Program Listing for File State.h

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/************************************************************************
 * Copyright 2008, Strathclyde Planning Group,
 * Department of Computer and Information Sciences,
 * University of Strathclyde, Glasgow, UK
 * http://planning.cis.strath.ac.uk/
 *
 * Maria Fox, Richard Howey and Derek Long - VAL
 * Stephen Cresswell - PDDL Parser
 *
 * This file is part of VAL, the PDDL validator.
 *
 * VAL is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 2 of the License, or
 * (at your option) any later version.
 *
 * VAL is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with VAL.  If not, see <http://www.gnu.org/licenses/>.
 *
 ************************************************************************/

/*-----------------------------------------------------------------------------
  VAL - The Automatic Plan Validator for PDDL+

  $Date: 2009-02-05 10:50:23 $
  $Revision: 1.2 $

  Maria Fox, Richard Howey and Derek Long - PDDL+ and VAL
  Stephen Cresswell - PDDL Parser

  maria.fox@cis.strath.ac.uk
  derek.long@cis.strath.ac.uk
  stephen.cresswell@cis.strath.ac.uk
  richard.howey@cis.strath.ac.uk

  By releasing this code we imply no warranty as to its reliability
  and its use is entirely at your own risk.

  Strathclyde Planning Group
  http://planning.cis.strath.ac.uk
 ----------------------------------------------------------------------------*/
#include "Proposition.h"
#include "FuncExp.h"
#include "StateObserver.h"
#include<set>
using std::set;

namespace VAL {
class Validator;
class Happening;
};

#ifndef __STATE
#define __STATE

namespace VAL {

typedef long double FEScalar;

typedef map<const SimpleProposition*,bool> LogicalState;
typedef map<const FuncExp*,FEScalar> NumericalState;


class State {
private:
    const double tolerance;

    Validator * const vld;

    LogicalState logState;
    NumericalState feValue;

    double time;

   //record which literals and PNEs have changed by appliaction of an happening (for triggering events)
   set<const SimpleProposition *> changedLiterals;
   set<const FuncExp *> changedPNEs;
     FEScalar evaluateFE(const FuncExp * fe) const;

   static vector<StateObserver *> sos;

public:
    State(Validator * const v,const effect_lists* is);
    State & operator=(const State & s);

  friend class FuncExp;
    const double getTolerance() const {return tolerance;};
    Validator * getValidator() const {return vld;};
    double getTime() const {return time;};

    bool progress(const Happening * h);
  bool progressCtsEvent(const Happening * h);
    bool evaluate(const SimpleProposition * p) const;
    FEScalar evaluate(const FuncExp * fe) const;
    FEScalar evaluate(const expression * e,const Environment & bs) const;

    void add(const SimpleProposition *);
    void del(const SimpleProposition *);
    void update(const FuncExp * fe,assign_op aop,FEScalar value);

    const LogicalState & getLogicalState() const {return logState;};
   //to also record what has changed
    void addChange(const SimpleProposition *);
    void delChange(const SimpleProposition *);
    void updateChange(const FuncExp * fe,assign_op aop,FEScalar value);
   set<const SimpleProposition *> getChangedLiterals() const {return changedLiterals;};
   set<const FuncExp *> getChangedPNEs() const {return changedPNEs;};
   void resetChanged() {changedLiterals.clear(); changedPNEs.clear();};

    void setNew(const effect_lists * effs);

    void write(ostream & o) const
    {
        for(LogicalState::const_iterator i = logState.begin();i != logState.end();++i)
        {
            if(i->second) o << *(i->first) << "\n";
        };
        for(NumericalState::const_iterator i = feValue.begin();i != feValue.end();++i)
        {
            o << *(i->first) << " = " << i->second << "\n";
        };
    };

    //  friend class const_iterator;

    class const_iterator {
    private:
        const State & st;
        LogicalState::const_iterator it;
    public:
        const_iterator(const State & s) : st(s), it(st.logState.begin())
        {
            while(it != st.logState.end() && !it->second) ++it;
        };

        bool operator==(const const_iterator & itr) const
        {
            return it == itr.it;
        };

        bool operator!=(const const_iterator & itr) const
        {
            return it != itr.it;
        };

        const_iterator & operator++()
        {
            ++it;
            while(it != st.logState.end() && !it->second) ++it;
            return *this;
        };

        const SimpleProposition * operator*() const
        {
            return it->first;
        };

        void toEnd()
        {
            it = st.logState.end();
        };
    };

    const_iterator begin() const {return const_iterator(*this);};
    const_iterator end() const {const_iterator ci(*this); ci.toEnd(); return ci;};

    void nowUpdated(const Happening * h)
    {
        for(vector<StateObserver *>::iterator i = sos.begin();i != sos.end();++i)
        {
            (*i)->notifyChanged(this,h);
        };
    };

    static void addObserver(StateObserver * s) {sos.push_back(s);}
    bool hasObservers() const {return !sos.empty();}
};

inline ostream & operator<<(ostream & o,const State & s)
{
    s.write(o);
    return o;
};


};

#endif