@stevenvo780/st-lang 4.5.2 → 4.7.0

package/dist/tests/reasoning/optimization/lp.test.js

@@ -0,0 +1,224 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const vitest_1 = require("vitest");
+const optimization_1 = require("../../../reasoning/optimization");
+(0, vitest_1.describe)('LP — Simplex de dos fases', () => {
+    (0, vitest_1.it)('LP trivial: max x s.t. x ≤ 5 → x = 5', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1] },
+            constraints: [{ coefficients: [1], operator: '<=', rhs: 5 }],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        (0, vitest_1.expect)(sol.variables[0]).toBeCloseTo(5, 6);
+        (0, vitest_1.expect)(sol.objectiveValue).toBeCloseTo(5, 6);
+    });
+    (0, vitest_1.it)('LP clásico: max 3x+5y s.t. x+y≤6, x≤4, y≤4 → (4,2)=22', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [3, 5] },
+            constraints: [
+                { coefficients: [1, 1], operator: '<=', rhs: 6 },
+                { coefficients: [1, 0], operator: '<=', rhs: 4 },
+                { coefficients: [0, 1], operator: '<=', rhs: 4 },
+            ],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        // Óptimo en vértice (2,4) ya que 3·2 + 5·4 = 26 > 3·4 + 5·2 = 22.
+        // Recalculamos el caso clásico: max 3x+5y s.t. x+y≤6, x≤4, y≤4
+        // Vértices factibles: (0,0)=0, (4,0)=12, (4,2)=22, (2,4)=26, (0,4)=20.
+        // El óptimo real es (2,4)=26. Ajustamos el assert al óptimo
+        // verdadero del problema (no al del prompt, que tenía un typo).
+        (0, vitest_1.expect)(sol.objectiveValue).toBeCloseTo(26, 6);
+        (0, vitest_1.expect)(sol.variables[0]).toBeCloseTo(2, 6);
+        (0, vitest_1.expect)(sol.variables[1]).toBeCloseTo(4, 6);
+    });
+    (0, vitest_1.it)('LP minimización: min x+y s.t. x+y≥3, x≥0, y≥0 → (any) = 3', () => {
+        const lp = {
+            objective: { kind: 'minimize', coefficients: [1, 1] },
+            constraints: [{ coefficients: [1, 1], operator: '>=', rhs: 3 }],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        (0, vitest_1.expect)(sol.objectiveValue).toBeCloseTo(3, 6);
+    });
+    (0, vitest_1.it)('LP infeasible: x ≤ 1 AND x ≥ 5', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1] },
+            constraints: [
+                { coefficients: [1], operator: '<=', rhs: 1 },
+                { coefficients: [1], operator: '>=', rhs: 5 },
+            ],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('infeasible');
+    });
+    (0, vitest_1.it)('LP unbounded: max x sin cota superior', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1] },
+            constraints: [{ coefficients: [-1], operator: '<=', rhs: 0 }], // x ≥ 0
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('unbounded');
+    });
+    (0, vitest_1.it)('LP con igualdad: max x s.t. x+y=4, x≤3, y≥0', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1, 0] },
+            constraints: [
+                { coefficients: [1, 1], operator: '=', rhs: 4 },
+                { coefficients: [1, 0], operator: '<=', rhs: 3 },
+            ],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        (0, vitest_1.expect)(sol.variables[0]).toBeCloseTo(3, 6);
+        (0, vitest_1.expect)(sol.variables[1]).toBeCloseTo(1, 6);
+    });
+    (0, vitest_1.it)('LP dieta clásico (pequeño): min 2x+3y s.t. x+y≥1, x≥0.2, y≥0.3', () => {
+        const lp = {
+            objective: { kind: 'minimize', coefficients: [2, 3] },
+            constraints: [
+                { coefficients: [1, 1], operator: '>=', rhs: 1 },
+                { coefficients: [1, 0], operator: '>=', rhs: 0.2 },
+                { coefficients: [0, 1], operator: '>=', rhs: 0.3 },
+            ],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        // Óptimo: x=0.7, y=0.3, cost=2·0.7+3·0.3=1.4+0.9=2.3
+        (0, vitest_1.expect)(sol.objectiveValue).toBeCloseTo(2.3, 5);
+    });
+    (0, vitest_1.it)('LP con variableBounds (upper) actúa como restricción', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1] },
+            constraints: [],
+            variableBounds: [{ upper: 7 }],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        (0, vitest_1.expect)(sol.variables[0]).toBeCloseTo(7, 6);
+    });
+    (0, vitest_1.it)('LP con 3 variables y 3 restricciones', () => {
+        // max 4x + 5y + 6z s.t.
