plannerInterface.h
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00001 #ifndef PLANNER_INTERFACE_H
00002 #define PLANNER_INTERFACE_H
00003 
00004 #include <string>
00005 #include <vector>
00006 #include "continual_planning_executive/plan.h"
00007 #include "continual_planning_executive/symbolicState.h"
00008 
00009 namespace continual_planning_executive
00010 {
00011 
00013     class PlannerInterface
00014     {
00015         public:
00016             enum PlannerResult {
00017                 PR_SUCCESS,             
00018                 PR_SUCCESS_TIMEOUT,     
00019                 PR_FAILURE_TIMEOUT,     
00020                 PR_FAILURE_UNREACHABLE, 
00021                 PR_FAILURE_OTHER,       
00022             };
00023 
00025             PlannerInterface() {}
00026             virtual ~PlannerInterface() {}
00027 
00029 
00033             virtual void initialize(const std::string & domainFile, const std::vector<std::string> & options) = 0;
00034 
00036 
00041             virtual PlannerResult plan(const SymbolicState & init, const SymbolicState & goal, Plan & plan) = 0;
00042             
00044 
00049             virtual PlannerResult monitor(const SymbolicState & init, const SymbolicState & goal, const Plan & plan) = 0;
00050 
00051             virtual void setTimeout(double secs) = 0;
00052 
00053             static std::string PlannerResultStr(enum PlannerResult pr);
00054     };
00055 
00056     inline std::string PlannerInterface::PlannerResultStr(enum PlannerResult pr)
00057     {
00058         switch(pr) {
00059             case PR_SUCCESS:
00060                 return "PR_SUCCESS";
00061             case PR_SUCCESS_TIMEOUT:
00062                 return "PR_SUCCESS_TIMEOUT";
00063             case PR_FAILURE_TIMEOUT:
00064                 return "PR_FAILURE_TIMEOUT";
00065             case PR_FAILURE_UNREACHABLE:
00066                 return "PR_FAILURE_UNREACHABLE";
00067             case PR_FAILURE_OTHER:
00068                 return "PR_FAILURE_OTHER";
00069         }
00070         return "INVALID PLANNER RESULT";
00071     }
00072 
00073 };
00074 
00075 #endif
00076 


continual_planning_executive
Author(s): Christian Dornhege
autogenerated on Mon Oct 6 2014 07:51:56