Go to the documentation of this file.00001 #include "RemoteReasoner.h"
00002
00003 #include "bwi_kr_execution/CurrentStateQuery.h"
00004 #include "bwi_kr_execution/UpdateFluents.h"
00005 #include "bwi_kr_execution/ComputePlan.h"
00006 #include "bwi_kr_execution/ComputeAllPlans.h"
00007 #include "bwi_kr_execution/IsPlanValid.h"
00008
00009 #include "msgs_utils.h"
00010
00011 #include "actasp/Action.h"
00012
00013 #include <ros/ros.h>
00014 #include <std_srvs/Empty.h>
00015
00016 #include <algorithm>
00017 #include <iterator>
00018
00019 using namespace std;
00020 using namespace ros;
00021
00022 namespace bwi_krexec {
00023
00024 RemoteReasoner::RemoteReasoner(actasp::FilteringQueryGenerator *actualReasoner,unsigned int max_n,const actasp::ActionSet& allActions) :
00025 local(actualReasoner,max_n,allActions) {}
00026
00027 actasp::AnswerSet RemoteReasoner::currentStateQuery(const std::vector<actasp::AspRule>& query) const throw() {
00028 return local.currentStateQuery(query);
00029 }
00030
00031 actasp::ActionSet RemoteReasoner::availableActions() const throw() {
00032 return local.availableActions();
00033 }
00034
00035 std::list< std::list<actasp::AspAtom> > RemoteReasoner::query(const std::string &queryString, unsigned int timeStep) const throw() {
00036 return local.query(queryString,timeStep);
00037 }
00038
00039 bool RemoteReasoner::updateFluents(const std::vector<actasp::AspFluent> &observations) throw() {
00040 NodeHandle n;
00041 ros::ServiceClient updateClient = n.serviceClient<bwi_kr_execution::UpdateFluents> ("update_fluents");
00042 updateClient.waitForExistence();
00043
00044 bwi_kr_execution::UpdateFluents uf;
00045
00046 transform(observations.begin(),observations.end(),back_inserter(uf.request.fluents),TranslateFluent());
00047
00048 updateClient.call(uf);
00049
00050 return uf.response.consistent;
00051 }
00052
00053 actasp::AnswerSet RemoteReasoner::computePlan(const std::vector<actasp::AspRule>& goal) const throw (std::logic_error) {
00054
00055 return local.computePlan(goal);
00056
00057 }
00058
00059
00060 bool RemoteReasoner::isPlanValid(const actasp::AnswerSet& plan, const std::vector<actasp::AspRule>& goal) const throw() {
00061 return local.isPlanValid(plan,goal);
00062
00063 }
00064
00065 std::vector< actasp::AnswerSet > RemoteReasoner::computeAllPlans(
00066 const std::vector<actasp::AspRule>& goal,
00067 double suboptimality) const throw (std::logic_error) {
00068
00069 return local.computeAllPlans(goal,suboptimality);
00070
00071
00072 }
00073
00074 actasp::GraphPolicy* RemoteReasoner::computePolicy(const std::vector<actasp::AspRule>& goal, double suboptimality) const throw (std::logic_error) {
00075 return local.computePolicy(goal,suboptimality);
00076 }
00077
00078
00079 actasp::AnswerSet RemoteReasoner::filterState(const std::vector<actasp::AnswerSet>& plans, const std::vector<actasp::AspRule>& goals) {
00080 return local.filterState(plans,goals);
00081 }
00082
00083
00084
00085 void RemoteReasoner::resetCurrentState() throw() {
00086 NodeHandle n;
00087 ros::ServiceClient resetClient = n.serviceClient<std_srvs::Empty> ("reset_state");
00088 resetClient.waitForExistence();
00089
00090 std_srvs::Empty empty;
00091 resetClient.call(empty);
00092 }
00093
00094
00095 }