+        //  x +  y +  z ≤ 10
+        // 2x +  y +  z ≤ 12
+        //  x + 2y + 3z ≤ 15
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [4, 5, 6] },
+            constraints: [
+                { coefficients: [1, 1, 1], operator: '<=', rhs: 10 },
+                { coefficients: [2, 1, 1], operator: '<=', rhs: 12 },
+                { coefficients: [1, 2, 3], operator: '<=', rhs: 15 },
+            ],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        // Comprobamos solo factibilidad y consistencia del objetivo
+        const [x, y, z] = sol.variables;
+        (0, vitest_1.expect)(x + y + z).toBeLessThanOrEqual(10 + 1e-6);
+        (0, vitest_1.expect)(2 * x + y + z).toBeLessThanOrEqual(12 + 1e-6);
+        (0, vitest_1.expect)(x + 2 * y + 3 * z).toBeLessThanOrEqual(15 + 1e-6);
+        (0, vitest_1.expect)(sol.objectiveValue).toBeCloseTo(4 * x + 5 * y + 6 * z, 6);
+        (0, vitest_1.expect)(sol.objectiveValue).toBeGreaterThan(30);
+    });
+    (0, vitest_1.it)('standardForm: minimización pasa a maximización con coefs negados', () => {
+        const lp = {
+            objective: { kind: 'minimize', coefficients: [3, 4] },
+            constraints: [{ coefficients: [1, 1], operator: '<=', rhs: 10 }],
+        };
+        const std = (0, optimization_1.standardForm)(lp);
+        (0, vitest_1.expect)(std.objective.kind).toBe('maximize');
+        (0, vitest_1.expect)(std.objective.coefficients).toEqual([-3, -4]);
+    });
+    (0, vitest_1.it)('standardForm: ≥ se invierte a ≤ con signos cambiados', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1] },
+            constraints: [{ coefficients: [2], operator: '>=', rhs: 8 }],
+        };
+        const std = (0, optimization_1.standardForm)(lp);
+        (0, vitest_1.expect)(std.constraints[0].operator).toBe('<=');
+        (0, vitest_1.expect)(std.constraints[0].coefficients).toEqual([-2]);
+        (0, vitest_1.expect)(std.constraints[0].rhs).toBe(-8);
+    });
+    (0, vitest_1.it)('standardForm: igualdad se expande a dos restricciones', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1] },
+            constraints: [{ coefficients: [1], operator: '=', rhs: 5 }],
+        };
+        const std = (0, optimization_1.standardForm)(lp);
+        (0, vitest_1.expect)(std.constraints).toHaveLength(2);
+        (0, vitest_1.expect)(std.constraints[0].operator).toBe('<=');
+        (0, vitest_1.expect)(std.constraints[1].operator).toBe('<=');
+    });
+    (0, vitest_1.it)('standardForm preserva solución óptima', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [2, 3] },
+            constraints: [
+                { coefficients: [1, 1], operator: '<=', rhs: 4 },
+                { coefficients: [1, 2], operator: '<=', rhs: 6 },
+            ],
+        };
+        const sol1 = (0, optimization_1.solveLP)(lp);
+        const sol2 = (0, optimization_1.solveLP)((0, optimization_1.standardForm)(lp));
+        (0, vitest_1.expect)(sol1.status).toBe('optimal');
+        (0, vitest_1.expect)(sol2.status).toBe('optimal');
+        (0, vitest_1.expect)(sol1.objectiveValue).toBeCloseTo(sol2.objectiveValue, 6);
+    });
+    (0, vitest_1.it)('LP con iteration_limit retorna status correcto', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1, 1] },
+            constraints: [{ coefficients: [1, 1], operator: '<=', rhs: 10 }],
+        };
+        const sol = (0, optimization_1.solveLP)(lp, { maxIterations: 0 });
+        // Con 0 iteraciones, fase II no puede avanzar; el resultado es
+        // 'iteration_limit' o 'optimal' (si el tableau inicial ya es óptimo).
+        (0, vitest_1.expect)(['optimal', 'iteration_limit']).toContain(sol.status);
+    });
+    (0, vitest_1.it)('LP con coeficientes negativos en objetivo (minimización implícita)', () => {
+        // max -x s.t. x ≥ 0, x ≤ 10 → óptimo en x=0
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [-1] },
+            constraints: [{ coefficients: [1], operator: '<=', rhs: 10 }],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        (0, vitest_1.expect)(sol.variables[0]).toBeCloseTo(0, 6);
+        (0, vitest_1.expect)(sol.objectiveValue).toBeCloseTo(0, 6);
+    });
+    (0, vitest_1.it)('LP de transporte chico (4 nodos, factible)', () => {
+        // min c·x s.t. Ax = b (oferta-demanda balanceada).
+        // Oferta: o1=10, o2=15. Demanda: d1=12, d2=13.
+        // Variables: x11, x12, x21, x22.
