precond_neg], [effect_add, effect_rem])

return PDLL(init, [move, moveToTable], goal_test)

def have_cake_and_eat_cake_too():
init = [expr('Have(Cake)')]

def goal_test(kb):
required = [expr('Have(Cake)'), expr('Eaten(Cake)')]
for q in required:
if kb.ask(q) is False:
return False
return True

##Actions
# Eat cake
precond_pos = [expr('Have(Cake)')]
precond_neg = []
effect_add = [expr('Eaten(Cake)')]
effect_rem = [expr('Have(Cake)')]
eat_cake = Action(expr('Eat(Cake)'), [precond_pos, precond_neg], [effect_add, effect_rem])

#Bake Cake
precond_pos = []
precond_neg = [expr('Have(Cake)')]
effect_add = [expr('Have(Cake)')]
effect_rem = []
bake_cake = Action(expr('Bake(Cake)'), [precond_pos, precond_neg], [effect_add, effect_rem])

return PDLL(init, [eat_cake, bake_cake], goal_test)
23 changes: 23 additions & 0 deletions tests/test_planning.py
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Expand Up @@ -46,3 +46,26 @@ def test_spare_tire():
p.act(action)

assert p.goal_test()

def test_three_block_tower():
p = three_block_tower()
assert p.goal_test() is False
solution = [expr("MoveToTable(C, A)"),
expr("Move(B, Table, C)"),
expr("Move(A, Table, B)")]

for action in solution:
p.act(action)

assert p.goal_test()

def test_have_cake_and_eat_cake_too():
p = have_cake_and_eat_cake_too()
assert p.goal_test() is False
solution = [expr("Eat(Cake)"),
expr("Bake(Cake)")]

for action in solution:
p.act(action)

assert p.goal_test()