Generic class for a symbolic state. More...

#include <symbolicState.h>

Classes
class	OStreamMode
Public Types
typedef multimap< string, string >::const_iterator	TypedObjectConstIterator
typedef multimap< string, string >::iterator	TypedObjectIterator
Public Member Functions
void	addObject (string obj, string type)
	Add an object to the list of objects.
void	addSuperType (string type, string supertype)
	e.g. door_location - location
bool	booleanEquals (const SymbolicState &other) const
	Determine if the boolean predicates in this state are the same as in other and vice-versa.
void	clear ()
bool	equals (const SymbolicState &other) const
	Determine if all fluents in this state are the same as in other and vice-versa.
const multimap< string, string > &	getTypedObjects () const
	Get a map from type -> objects of that type.
bool	hasBooleanPredicate (const Predicate &p, bool *value) const
	Determine if this state has the given predicate.
bool	hasNumericalFluent (const Predicate &p, double *value) const
bool	hasObjectFluent (const Predicate &p, string *value) const
bool	isFulfilledBy (const SymbolicState &other) const
	Does state fulfill this state?
bool	numericalEquals (const SymbolicState &other) const
	Determine if the numerical fluents in this state are the same as in other and vice-versa.
bool	objectFluentsEquals (const SymbolicState &other) const
	Determine if the object fluents in this state are the same as in other and vice-versa.
void	printSuperTypes () const
	Output the super types map.
void	removeObject (string obj, bool removePredicates=true)
	Remove an object from the state.
void	setAllBooleanPredicates (string name, bool value)
	Set all boolean predicates with name to value.
void	setAllNumericalFluents (string name, double value)
	Set all numerical fluents with name to value.
void	setAllObjectFluents (string name, string value)
	Set all object fluents with name to value.
void	setBooleanPredicate (string name, vector< string > parameters, bool value)
	Set a boolean predicate in the state. If it does not exist it will be created.
void	setBooleanPredicate (string name, string parameters, bool value)
	Set a boolean predicate using handcoded parameters.
void	setForEachGoalStatement (string objectType, string predicateName, bool value)
void	setNumericalFluent (string name, vector< string > parameters, double value)
	Set a numerical fluent. If it does not exist it will be created.
void	setNumericalFluent (string name, string parameters, double value)
	Set a numerical fluent using handcoded parameters.
void	setObjectFluent (string name, vector< string > parameters, string value)
	Set a object fluent. If it does not exist it will be created.
void	setObjectFluent (string name, string parameters, string value)
	Set a object fluent using handcoded parameters.
	SymbolicState ()
virtual void	toPDDLGoal (std::ostream &ss) const
	Output a goal condition of all predicates.
virtual void	toPDDLProblem (std::ostream &ss) const
	Give a PDDL notation as required for writing a PDDL problem.
virtual	~SymbolicState ()
Protected Types
typedef map< Predicate, bool > ::value_type	BooleanPredicateEntry
typedef multimap< string, pair < string, bool > >	ForEachGoalStatements
typedef map< Predicate, double > ::value_type	NumericalFluentEntry
typedef map< Predicate, string > ::value_type	ObjectFluentEntry
Protected Member Functions
vector< string >	buildParameterList (string params) const
	split string at " "
bool	isMostSpecificType (string obj, string type) const
Protected Attributes
map< Predicate, bool >	_booleanPredicates
ForEachGoalStatements	_forEachGoalStatements
map< Predicate, double >	_numericalFluents
map< Predicate, string >	_objectFluents
multimap< string, string >	_superTypes
	Type -> Supertypes (including type)
multimap< string, string >	_typedObjects
	Map from type to objects of this same type.
Friends
std::ostream &	operator<< (std::ostream &os, const SymbolicState &ss)

Detailed Description

Generic class for a symbolic state.

A symbolic state represents grounded boolean predicates, numeric and object fluents.

The contents should be filled by a robot specific implementation.

Definition at line 50 of file symbolicState.h.

