From 3156cba9a8a87fd3cd82bdcfb99ee6a48b0e4b31 Mon Sep 17 00:00:00 2001
From: Gustavo <g.rezendesilva@tudelft.nl>
Date: Thu, 29 Aug 2024 16:02:41 -0300
Subject: [PATCH] in existPredicate check if derived predicate is satisfied

---
 .../src/plansys2_problem_expert/ProblemExpert.cpp  | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/plansys2_problem_expert/src/plansys2_problem_expert/ProblemExpert.cpp b/plansys2_problem_expert/src/plansys2_problem_expert/ProblemExpert.cpp
index 80e83d31..c50a5076 100644
--- a/plansys2_problem_expert/src/plansys2_problem_expert/ProblemExpert.cpp
+++ b/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;
 }