in existPredicate check if derived predicate is satisfied

plansys2_problem_expert/src/plansys2_problem_expert/ProblemExpert.cpp

@@ -448,6 +448,20 @@ ProblemExpert::existPredicate(const plansys2::Predicate & predicate)
     i++;
   }
 
+  if (!found)
+  {
+    std::vector<std::string> parameters_names;
+    std::for_each (predicate.parameters.begin(), predicate.parameters.end(),
+      [&](auto p){parameters_names.push_back(p.name);});
+    auto derived_predicates = domain_expert_->getDerivedPredicate(predicate.name, parameters_names);
+    for(auto derived : derived_predicates){
+      if(check(derived.preconditions, predicates_, functions_)){
+        found = true;
+        break;
+      }
+    }
+  }
+
   return found;
 }