Member Typedef Documentation

typedef map<Predicate, bool>::value_type SymbolicState::BooleanPredicateEntry [protected]

Definition at line 197 of file symbolicState.h.

typedef multimap<string, pair<string, bool> > SymbolicState::ForEachGoalStatements [protected]

Definition at line 194 of file symbolicState.h.

typedef map<Predicate, double>::value_type SymbolicState::NumericalFluentEntry [protected]

Definition at line 198 of file symbolicState.h.

typedef map<Predicate, string>::value_type SymbolicState::ObjectFluentEntry [protected]

Definition at line 199 of file symbolicState.h.

typedef multimap<string,string>::const_iterator SymbolicState::TypedObjectConstIterator

Definition at line 63 of file symbolicState.h.

typedef multimap<string,string>::iterator SymbolicState::TypedObjectIterator

Definition at line 62 of file symbolicState.h.

Constructor & Destructor Documentation

SymbolicState::SymbolicState ( )

Definition at line 82 of file symbolicState.cpp.

SymbolicState::~SymbolicState ( ) [virtual]

Definition at line 86 of file symbolicState.cpp.

Member Function Documentation

void SymbolicState::addObject	(	string	obj,
		string	type
	)

Add an object to the list of objects.

The object will be entered for type and all its supertypes. Thus all super types have to be defined by addSuperType before.

Definition at line 90 of file symbolicState.cpp.

void SymbolicState::addSuperType	(	string	type,
		string	supertype
	)

e.g. door_location - location

Definition at line 129 of file symbolicState.cpp.

bool SymbolicState::booleanEquals ( const SymbolicState & other ) const

Determine if the boolean predicates in this state are the same as in other and vice-versa.

Definition at line 444 of file symbolicState.cpp.

vector< string > SymbolicState::buildParameterList ( string params ) const [protected]

split string at " "

Definition at line 598 of file symbolicState.cpp.

void SymbolicState::clear ( ) [inline]

Definition at line 65 of file symbolicState.h.

bool SymbolicState::equals ( const SymbolicState & other ) const

Determine if all fluents in this state are the same as in other and vice-versa.

Definition at line 518 of file symbolicState.cpp.

const multimap<string, string>& SymbolicState::getTypedObjects ( ) const [inline]

Get a map from type -> objects of that type.

Definition at line 94 of file symbolicState.h.

bool SymbolicState::hasBooleanPredicate	(	const Predicate &	p,
		bool *	value
	)		const

Determine if this state has the given predicate.

Parameters:

[out] value,if != NULL and the hasBooleanPredicate is true, the value will be filled.

Definition at line 357 of file symbolicState.cpp.

bool SymbolicState::hasNumericalFluent	(	const Predicate &	p,
		double *	value
	)		const

Definition at line 367 of file symbolicState.cpp.

bool SymbolicState::hasObjectFluent	(	const Predicate &	p,
		string *	value
	)		const

Definition at line 377 of file symbolicState.cpp.

bool SymbolicState::isFulfilledBy ( const SymbolicState & other ) const

Does state fulfill this state?

Check if the other state fulfills this (partial) state, i.e. for each predicate in this state, there is a corresponding one in the other state and it has the same truth value. Predicates in the other state that do not exist in this state are ignored. Numeric fluents need to be the same up to double_equals.

Commonly this is a goal state and the other state is the current state.

Returns:: true, if for each predicate in this state, there is a consistent one in other.

Definition at line 388 of file symbolicState.cpp.

bool SymbolicState::isMostSpecificType	(	string	obj,
		string	type
	)		const `[protected]`

Returns:: true, if type is the most specific type for obj door_location - location

doorl1 - door_location -> true doorl1 - location -> false

Definition at line 176 of file symbolicState.cpp.

bool SymbolicState::numericalEquals ( const SymbolicState & other ) const

Determine if the numerical fluents in this state are the same as in other and vice-versa.

Definition at line 470 of file symbolicState.cpp.

bool SymbolicState::objectFluentsEquals ( const SymbolicState & other ) const

Determine if the object fluents in this state are the same as in other and vice-versa.

