plan.cpp
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00001 #include "continual_planning_executive/plan.h"
00002 #include <math.h>
00003 
00004 Plan::Plan()
00005 {
00006 }
00007 
00008 Plan::~Plan()
00009 {
00010 }
00011 
00012 bool DurativeAction::operator<(const DurativeAction & a) const
00013 {
00014     if(name < a.name)
00015         return true;
00016     else if(name > a.name)
00017         return false;
00018 
00019     if(duration < a.duration)
00020         return true;
00021     else if(duration > a.duration)
00022         return false;
00023 
00024     if(startTime < a.startTime)
00025         return true;
00026     else if(startTime > a.startTime)
00027         return false;
00028 
00029     if(parameters.size() < a.parameters.size())
00030         return true;
00031     else if(parameters.size() > a.parameters.size())
00032         return false;
00033 
00034     // parameters.size == a.parameters.size
00035     for(unsigned int i = 0; i < parameters.size(); i++) {
00036         if(parameters[i] < a.parameters[i])
00037             return true;
00038         else if(parameters[i] > a.parameters[i])
00039             return false;
00040     }
00041 
00042     // objects are equal, i.e. NOT a < b
00043     return false;
00044 }
00045         
00046 bool DurativeAction::operator==(const DurativeAction & a) const
00047 {
00048     if(*this < a)
00049         return false;
00050     if(a < *this)
00051         return false;
00052     return true;
00053 }
00054 
00055 DurativeAction::DurativeAction(const continual_planning_executive::TemporalAction & msg)
00056 {
00057     this->startTime = msg.start_time;
00058     this->duration = msg.duration;
00059     this->name = msg.name;
00060     this->parameters = msg.parameters;
00061 }
00062 
00063 void Plan::removeAction(const DurativeAction & a)
00064 {
00065     double earliestTime = HUGE_VAL;
00066     vector<DurativeAction>::iterator it = actions.begin();
00067     while(it != actions.end()) {
00068         if(*it == a) {
00069             it = actions.erase(it);
00070         } else {
00071             if(it->startTime < earliestTime)
00072                 earliestTime = it->startTime;
00073             it++;
00074         }
00075     }
00076 
00077     // shift all actions by the earliest time in the plan to make the first action to be at 0.0 again
00078     for(it = actions.begin(); it != actions.end(); it++) {
00079         it->startTime -= earliestTime;
00080     }
00081 }
00082 
00083 std::ostream & operator<<(std::ostream & os, const DurativeAction & a)
00084 {
00085     os << a.startTime << ": (" << a.name;
00086     for(vector<string>::const_iterator it = a.parameters.begin(); it != a.parameters.end(); it++) {
00087         os << " " << *it;
00088     }
00089     os << ") [" << a.duration << "]";
00090     return os;
00091 }
00092 
00093 std::ostream & operator<<(std::ostream & os, const Plan & p)
00094 {
00095     for(vector<DurativeAction>::const_iterator it = p.actions.begin(); it != p.actions.end(); it++) {
00096         os << *it << std::endl;
00097     }
00098     return os;
00099 }
00100 
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continual_planning_executive
Author(s): Christian Dornhege
autogenerated on Tue Jan 22 2013 12:24:43