plannerInterface.h

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#ifndef PLANNER_INTERFACE_H
#define PLANNER_INTERFACE_H

#include <string>
#include <vector>
#include "continual_planning_executive/plan.h"
#include "continual_planning_executive/symbolicState.h"

namespace continual_planning_executive
{

    class PlannerInterface
    {
        public:
            enum PlannerResult {
                PR_SUCCESS,             
                PR_SUCCESS_TIMEOUT,     
                PR_FAILURE_TIMEOUT,     
                PR_FAILURE_UNREACHABLE, 
                PR_FAILURE_OTHER,       
            };

            PlannerInterface() {}
            virtual ~PlannerInterface() {}


            virtual void initialize(const std::string & domainFile, const std::vector<std::string> & options) = 0;


            virtual PlannerResult plan(const SymbolicState & init, const SymbolicState & goal, Plan & plan) = 0;
            

            virtual PlannerResult monitor(const SymbolicState & init, const SymbolicState & goal, const Plan & plan) = 0;

            virtual void setTimeout(double secs) = 0;

            static std::string PlannerResultStr(enum PlannerResult pr);
    };

    inline std::string PlannerInterface::PlannerResultStr(enum PlannerResult pr)
    {
        switch(pr) {
            case PR_SUCCESS:
                return "PR_SUCCESS";
            case PR_SUCCESS_TIMEOUT:
                return "PR_SUCCESS_TIMEOUT";
            case PR_FAILURE_TIMEOUT:
                return "PR_FAILURE_TIMEOUT";
            case PR_FAILURE_UNREACHABLE:
                return "PR_FAILURE_UNREACHABLE";
            case PR_FAILURE_OTHER:
                return "PR_FAILURE_OTHER";
        }
        return "INVALID PLANNER RESULT";
    }

};

#endif