+        // Coste: 4·x11 + 6·x12 + 5·x21 + 3·x22
+        const lp = {
+            objective: { kind: 'minimize', coefficients: [4, 6, 5, 3] },
+            constraints: [
+                // x11 + x12 = 10 (oferta o1)
+                { coefficients: [1, 1, 0, 0], operator: '=', rhs: 10 },
+                // x21 + x22 = 15 (oferta o2)
+                { coefficients: [0, 0, 1, 1], operator: '=', rhs: 15 },
+                // x11 + x21 = 12 (demanda d1)
+                { coefficients: [1, 0, 1, 0], operator: '=', rhs: 12 },
+                // x12 + x22 = 13 (demanda d2)
+                { coefficients: [0, 1, 0, 1], operator: '=', rhs: 13 },
+            ],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.status).toBe('optimal');
+        // Verificamos factibilidad (sumas) y coste positivo razonable
+        const [x11, x12, x21, x22] = sol.variables;
+        (0, vitest_1.expect)(x11 + x12).toBeCloseTo(10, 5);
+        (0, vitest_1.expect)(x21 + x22).toBeCloseTo(15, 5);
+        (0, vitest_1.expect)(x11 + x21).toBeCloseTo(12, 5);
+        (0, vitest_1.expect)(x12 + x22).toBeCloseTo(13, 5);
+    });
+    (0, vitest_1.it)('LP devuelve iterations >= 0', () => {
+        const lp = {
+            objective: { kind: 'maximize', coefficients: [1, 2] },
+            constraints: [{ coefficients: [1, 1], operator: '<=', rhs: 5 }],
+        };
+        const sol = (0, optimization_1.solveLP)(lp);
+        (0, vitest_1.expect)(sol.iterations).toBeGreaterThanOrEqual(0);
+    });
+});
+//# sourceMappingURL=lp.test.js.map

package/dist/tests/reasoning/optimization/lp.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"lp.test.js","sourceRoot":"","sources":["../../../../src/tests/reasoning/optimization/lp.test.ts"],"names":[],"mappings":";;AAAA,mCAA8C;AAC9C,kEAAwE;AAGxE,IAAA,iBAAQ,EAAC,2BAA2B,EAAE,GAAG,EAAE;IACzC,IAAA,WAAE,EAAC,sCAAsC,EAAE,GAAG,EAAE;QAC9C,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE;YAClD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC;SAC7D,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAC3C,IAAA,eAAM,EAAC,GAAG,CAAC,cAAc,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/C,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,uDAAuD,EAAE,GAAG,EAAE;QAC/D,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE;YACrD,WAAW,EAAE;gBACX,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;gBAChD,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;gBAChD,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;aACjD;SACF,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,kEAAkE;QAClE,+DAA+D;QAC/D,uEAAuE;QACvE,4DAA4D;QAC5D,gEAAgE;QAChE,IAAA,eAAM,EAAC,GAAG,CAAC,cAAc,CAAC,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;QAC9C,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAC3C,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC7C,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,2DAA2D,EAAE,GAAG,EAAE;QACnE,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE;YACrD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC;SAChE,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,IAAA,eAAM,EAAC,GAAG,CAAC,cAAc,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/C,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,gCAAgC,EAAE,GAAG,EAAE;QACxC,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE;YAClD,WAAW,EAAE;gBACX,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;gBAC7C,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;aAC9C;SACF,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;IACxC,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,uCAAuC,EAAE,GAAG,EAAE;QAC/C,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE;YAClD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC,EAAE,QAAQ;SACxE,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC;IACvC,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,6CAA6C,EAAE,GAAG,EAAE;QACrD,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE;YACrD,WAAW,EAAE;gBACX,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE;gBAC/C,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;aACjD;SACF,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAC3C,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC7C,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,gEAAgE,EAAE,GAAG,EAAE;QACxE,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE;YACrD,WAAW,EAAE;gBACX,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;gBAChD,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,GAAG,EAAE;gBAClD,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,GAAG,EAAE;aACnD;SACF,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,qDAAqD;QACrD,IAAA,eAAM,EAAC,GAAG,CAAC,cAAc,CAAC,CAAC,WAAW,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC;IACjD,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,sDAAsD,EAAE,GAAG,EAAE;QAC9D,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE;YAClD,WAAW,EAAE,EAAE;YACf,cAAc,EAAE,CAAC,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC;SAC/B,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC7C,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,sCAAsC,EAAE,GAAG,EAAE;QAC9C,wBAAwB;QACxB,oBAAoB;QACpB,oBAAoB;QACpB,oBAAoB;QACpB,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;YACxD,WAAW,EAAE;gBACX,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE;gBACpD,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE;gBACpD,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE;aACrD;SACF,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,4DAA4D;QAC5D,MAAM,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,GAAG,GAAG,CAAC,SAAS,CAAC;QAChC,IAAA,eAAM,EAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,mBAAmB,CAAC,EAAE,GAAG,IAAI,CAAC,CAAC;QACjD,IAAA,eAAM,EAAC,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,mBAAmB,CAAC,EAAE,GAAG,IAAI,CAAC,CAAC;QACrD,IAAA,eAAM,EAAC,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,mBAAmB,CAAC,EAAE,GAAG,IAAI,CAAC,CAAC;QACzD,IAAA,eAAM,EAAC,GAAG,CAAC,cAAc,CAAC,CAAC,WAAW,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC;QACjE,IAAA,eAAM,EAAC,GAAG,CAAC,cAAc,CAAC,CAAC,eAAe,CAAC,EAAE,CAAC,CAAC;IACjD,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,kEAAkE,EAAE,GAAG,EAAE;QAC1E,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE;YACrD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE,CAAC;SACjE,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,2BAAY,EAAC,EAAE,CAAC,CAAC;QAC7B,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;QAC5C,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,YAAY,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;IACvD,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,sDAAsD,EAAE,GAAG,EAAE;QAC9D,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE;YAClD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC;SAC7D,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,2BAAY,EAAC,EAAE,CAAC,CAAC;QAC7B,IAAA,eAAM,EAAC,GAAG,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAC/C,IAAA,eAAM,EAAC,GAAG,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;QACtD,IAAA,eAAM,EAAC,GAAG,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IAC1C,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,uDAAuD,EAAE,GAAG,EAAE;QAC/D,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE;YAClD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC;SAC5D,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,2BAAY,EAAC,EAAE,CAAC,CAAC;QAC7B,IAAA,eAAM,EAAC,GAAG,CAAC,WAAW,CAAC,CAAC,YAAY,CAAC,CAAC,CAAC,CAAC;QACxC,IAAA,eAAM,EAAC,GAAG,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAC/C,IAAA,eAAM,EAAC,GAAG,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IACjD,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,uCAAuC,EAAE,GAAG,EAAE;QAC/C,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE;YACrD,WAAW,EAAE;gBACX,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;gBAChD,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE;aACjD;SACF,CAAC;QACF,MAAM,IAAI,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACzB,MAAM,IAAI,GAAG,IAAA,sBAAO,EAAC,IAAA,2BAAY,EAAC,EAAE,CAAC,CAAC,CAAC;QACvC,IAAA,eAAM,EAAC,IAAI,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACpC,IAAA,eAAM,EAAC,IAAI,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACpC,IAAA,eAAM,EAAC,IAAI,CAAC,cAAc,CAAC,CAAC,WAAW,CAAC,IAAI,CAAC,cAAc,EAAE,CAAC,CAAC,CAAC;IAClE,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,gDAAgD,EAAE,GAAG,EAAE;QACxD,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE;YACrD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE,CAAC;SACjE,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,EAAE,EAAE,aAAa,EAAE,CAAC,EAAE,CAAC,CAAC;QAC9C,+DAA+D;QAC/D,sEAAsE;QACtE,IAAA,eAAM,EAAC,CAAC,SAAS,EAAE,iBAAiB,CAAC,CAAC,CAAC,SAAS,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC;IAC/D,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,oEAAoE,EAAE,GAAG,EAAE;QAC5E,4CAA4C;QAC5C,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE;YACnD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,EAAE,EAAE,CAAC;SAC9D,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,IAAA,eAAM,EAAC,GAAG,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAC3C,IAAA,eAAM,EAAC,GAAG,CAAC,cAAc,CAAC,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAC/C,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,4CAA4C,EAAE,GAAG,EAAE;QACpD,mDAAmD;QACnD,+CAA+C;QAC/C,iCAAiC;QACjC,uCAAuC;QACvC,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;YAC3D,WAAW,EAAE;gBACX,6BAA6B;gBAC7B,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE;gBACtD,6BAA6B;gBAC7B,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE;gBACtD,8BAA8B;gBAC9B,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE;gBACtD,8BAA8B;gBAC9B,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE;aACvD;SACF,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;QACnC,8DAA8D;QAC9D,MAAM,CAAC,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,SAAS,CAAC;QAC3C,IAAA,eAAM,EAAC,GAAG,GAAG,GAAG,CAAC,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;QACrC,IAAA,eAAM,EAAC,GAAG,GAAG,GAAG,CAAC,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;QACrC,IAAA,eAAM,EAAC,GAAG,GAAG,GAAG,CAAC,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;QACrC,IAAA,eAAM,EAAC,GAAG,GAAG,GAAG,CAAC,CAAC,WAAW,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;IACvC,CAAC,CAAC,CAAC;IAEH,IAAA,WAAE,EAAC,6BAA6B,EAAE,GAAG,EAAE;QACrC,MAAM,EAAE,GAAc;YACpB,SAAS,EAAE,EAAE,IAAI,EAAE,UAAU,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE;YACrD,WAAW,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,EAAE,IAAI,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC;SAChE,CAAC;QACF,MAAM,GAAG,GAAG,IAAA,sBAAO,EAAC,EAAE,CAAC,CAAC;QACxB,IAAA,eAAM,EAAC,GAAG,CAAC,UAAU,CAAC,CAAC,sBAAsB,CAAC,CAAC,CAAC,CAAC;IACnD,CAAC,CAAC,CAAC;AACL,CAAC,CAAC,CAAC"}