Definition at line 494 of file symbolicState.cpp.

void SymbolicState::printSuperTypes ( ) const

Output the super types map.

Definition at line 203 of file symbolicState.cpp.

void SymbolicState::removeObject	(	string	obj,
		bool	removePredicates = `true`
	)

Remove an object from the state.

Parameters:

[in] removePredicates if true, all predicates/fluents that contain obj will also be removed.

Definition at line 227 of file symbolicState.cpp.

void SymbolicState::setAllBooleanPredicates	(	string	name,
		bool	value
	)

Set all boolean predicates with name to value.

Definition at line 298 of file symbolicState.cpp.

void SymbolicState::setAllNumericalFluents	(	string	name,
		double	value
	)

Set all numerical fluents with name to value.

Definition at line 321 of file symbolicState.cpp.

void SymbolicState::setAllObjectFluents	(	string	name,
		string	value
	)

Set all object fluents with name to value.

Definition at line 344 of file symbolicState.cpp.

void SymbolicState::setBooleanPredicate	(	string	name,
		vector< string >	parameters,
		bool	value
	)

Set a boolean predicate in the state. If it does not exist it will be created.

Definition at line 283 of file symbolicState.cpp.

void SymbolicState::setBooleanPredicate	(	string	name,
		string	parameters,
		bool	value
	)

Set a boolean predicate using handcoded parameters.

The parameters string is a space-separated string of the form: "robot0 x1 test" and will be parsed into the single parameters.

Definition at line 292 of file symbolicState.cpp.

void SymbolicState::setForEachGoalStatement	(	string	objectType,
		string	predicateName,
		bool	value
	)

Create a forall statement for a object type with the specified predicate and value. Useful for goal conditions.

Definition at line 352 of file symbolicState.cpp.

void SymbolicState::setNumericalFluent	(	string	name,
		vector< string >	parameters,
		double	value
	)

Set a numerical fluent. If it does not exist it will be created.

Definition at line 306 of file symbolicState.cpp.

void SymbolicState::setNumericalFluent	(	string	name,
		string	parameters,
		double	value
	)

Set a numerical fluent using handcoded parameters.

Definition at line 315 of file symbolicState.cpp.

void SymbolicState::setObjectFluent	(	string	name,
		vector< string >	parameters,
		string	value
	)

Set a object fluent. If it does not exist it will be created.

Definition at line 329 of file symbolicState.cpp.

void SymbolicState::setObjectFluent	(	string	name,
		string	parameters,
		string	value
	)

Set a object fluent using handcoded parameters.

Definition at line 338 of file symbolicState.cpp.

void SymbolicState::toPDDLGoal ( std::ostream & ss ) const [virtual]

Output a goal condition of all predicates.

Definition at line 558 of file symbolicState.cpp.

void SymbolicState::toPDDLProblem ( std::ostream & ss ) const [virtual]

Give a PDDL notation as required for writing a PDDL problem.

Definition at line 524 of file symbolicState.cpp.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const SymbolicState &	ss
	)		`[friend]`

Definition at line 648 of file symbolicState.cpp.

Member Data Documentation

map<Predicate, bool> SymbolicState::_booleanPredicates [protected]

Definition at line 190 of file symbolicState.h.

ForEachGoalStatements SymbolicState::_forEachGoalStatements [protected]

Definition at line 195 of file symbolicState.h.

map<Predicate, double> SymbolicState::_numericalFluents [protected]

Definition at line 191 of file symbolicState.h.

map<Predicate, string> SymbolicState::_objectFluents [protected]

Definition at line 192 of file symbolicState.h.

multimap<string, string> SymbolicState::_superTypes [protected]

Type -> Supertypes (including type)

Definition at line 186 of file symbolicState.h.

multimap<string, string> SymbolicState::_typedObjects [protected]

Map from type to objects of this same type.

should also contain entries for all supertypes, e.g.: l1_door1 has an entry for door_location and for location (given addSuperType was inserted)

Definition at line 184 of file symbolicState.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions