tfdm_interface.h

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#ifndef TFDM_INTERFACE_H
#define TFDM_INTERFACE_H

#include <string>
#include "continual_planning_executive/plannerInterface.h"

namespace tfd_modules
{

    class TFDMInterface : public continual_planning_executive::PlannerInterface
    {
        public:
            TFDMInterface();
            ~TFDMInterface();

            virtual void initialize(const std::string & domainFile, const std::vector<std::string> & options);

            virtual PlannerResult plan(const SymbolicState & init, const SymbolicState & goal, Plan & plan);
            
            virtual PlannerResult monitor(const SymbolicState & init, const SymbolicState & goal, const Plan & plan);
 
            virtual void setTimeout(double secs);


            void setProblemFileName(const std::string & file) {
                _problemFileName = file;
            }


            void setModuleOptions(const std::string & options) {
                _moduleOptions = options;
            }

        protected:
            bool writeProblem(const SymbolicState & init, const SymbolicState & goal) const;

            PlannerResult callPlanner(const std::string & domain, const std::string & problem,
                   const std::string & planNamePrefix);
            PlannerResult callMonitoring(const std::string & domain, const std::string & problem,
                   const std::string & planNamePrefix);

        protected:
            std::string _domainFile;
            std::string _domainName;
            std::string _problemFileName;
            std::string _moduleOptions;
    };

};

#endif