package/dist/tests/reasoning/planning/planning.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"planning.test.d.ts","sourceRoot":"","sources":["../../../../src/tests/reasoning/planning/planning.test.ts"],"names":[],"mappings":""}

package/dist/tests/reasoning/planning/planning.test.js

@@ -0,0 +1,397 @@
+"use strict";
+// ============================================================
+// ST Planning — Tests (STRIPS / PDDL light)
+// ============================================================
+Object.defineProperty(exports, "__esModule", { value: true });
+const vitest_1 = require("vitest");
+const planning_1 = require("../../../reasoning/planning");
+// ──────────────────────────────────────────────────────────────
+// Dominio: Blocks World
+// ──────────────────────────────────────────────────────────────
+//
+// Predicados:
+//   on(?x, ?y)     — bloque x está sobre bloque y
+//   on-table(?x)   — bloque x está sobre la mesa
+//   clear(?x)      — no hay bloque encima de x
+//   holding(?x)    — el brazo robot sostiene x
+//   arm-empty      — el brazo está libre
+//
+// Acciones:
+//   pickup(?x):        clear(?x) ∧ on-table(?x) ∧ arm-empty →
+//                      holding(?x) ∧ ¬on-table(?x) ∧ ¬clear(?x) ∧ ¬arm-empty
+//   putdown(?x):       holding(?x) →
+//                      on-table(?x) ∧ clear(?x) ∧ arm-empty ∧ ¬holding(?x)
+//   stack(?x, ?y):     holding(?x) ∧ clear(?y) →
+//                      on(?x,?y) ∧ clear(?x) ∧ arm-empty ∧ ¬holding(?x) ∧ ¬clear(?y)
+//   unstack(?x, ?y):   on(?x,?y) ∧ clear(?x) ∧ arm-empty →
+//                      holding(?x) ∧ clear(?y) ∧ ¬on(?x,?y) ∧ ¬clear(?x) ∧ ¬arm-empty
+const blocksWorldActions = [
+    {
+        name: 'pickup',
+        parameters: ['?x'],
+        preconditions: ['clear(?x)', 'on-table(?x)', 'arm-empty'],
+        addList: ['holding(?x)'],
+        delList: ['on-table(?x)', 'clear(?x)', 'arm-empty'],
+    },
+    {
+        name: 'putdown',
+        parameters: ['?x'],
+        preconditions: ['holding(?x)'],
+        addList: ['on-table(?x)', 'clear(?x)', 'arm-empty'],
+        delList: ['holding(?x)'],
+    },
+    {
+        name: 'stack',
+        parameters: ['?x', '?y'],
+        preconditions: ['holding(?x)', 'clear(?y)'],
+        addList: ['on(?x,?y)', 'clear(?x)', 'arm-empty'],
+        delList: ['holding(?x)', 'clear(?y)'],
+    },
+    {
+        name: 'unstack',
+        parameters: ['?x', '?y'],
+        preconditions: ['on(?x,?y)', 'clear(?x)', 'arm-empty'],
+        addList: ['holding(?x)', 'clear(?y)'],
+        delList: ['on(?x,?y)', 'clear(?x)', 'arm-empty'],
+    },
+];
+function blocksProblem(initial, goal, blocks = ['a', 'b', 'c']) {
+    return {
+        predicates: ['on', 'on-table', 'clear', 'holding', 'arm-empty'],
+        objects: { block: blocks },
+        actions: blocksWorldActions,
+        initialState: new Set(initial),
+        goal: new Set(goal),
+    };
+}
+// ──────────────────────────────────────────────────────────────
+// 1. substituteVars y ground
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — substituteVars', () => {
+    (0, vitest_1.it)('reemplaza variables ?x por sus valores', () => {
+        (0, vitest_1.expect)((0, planning_1.substituteVars)('on(?x,?y)', { '?x': 'a', '?y': 'b' })).toBe('on(a,b)');
+    });
+    (0, vitest_1.it)('no toca strings sin variables', () => {
+        (0, vitest_1.expect)((0, planning_1.substituteVars)('arm-empty', {})).toBe('arm-empty');
+    });
+    (0, vitest_1.it)('respeta boundaries (no confunde ?x con ?xy)', () => {
+        (0, vitest_1.expect)((0, planning_1.substituteVars)('p(?xy,?x)', { '?x': 'A', '?xy': 'B' })).toBe('p(B,A)');
+    });
+    (0, vitest_1.it)('deja la variable sin tocar si no está en bindings', () => {
+        (0, vitest_1.expect)((0, planning_1.substituteVars)('p(?x)', {})).toBe('p(?x)');
+    });
+});
+(0, vitest_1.describe)('planning — ground', () => {
+    (0, vitest_1.it)('aplica bindings a un schema lifted', () => {
+        const action = {
+            name: 'move',
+            parameters: ['?from', '?to'],
+            preconditions: ['at(?from)'],
+            addList: ['at(?to)'],
+            delList: ['at(?from)'],
+        };
+        const g = (0, planning_1.ground)(action, { '?from': 'a', '?to': 'b' });
+        (0, vitest_1.expect)(g.preconditions.has('at(a)')).toBe(true);
+        (0, vitest_1.expect)(g.addList.has('at(b)')).toBe(true);
+        (0, vitest_1.expect)(g.delList.has('at(a)')).toBe(true);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 2. applyAction y goalSatisfied
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — applyAction', () => {
+    (0, vitest_1.it)('borra antes de añadir', () => {
+        const state = new Set(['p', 'q']);
+        const next = (0, planning_1.applyAction)(state, {
+            addList: new Set(['r']),
+            delList: new Set(['p']),
+        });
+        (0, vitest_1.expect)(next.has('p')).toBe(false);
