Initial pass on quantified conditions.

[haz]

Proposed changes

Support for quantified conditions. Closes #40 . Also added support for universal conditions.

Types of changes

• Bugfix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist

• I have read the CONTRIBUTING doc
• Lint and unit tests pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works

Further comments

None!

[haz]

Code I've been using to test things out:

def test1():
    from pddl.formatter import domain_to_string, problem_to_string
    from pddl.parser.domain import DomainParser
    from pddl.parser.problem import ProblemParser

    dom_text = """(define (domain my_domain)
        (:requirements :strips :typing :quantified-preconditions)
        (:types type_1)
        (:constants a b c)
        (:predicates (p1 ?x - type_1 ?y - type_1 ?z - type_1)  (p2 ?x - type_1 ?y - type_1))
        (:action action-1
            :parameters (?x - type_1 ?y - type_1 )
            ;:precondition (and (forall (?z - type_1) (p1 ?x ?y ?x)))
            ;:precondition (and (forall (?z - type_1) (p1 ?x ?y ?z)))
            :precondition (and (forall (?z - type_1) (p1 ?x ?y ?z)) (exists (?z - type_1) (not (p2 ?y ?z))))
            :effect (p2 ?x ?y)
        )
    )"""

    print(domain_to_string(DomainParser()(dom_text)))

def test2():
    from pddl.logic import Predicate, constants, variables
    from pddl.core import Domain, Problem, Action, Requirements
    from pddl.formatter import domain_to_string, problem_to_string
    from pddl.logic.base import ForallCondition

    # set up variables and constants
    x, y, z, z2 = variables("x y z z2", types=["type_1"])
    a, b, c = constants("a b c", types=["type_1"])

    # define predicates
    p1 = Predicate("p1", x, y, z)
    p2 = Predicate("p2", x, y)

    # define actions
    a1 = Action(
        "action-1",
        parameters=[x, y, z],
        precondition=ForallCondition(p2(y,z2) & p1(x, y, z) & ~p2(y, z), [z2]),
        effect=p2(y, z)
    )

    # define the domain object.
    requirements = [Requirements.STRIPS, Requirements.TYPING]
    domain = Domain("my_domain",
        requirements=requirements,
        types=["type_1"],
        constants=[a, b, c],
        predicates=[p1, p2],
        actions=[a1])

    print(domain_to_string(domain))

test1()
test2()

[codecov-commenter]

Codecov Report

Merging #50 (7bae013) into main (50ecfd4) will decrease coverage by 0.29%.
The diff coverage is 74.02%.

@@            Coverage Diff             @@
##             main      #50      +/-   ##
==========================================
- Coverage   87.34%   87.04%   -0.30%     
==========================================
  Files          19       19              
  Lines         964     1027      +63     
  Branches       94      102       +8     
==========================================
+ Hits          842      894      +52     
- Misses         97      104       +7     
- Partials       25       29       +4     

Flag	Coverage Δ
unittests	87.04% <74.02%> (-0.30%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
pddl/parser/domain.py	79.89% <59.37%> (-0.11%)	⬇️
pddl/logic/base.py	85.61% <82.05%> (-1.43%)	⬇️
pddl/core.py	92.41% <100.00%> (+0.16%)	⬆️
pddl/parser/symbols.py	100.00% <100.00%> (ø)

[francescofuggitti]

Super, thanks!

[haz]

So this good to merge, or is there something else you'd like to see?

[marcofavorito]

I didn't reviewed the PR carefully, but it looks good, thank you!