Interfacing class for calling a symbolic planner. More...
#include <plannerInterface.h>
Public Types | |
enum | PlannerResult { PR_SUCCESS, PR_SUCCESS_TIMEOUT, PR_FAILURE_TIMEOUT, PR_FAILURE_UNREACHABLE, PR_FAILURE_OTHER } |
Public Member Functions | |
virtual void | initialize (const std::string &domainFile, const std::vector< std::string > &options)=0 |
Initialize the planner. | |
virtual PlannerResult | monitor (const SymbolicState &init, const SymbolicState &goal, const Plan &plan)=0 |
Monitor the current plan by checking if app(init, plan) reaches goal. | |
virtual PlannerResult | plan (const SymbolicState &init, const SymbolicState &goal, Plan &plan)=0 |
Execute the planner to produce a plan from init to goal. | |
PlannerInterface () | |
Construct an interface for the planner. | |
virtual void | setTimeout (double secs)=0 |
virtual | ~PlannerInterface () |
Static Public Member Functions | |
static std::string | PlannerResultStr (enum PlannerResult pr) |
Interfacing class for calling a symbolic planner.
Definition at line 13 of file plannerInterface.h.
PR_SUCCESS |
A (optimal) plan was returned. |
PR_SUCCESS_TIMEOUT |
A plan was returned, but the planner could have searched more. |
PR_FAILURE_TIMEOUT |
No plan computed due to timeout. |
PR_FAILURE_UNREACHABLE |
No plan found. |
PR_FAILURE_OTHER |
Undetermined failure. |
Definition at line 16 of file plannerInterface.h.
Construct an interface for the planner.
Definition at line 25 of file plannerInterface.h.
virtual continual_planning_executive::PlannerInterface::~PlannerInterface | ( | ) | [inline, virtual] |
Definition at line 26 of file plannerInterface.h.
virtual void continual_planning_executive::PlannerInterface::initialize | ( | const std::string & | domainFile, |
const std::vector< std::string > & | options | ||
) | [pure virtual] |
Initialize the planner.
[in] | domainFile | the domain to use for planning |
[in] | options | a list of planner specific options |
virtual PlannerResult continual_planning_executive::PlannerInterface::monitor | ( | const SymbolicState & | init, |
const SymbolicState & | goal, | ||
const Plan & | plan | ||
) | [pure virtual] |
Monitor the current plan by checking if app(init, plan) reaches goal.
[in] | init | the initial state |
[in] | goal | the (partial) goal state |
[in] | plan | the plan to monitor |
virtual PlannerResult continual_planning_executive::PlannerInterface::plan | ( | const SymbolicState & | init, |
const SymbolicState & | goal, | ||
Plan & | plan | ||
) | [pure virtual] |
Execute the planner to produce a plan from init to goal.
[in] | init | the initial state |
[in] | goal | the (partial) goal state |
[out] | plan | the created plan |
std::string continual_planning_executive::PlannerInterface::PlannerResultStr | ( | enum PlannerResult | pr | ) | [inline, static] |
Definition at line 56 of file plannerInterface.h.
virtual void continual_planning_executive::PlannerInterface::setTimeout | ( | double | secs | ) | [pure virtual] |