prada_planner_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _prada_planner_alg_h_
#define _prada_planner_alg_h_

#include <iri_prada_planner/PradaPlannerConfig.h>
#include "mutex.h"

//include prada_planner_alg main library
// #include <TL/logicDefinitions.h>
// #include <TL/ruleReasoning.h>
// #include <TL/prada.h>
#include <relational/prada.h>
#include <relational/robotManipulationSymbols.h>

//#include <iri_planning_msgs/PradaPlanSrv.h>

// std::min
#include <algorithm>

class PradaPlannerAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    relational::RuleSet* rules;
//     relational::RuleSet *ground_rules;
    relational::Reward* reward;
    relational::NID_Planner* planner;
    relational::SymbolicState * state;
    
    // config files parameters
    std::string conf_file_language, conf_file_reward, conf_file_rules, conf_file_state;
    
    // planning for board / small objects
    bool board_plan;

    // prada parameters
    int max_prada_horizon, prada_num_samples;
    double prada_discount_factor, prada_noise_softener;

    
  public:
    typedef iri_prada_planner::PradaPlannerConfig Config;

    Config config_;

    PradaPlannerAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all prada_planner_alg interface methods to retrieve and set
    // the driver parameters

    ~PradaPlannerAlgorithm(void);
    
    
    void initializePlan();
    
    void setPlanStateFromFile();
    
    void setupPlanner(relational::SymbolicState *state);
    
    relational::Literal* getSinglePlan(uint32_t plan_length);
    
    relational::LitL getCompletePlan(uint32_t plan_length);
    
    void reloadRules();
    
    
    uint32_t getRecommendedPlanLength(uint32_t ellipses_size);
};

#endif