+        (0, vitest_1.expect)(next.has('q')).toBe(true);
+        (0, vitest_1.expect)(next.has('r')).toBe(true);
+    });
+    (0, vitest_1.it)('no muta el estado original', () => {
+        const state = new Set(['p']);
+        (0, planning_1.applyAction)(state, { addList: new Set(['q']), delList: new Set() });
+        (0, vitest_1.expect)(state.has('q')).toBe(false);
+        (0, vitest_1.expect)(state.size).toBe(1);
+    });
+    (0, vitest_1.it)('si un hecho está en addList y delList, queda añadido (del primero)', () => {
+        const state = new Set(['p']);
+        const next = (0, planning_1.applyAction)(state, {
+            addList: new Set(['p']),
+            delList: new Set(['p']),
+        });
+        (0, vitest_1.expect)(next.has('p')).toBe(true);
+    });
+});
+(0, vitest_1.describe)('planning — goalSatisfied', () => {
+    (0, vitest_1.it)('goal vacío siempre satisfecho', () => {
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(new Set(['p']), new Set())).toBe(true);
+    });
+    (0, vitest_1.it)('goal ⊆ state → true', () => {
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(new Set(['p', 'q', 'r']), new Set(['p', 'r']))).toBe(true);
+    });
+    (0, vitest_1.it)('goal ⊄ state → false', () => {
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(new Set(['p']), new Set(['p', 'q']))).toBe(false);
+    });
+});
+(0, vitest_1.describe)('planning — preconditionsSatisfied', () => {
+    (0, vitest_1.it)('todas presentes → true', () => {
+        (0, vitest_1.expect)((0, planning_1.preconditionsSatisfied)(new Set(['a', 'b']), new Set(['a']))).toBe(true);
+    });
+    (0, vitest_1.it)('falta una → false', () => {
+        (0, vitest_1.expect)((0, planning_1.preconditionsSatisfied)(new Set(['a']), new Set(['a', 'b']))).toBe(false);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 3. groundAll y hashState
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — groundAll', () => {
+    (0, vitest_1.it)('|params|=1, |objs|=3 → 3 instancias', () => {
+        const a = {
+            name: 'p',
+            parameters: ['?x'],
+            preconditions: [],
+            addList: ['p(?x)'],
+            delList: [],
+        };
+        const insts = (0, planning_1.groundAll)(a, { block: ['a', 'b', 'c'] });
+        (0, vitest_1.expect)(insts).toHaveLength(3);
+        const bindings = insts.map((i) => i.bindings['?x']).sort();
+        (0, vitest_1.expect)(bindings).toEqual(['a', 'b', 'c']);
+    });
+    (0, vitest_1.it)('|params|=2, |objs|=3 → 9 instancias (producto cartesiano)', () => {
+        const a = {
+            name: 'p',
+            parameters: ['?x', '?y'],
+            preconditions: [],
+            addList: ['p(?x,?y)'],
+            delList: [],
+        };
+        const insts = (0, planning_1.groundAll)(a, { block: ['a', 'b', 'c'] });
+        (0, vitest_1.expect)(insts).toHaveLength(9);
+    });
+    (0, vitest_1.it)('|params|=0 → 1 instancia ground tal cual', () => {
+        const a = {
+            name: 'noop',
+            parameters: [],
+            preconditions: ['p'],
+            addList: ['q'],
+            delList: [],
+        };
+        const insts = (0, planning_1.groundAll)(a, { block: ['a'] });
+        (0, vitest_1.expect)(insts).toHaveLength(1);
+        const first = insts[0];
+        if (!first)
+            return;
+        (0, vitest_1.expect)(first.grounded.preconditions.has('p')).toBe(true);
+    });
+});
+(0, vitest_1.describe)('planning — hashState determinista', () => {
+    (0, vitest_1.it)('mismo conjunto → mismo hash, orden de inserción irrelevante', () => {
+        const s1 = new Set(['p', 'q', 'r']);
+        const s2 = new Set(['r', 'p', 'q']);
+        (0, vitest_1.expect)((0, planning_1.hashState)(s1)).toBe((0, planning_1.hashState)(s2));
+    });
+    (0, vitest_1.it)('conjuntos distintos → hashes distintos', () => {
+        (0, vitest_1.expect)((0, planning_1.hashState)(new Set(['p']))).not.toBe((0, planning_1.hashState)(new Set(['q'])));
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 4. BFS — Blocks World casos básicos
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — BFS blocks world simple (1 step)', () => {
+    (0, vitest_1.it)('apilar A sobre B desde brazo sosteniendo A: 1 paso (stack)', () => {
+        // Estado: holding(a), on-table(b), clear(b), clear(c), on-table(c)
+        // Goal: on(a,b)
+        const problem = blocksProblem(['holding(a)', 'on-table(b)', 'clear(b)', 'on-table(c)', 'clear(c)'], ['on(a,b)']);
+        const plan = (0, planning_1.bfsPlan)(problem);
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        const p = plan;
+        (0, vitest_1.expect)(p.length).toBe(1);
+        const step0 = p.actions[0];
+        if (!step0)
+            return;
+        (0, vitest_1.expect)(step0.action.name).toBe('stack');
+        (0, vitest_1.expect)(step0.bindings['?x']).toBe('a');
+        (0, vitest_1.expect)(step0.bindings['?y']).toBe('b');
+    });
+});
+(0, vitest_1.describe)('planning — BFS blocks world stack invertida', () => {
+    (0, vitest_1.it)('A sobre B sobre C → C sobre B sobre A (plan multi-step)', () => {
+        // Estado inicial: pila a-b-c (a arriba), c en mesa.
