Class NodeVariant

• Defined in File NodeVariant.hpp

Class Documentation

class NodeVariant

A wrapper class for representing different types of nodes in the planning system.

NodeVariant encapsulates a variant type that can hold one of several node types used in the planning system, including Predicate, Function, Derived, and ActionVariant. It provides utility methods for type checking, accessing the underlying node, and retrieving node-specific information such as name and type.

The class supports hashing, equality comparison, and printing node information for debugging purposes.

This class uses a custom hash function and ‘==’ operators designed specifically for enabling the resolution of derived predicates in the correct order, which might not be suitable for other uses. For example (check the unit tests for more examples):

• (predA ?a) == (predA ?x)

Author

Date

Note

The underlying node is stored as a shared pointer to allow for efficient copying and management.

Public Types

using NodeType = std::variant<plansys2::Predicate, plansys2::Function, plansys2::Derived, plansys2::ActionVariant>

Public Functions

template<typename NodeT>
inline NodeVariant(NodeT node)

inline size_t hash() const

inline bool operator==(const NodeVariant &other) const

inline bool operator!=(const NodeVariant &other) const

inline const NodeType &getNode() const

inline std::string getNodeName() const

inline bool isPredicate() const

inline bool isFunction() const

inline bool isDerived() const

inline bool isAction() const

inline bool isDurativeAction() const

inline bool isActionVariant() const

inline plansys2::Function &getFunctionNode() const

inline plansys2::Predicate getPredicateNode() const

inline plansys2::Derived getDerivedNode() const

inline plansys2::ActionVariant getActionVariantNode() const

inline auto &getDerivedPreconditions() const

inline auto &getDerivedPredicate() const

inline std::string getNodeType() const

inline void printNode() const

Friends

friend struct std::hash< NodeVariant >