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Fix abbreviation from PDLL to PDDL (Planning Domain Definition Language) #475

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Merged
merged 1 commit into from
Apr 14, 2017
Merged

Fix abbreviation from PDLL to PDDL (Planning Domain Definition Language) #475

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32 changes: 16 additions & 16 deletions planning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,9 @@
from logic import FolKB


class PDLL:
class PDDL:
"""
PDLL used to define a search problem.
Planning Domain Definition Language (PDDL) used to define a search problem.
It stores states in a knowledge base consisting of first order logic statements.
The conjunction of these logical statements completely defines a state.
"""
Expand Down Expand Up @@ -140,7 +140,7 @@ def goal_test(kb):
effect_rem = [expr("At(p, f)")]
fly = Action(expr("Fly(p, f, to)"), [precond_pos, precond_neg], [effect_add, effect_rem])

return PDLL(init, [load, unload, fly], goal_test)
return PDDL(init, [load, unload, fly], goal_test)


def spare_tire():
Expand Down Expand Up @@ -181,7 +181,7 @@ 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)
return PDDL(init, [remove, put_on, leave_overnight], goal_test)


def three_block_tower():
Expand Down Expand Up @@ -219,7 +219,7 @@ def goal_test(kb):
moveToTable = Action(expr('MoveToTable(b, x)'), [precond_pos, precond_neg],
[effect_add, effect_rem])

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


def have_cake_and_eat_cake_too():
Expand Down Expand Up @@ -248,7 +248,7 @@ def goal_test(kb):
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)
return PDDL(init, [eat_cake, bake_cake], goal_test)


class Level():
Expand Down Expand Up @@ -408,17 +408,17 @@ class Graph:
Used in graph planning algorithm to extract a solution
"""

def __init__(self, pdll, negkb):
self.pdll = pdll
self.levels = [Level(pdll.kb, negkb)]
self.objects = set(arg for clause in pdll.kb.clauses + negkb.clauses for arg in clause.args)
def __init__(self, pddl, negkb):
self.pddl = pddl
self.levels = [Level(pddl.kb, negkb)]
self.objects = set(arg for clause in pddl.kb.clauses + negkb.clauses for arg in clause.args)

def __call__(self):
self.expand_graph()

def expand_graph(self):
last_level = self.levels[-1]
last_level(self.pdll.actions, self.objects)
last_level(self.pddl.actions, self.objects)
self.levels.append(last_level.perform_actions())

def non_mutex_goals(self, goals, index):
Expand All @@ -436,8 +436,8 @@ class GraphPlan:
Returns solution for the planning problem
"""

def __init__(self, pdll, negkb):
self.graph = Graph(pdll, negkb)
def __init__(self, pddl, negkb):
self.graph = Graph(pddl, negkb)
self.nogoods = []
self.solution = []

Expand Down Expand Up @@ -524,9 +524,9 @@ def goal_test(kb, goals):


def spare_tire_graphplan():
pdll = spare_tire()
pddl = spare_tire()
negkb = FolKB([expr('At(Flat, Trunk)')])
graphplan = GraphPlan(pdll, negkb)
graphplan = GraphPlan(pddl, negkb)

# Not sure
goals_pos = [expr('At(Spare, Axle)'), expr('At(Flat, Ground)')]
Expand Down Expand Up @@ -573,4 +573,4 @@ def goal_test(kb):
effect_rem = [expr("At(actor, loc)")]
go = Action(expr("Go(actor, to)"), [precond_pos, precond_neg], [effect_add, effect_rem])

return PDLL(init, [hit, go], goal_test)
return PDDL(init, [hit, go], goal_test)
4 changes: 2 additions & 2 deletions tests/test_planning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,9 +73,9 @@ def test_have_cake_and_eat_cake_too():


def test_graph_call():
pdll = spare_tire()
pddl = spare_tire()
negkb = FolKB([expr('At(Flat, Trunk)')])
graph = Graph(pdll, negkb)
graph = Graph(pddl, negkb)

levels_size = len(graph.levels)
graph()
Expand Down