.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_problem_expert_include_plansys2_problem_expert_ProblemExpertInterface.hpp:

Program Listing for File ProblemExpertInterface.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_problem_expert_include_plansys2_problem_expert_ProblemExpertInterface.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_problem_expert/include/plansys2_problem_expert/ProblemExpertInterface.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 Intelligent Robotics Lab
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef PLANSYS2_PROBLEM_EXPERT__PROBLEMEXPERTINTERFACE_HPP_
   #define PLANSYS2_PROBLEM_EXPERT__PROBLEMEXPERTINTERFACE_HPP_
   
   #include <string>
   #include <vector>
   
   #include "plansys2_msgs/msg/node.hpp"
   #include "plansys2_msgs/msg/param.hpp"
   #include "plansys2_msgs/msg/tree.hpp"
   
   #include "plansys2_core/Types.hpp"
   
   namespace plansys2
   {
   
   class ProblemExpertInterface
   {
   public:
     ProblemExpertInterface() {}
   
     virtual std::vector<plansys2::Instance> getInstances() = 0;
     virtual bool addInstance(const plansys2::Instance & instance) = 0;
     virtual bool removeInstance(const plansys2::Instance & instance) = 0;
     virtual std::optional<plansys2::Instance> getInstance(const std::string & name) = 0;
   
     virtual std::vector<plansys2::Predicate> getPredicates() = 0;
     virtual bool addPredicate(const plansys2::Predicate & predicate) = 0;
     virtual bool removePredicate(const plansys2::Predicate & predicate) = 0;
     virtual bool existPredicate(const plansys2::Predicate & predicate) = 0;
     virtual std::optional<plansys2::Predicate> getPredicate(const std::string & expr) = 0;
   
     virtual std::vector<plansys2::Function> getFunctions() = 0;
     virtual bool addFunction(const plansys2::Function & function) = 0;
     virtual bool removeFunction(const plansys2::Function & function) = 0;
     virtual bool existFunction(const plansys2::Function & function) = 0;
     virtual bool updateFunction(const plansys2::Function & function) = 0;
     virtual std::optional<plansys2::Function> getFunction(const std::string & expr) = 0;
   
     virtual plansys2::Goal getGoal() = 0;
     virtual bool setGoal(const plansys2::Goal & goal) = 0;
     virtual bool isGoalSatisfied(const plansys2::Goal & goal) = 0;
   
     virtual bool clearGoal() = 0;
     virtual bool clearKnowledge() = 0;
   
     virtual std::string getProblem() = 0;
     virtual bool addProblem(const std::string & problem_str) = 0;
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_PROBLEM_EXPERT__PROBLEMEXPERTINTERFACE_HPP_