Test case for double_tennis_problem

[vaish-sharma]

I have written a test case for the double tennis problem. However, I am proposing a few changes in the double tennis problem implementation. The changes are:

1. Action Hit(actor, Ball) can be defined as Hit(actor, Ball, loc); loc is the location the ball is approaching.
2. Action Go(actor, to) can be defined as Go(actor, to, loc); loc is the location the actor is currently at; to is the location the actor wants to go to.
3. The goal of the problem can be defined as required = [expr('Returned(Ball)'), expr('At(a, LeftNet)'), expr('At(a, RightNet)')] instead of required= [expr('Goal(Returned(Ball))'), expr('At(a, LeftNet)'), expr('At(a, RightNet)')].

Below is the code for double_tennis problem and the test case for the same:

def double_tennis_problem():
    init = [expr('At(A, LeftBaseLine)'),
            expr('At(B, RightNet)'),
            expr('Approaching(Ball, RightBaseLine)'),
            expr('Partner(A, B)'),
            expr('Partner(B, A)')]

    def goal_test(kb):
        required = [expr('Returned(Ball)'), expr('At(a, LeftNet)'), expr('At(a, RightNet)')]
        return all(kb.ask(q) is not False for q in required)

    # Actions

    # Hit
    precond_pos = [expr("Approaching(Ball,loc)"), expr("At(actor,loc)")]
    precond_neg = []
    effect_add = [expr("Returned(Ball)")]
    effect_rem = []
    hit = Action(expr("Hit(actor, Ball, loc)"), [precond_pos, precond_neg], [effect_add, effect_rem])

    # Go
    precond_pos = [expr("At(actor, loc)")]
    precond_neg = []
    effect_add = [expr("At(actor, to)")]
    effect_rem = [expr("At(actor, loc)")]
    go = Action(expr("Go(actor, to, loc)"), [precond_pos, precond_neg], [effect_add, effect_rem])

    return PDDL(init, [hit, go], goal_test)

def test_double_tennis():
    p = double_tennis_problem()
    assert p.goal_test() is False

    solution = [expr("Go(A, RightBaseLine, LeftBaseLine)"),
                expr("Hit(A, Ball, RightBaseLine)"),
                expr("Go(A, LeftNet, RightBaseLine)")]

    for action in solution:
        p.act(action)

    assert p.goal_test()

@norvig, @MrDupin Please review.