diff --git a/planning.py b/planning.py
index c4ebe1181..2dd57787a 100644
--- a/planning.py
+++ b/planning.py
@@ -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)'),
@@ -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)
diff --git a/tests/test_planning.py b/tests/test_planning.py
index 739324256..3567ab445 100644
--- a/tests/test_planning.py
+++ b/tests/test_planning.py
@@ -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()
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