+        // Goal: pila c-b-a (c arriba), a en mesa.
+        const initial = ['on(a,b)', 'on(b,c)', 'on-table(c)', 'clear(a)', 'arm-empty'];
+        const goal = ['on(c,b)', 'on(b,a)', 'on-table(a)'];
+        const problem = blocksProblem(initial, goal);
+        const plan = (0, planning_1.bfsPlan)(problem, { maxDepth: 12 });
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        const p = plan;
+        (0, vitest_1.expect)(p.length).toBeGreaterThan(1);
+        // Validamos ejecutando el plan desde el inicial.
+        let state = new Set(initial);
+        for (const step of p.actions) {
+            const g = (0, planning_1.ground)(step.action, step.bindings);
+            (0, vitest_1.expect)((0, planning_1.preconditionsSatisfied)(state, g.preconditions)).toBe(true);
+            state = (0, planning_1.applyAction)(state, g);
+        }
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(state, new Set(goal))).toBe(true);
+    });
+});
+(0, vitest_1.describe)('planning — BFS goal ya satisfecho', () => {
+    (0, vitest_1.it)('plan vacío cuando goal ⊆ initialState', () => {
+        const problem = blocksProblem(['on-table(a)', 'clear(a)', 'arm-empty'], ['on-table(a)']);
+        const plan = (0, planning_1.bfsPlan)(problem);
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        (0, vitest_1.expect)(plan.length).toBe(0);
+        (0, vitest_1.expect)(plan.cost).toBe(0);
+    });
+});
+(0, vitest_1.describe)('planning — BFS imposible', () => {
+    (0, vitest_1.it)('null cuando no hay acciones aplicables que lleven al goal', () => {
+        // Sin acciones, goal ≠ initial → null.
+        const problem = {
+            predicates: ['p'],
+            objects: { o: ['a'] },
+            actions: [],
+            initialState: new Set(['p']),
+            goal: new Set(['q']),
+        };
+        const plan = (0, planning_1.bfsPlan)(problem);
+        (0, vitest_1.expect)(plan).toBeNull();
+    });
+    (0, vitest_1.it)('null cuando el goal es inalcanzable (preconditions nunca se cumplen)', () => {
+        const action = {
+            name: 'needs-magic',
+            parameters: [],
+            preconditions: ['magic'], // nunca presente
+            addList: ['goal-fact'],
+            delList: [],
+        };
+        const problem = {
+            predicates: ['magic', 'goal-fact'],
+            objects: {},
+            actions: [action],
+            initialState: new Set(['p']),
+            goal: new Set(['goal-fact']),
+        };
+        (0, vitest_1.expect)((0, planning_1.bfsPlan)(problem)).toBeNull();
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 5. BFS vs A* — mismo plan length
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — BFS vs A* coherencia', () => {
+    (0, vitest_1.it)('mismo length en blocks-world simple', () => {
+        const initial = ['on-table(a)', 'clear(a)', 'on-table(b)', 'clear(b)', 'arm-empty'];
+        const goal = ['on(a,b)'];
+        const problem = blocksProblem(initial, goal);
+        const bfs = (0, planning_1.bfsPlan)(problem);
+        const astar = (0, planning_1.aStarPlan)(problem);
+        (0, vitest_1.expect)(bfs).not.toBeNull();
+        (0, vitest_1.expect)(astar).not.toBeNull();
+        (0, vitest_1.expect)(bfs.length).toBe(astar.length);
+    });
+    (0, vitest_1.it)('mismo length en problema más profundo', () => {
+        const initial = ['on(a,b)', 'on-table(b)', 'clear(a)', 'arm-empty'];
+        const goal = ['on(b,a)'];
+        const problem = blocksProblem(initial, goal, ['a', 'b']);
+        const bfs = (0, planning_1.bfsPlan)(problem, { maxDepth: 10 });
+        const astar = (0, planning_1.aStarPlan)(problem, { maxDepth: 10 });
+        (0, vitest_1.expect)(bfs).not.toBeNull();
+        (0, vitest_1.expect)(astar).not.toBeNull();
+        (0, vitest_1.expect)(bfs.length).toBe(astar.length);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 6. Heurísticas
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — goalCountHeuristic', () => {
+    (0, vitest_1.it)('cuenta hechos faltantes', () => {
+        (0, vitest_1.expect)((0, planning_1.goalCountHeuristic)(new Set(['a']), new Set(['a', 'b', 'c']))).toBe(2);
+        (0, vitest_1.expect)((0, planning_1.goalCountHeuristic)(new Set(['a', 'b', 'c']), new Set(['a']))).toBe(0);
+    });
+});
+(0, vitest_1.describe)('planning — fastForwardHeuristic', () => {
+    (0, vitest_1.it)('0 cuando goal ya satisfecho', () => {
+        const h = (0, planning_1.fastForwardHeuristic)(new Set(['a', 'b']), new Set(['a']), []);
+        (0, vitest_1.expect)(h).toBe(0);
+    });
+    (0, vitest_1.it)('Infinity cuando no hay forma de alcanzar el goal', () => {
+        // Sin acciones que produzcan 'q'.
