Class DomainExpertInterface

Inheritance Relationships

Derived Types

Class Documentation

class DomainExpertInterface

DomainExpertInterface is the interface for both DomainExpert and DomainExpertClient.

Subclassed by plansys2::DomainExpert, plansys2::DomainExpertClient

Public Functions

inline DomainExpertInterface()

Void constructor.

virtual std::string getName() = 0

Get the domain name.

Returns:

A string containing the domain name.

virtual std::vector<std::string> getTypes() = 0

Get the types existing in the domain.

Returns:

The vector containing the names of the types.

virtual std::vector<std::string> getConstants(const std::string &type) = 0

Get the details of a constants existing for a type.

Parameters:

predicate – [in] The name of the type.

Returns:

A list of constants names for the passed type

virtual std::vector<plansys2::Predicate> getPredicates() = 0

Get the predicates existing in the domain.

Returns:

The vector containing the name of the predicates.

virtual std::optional<plansys2::Predicate> getPredicate(const std::string &predicate) = 0

Get the details of a predicate existing in the domain.

Parameters:

predicate – [in] The name of the predicate.

Returns:

A Predicate object containing the predicate name and its parameters (name and type). If the predicate does not exist, the value returned has not value.

virtual std::vector<plansys2::Function> getFunctions() = 0

Get the functions existing in the domain.

Returns:

The vector containing the name of the functions.

virtual std::optional<plansys2::Function> getFunction(const std::string &function) = 0

Get the details of a function existing in the domain.

Parameters:

function – [in] The name of the function.

Returns:

A Function object containing the function name and its parameters (name and type). If the function does not exist, the value returned has not value.

virtual std::vector<plansys2::Predicate> getDerivedPredicates() = 0

Get the derived predicates existing in the domain.

Returns:

The vector containing the derived predicates.

virtual std::vector<plansys2_msgs::msg::Derived> getDerivedPredicate(const std::string &predicate, const std::vector<std::string> &params = {}) = 0

Get the details of a derived predicate existing in the domain.

Parameters:

predicate – [in] The name of the predicate.

Returns:

A Derived object containing the predicate name, its parameters (name and type), and preconditions. If the predicate does not exist, the value returned has not value.

virtual std::vector<std::string> getActions() = 0

Get the regular actions existing in the domain.

Returns:

The vector containing the names of the actions.

virtual plansys2_msgs::msg::Action::SharedPtr getAction(const std::string &action, const std::vector<std::string> &params) = 0

Get the details of an regular action existing in the domain.

Parameters:

action – [in] The name of the action.

Returns:

An Action object containing the action name, parameters, requirements and effects. If the action does not exist, the value returned has not value.

virtual std::vector<std::string> getDurativeActions() = 0

Get the temporal actions existing in the domain.

Returns:

The vector containing the names of the actions.

virtual plansys2_msgs::msg::DurativeAction::SharedPtr getDurativeAction(const std::string &durative_action, const std::vector<std::string> &params) = 0

Get the details of an durative action existing in the domain.

Parameters:

action – [in] The name of the action.

Returns:

A Durative Action object containing the action name, parameters, requirements and effects. If the action does not exist, the value returned has not value.

virtual std::string getDomain() = 0

Get the current domain, ready to be saved to file, or to initialize another domain.

Returns:

A string containing the domain.