Public Member Functions
def	__init__
def	__repr__
def	execute
def	plan
def	plan_and_execute_goals
def	preempt_requested
def	print_worldstate_loop
def	request_preempt
def	service_preempt
def	update_and_plan
def	update_and_plan_and_execute
Public Attributes
	actions
	memory
	planner
	worldstate
Private Member Functions
def	_check_conditions
def	_update_worldstate
Private Attributes
	_last_goal
	_preempt_requested

Detailed Description

self.memory: memory to be used for conditions and actions
self.worldstate: the default/start worldstate
self.actions: the actions this runner uses
self.planner: the planner this runner uses

Definition at line 50 of file runner.py.

Constructor & Destructor Documentation

def rgoap.runner.Runner.__init__	(	self,
		config_module = `None`
	)

param:config_module: a scenario/robot specific module to prepare setup,
that has the following members:
    get_all_conditions() -> return a list of conditions
    get_all_actions() -> return a list of actions

Definition at line 58 of file runner.py.

Member Function Documentation

def rgoap.runner.Runner.__repr__ ( self )

Definition at line 81 of file runner.py.

def rgoap.runner.Runner._check_conditions ( self ) [private]

Definition at line 101 of file runner.py.

def rgoap.runner.Runner._update_worldstate ( self ) [private]

update worldstate to reality

Definition at line 96 of file runner.py.

def rgoap.runner.Runner.execute	(	self,
		start_node,
		introspection = `False`
	)

Definition at line 207 of file runner.py.

def rgoap.runner.Runner.plan	(	self,
		goal,
		introspection = `False`
	)

plan for given goal and return start_node of plan or None

Definition at line 123 of file runner.py.

def rgoap.runner.Runner.plan_and_execute_goals	(	self,
		goals
	)

Sort goals by usability and try to plan and execute one by one until
one goal is achieved

Definition at line 130 of file runner.py.

def rgoap.runner.Runner.preempt_requested ( self )

Definition at line 89 of file runner.py.

def rgoap.runner.Runner.print_worldstate_loop ( self )

Definition at line 211 of file runner.py.

def rgoap.runner.Runner.request_preempt ( self )

Definition at line 86 of file runner.py.

def rgoap.runner.Runner.service_preempt ( self )

Definition at line 92 of file runner.py.

def rgoap.runner.Runner.update_and_plan	(	self,
		goal,
		tries = `1`,
		introspection = `False`
	)

update worldstate and call self.plan(...), repeating for
number of tries or until a plan is found

Definition at line 108 of file runner.py.

def rgoap.runner.Runner.update_and_plan_and_execute	(	self,
		goal,
		tries = `1`,
		introspection = `False`
	)

loop that updates, plans and executes until the goal is reached

Definition at line 173 of file runner.py.