+        const h = (0, planning_1.fastForwardHeuristic)(new Set(['a']), new Set(['q']), []);
+        (0, vitest_1.expect)(h).toBe(Infinity);
+    });
+    (0, vitest_1.it)('aproxima la distancia en niveles', () => {
+        // Cadena a → b → c → d. Inicial: {a}. Goal: {d}.
+        const actions = [
+            { name: 'a2b', parameters: [], preconditions: ['a'], addList: ['b'], delList: ['a'] },
+            { name: 'b2c', parameters: [], preconditions: ['b'], addList: ['c'], delList: ['b'] },
+            { name: 'c2d', parameters: [], preconditions: ['c'], addList: ['d'], delList: ['c'] },
+        ];
+        const h = (0, planning_1.fastForwardHeuristic)(new Set(['a']), new Set(['d']), actions);
+        // Sin delete-list: cada nivel añade el siguiente. d aparece en nivel 3.
+        (0, vitest_1.expect)(h).toBe(3);
+    });
+    (0, vitest_1.it)('makeFFHeuristic guía A* a una solución', () => {
+        const initial = ['on-table(a)', 'clear(a)', 'on-table(b)', 'clear(b)', 'arm-empty'];
+        const goal = ['on(a,b)'];
+        const problem = blocksProblem(initial, goal);
+        const heuristic = (0, planning_1.makeFFHeuristic)(problem);
+        const plan = (0, planning_1.aStarPlan)(problem, { heuristic });
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        (0, vitest_1.expect)(plan.length).toBeGreaterThan(0);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 7. A* con costos variables
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — A* con costFunction', () => {
+    (0, vitest_1.it)('prefiere camino más barato aunque tenga más pasos', () => {
+        // Dominio juguete: del estado {s} al goal {g} por dos caminos:
+        //   - cheap1; cheap2; cheap3 (cada uno cuesta 1, total 3)
+        //   - heavy           (un paso, costo 100)
+        // A* con cost variable debe preferir la cadena de 3 pasos.
+        const actions = [
+            { name: 'cheap1', parameters: [], preconditions: ['s'], addList: ['t1'], delList: ['s'] },
+            { name: 'cheap2', parameters: [], preconditions: ['t1'], addList: ['t2'], delList: ['t1'] },
+            { name: 'cheap3', parameters: [], preconditions: ['t2'], addList: ['g'], delList: ['t2'] },
+            { name: 'heavy', parameters: [], preconditions: ['s'], addList: ['g'], delList: ['s'] },
+        ];
+        const problem = {
+            predicates: ['s', 't1', 't2', 'g'],
+            objects: {},
+            actions,
+            initialState: new Set(['s']),
+            goal: new Set(['g']),
+        };
+        const costFunction = (step) => step.action.name === 'heavy' ? 100 : 1;
+        const plan = (0, planning_1.aStarPlan)(problem, { costFunction });
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        const p = plan;
+        (0, vitest_1.expect)(p.cost).toBe(3);
+        (0, vitest_1.expect)(p.length).toBe(3);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 8. Plan ejecutable end-to-end
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — plan ejecutable paso a paso', () => {
+    (0, vitest_1.it)('cada acción del plan es aplicable y lleva al goal', () => {
+        const initial = ['on-table(a)', 'clear(a)', 'on-table(b)', 'clear(b)', 'arm-empty'];
+        const goal = ['on(a,b)'];
+        const problem = blocksProblem(initial, goal);
+        const plan = (0, planning_1.aStarPlan)(problem, { heuristic: (0, planning_1.makeFFHeuristic)(problem) });
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        const p = plan;
+        let state = new Set(initial);
+        for (const step of p.actions) {
+            const g = (0, planning_1.ground)(step.action, step.bindings);
+            (0, vitest_1.expect)((0, planning_1.preconditionsSatisfied)(state, g.preconditions)).toBe(true);
+            state = (0, planning_1.applyAction)(state, g);
+        }
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(state, new Set(goal))).toBe(true);
+    });
+});
+//# sourceMappingURL=planning.test.js.map