tfdm_interface.h
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00001 #ifndef TFDM_INTERFACE_H
00002 #define TFDM_INTERFACE_H
00003 
00004 #include <string>
00005 #include "continual_planning_executive/plannerInterface.h"
00006 
00007 namespace tfd_modules
00008 {
00009 
00010     class TFDMInterface : public continual_planning_executive::PlannerInterface
00011     {
00012         public:
00013             TFDMInterface();
00014             ~TFDMInterface();
00015 
00019             virtual void initialize(const std::string & domainFile, const std::vector<std::string> & options);
00020 
00021             virtual PlannerResult plan(const SymbolicState & init, const SymbolicState & goal, Plan & plan);
00022             
00023             virtual PlannerResult monitor(const SymbolicState & init, const SymbolicState & goal, const Plan & plan);
00024  
00025             virtual void setTimeout(double secs);
00026 
00027 
00029             void setProblemFileName(const std::string & file) {
00030                 _problemFileName = file;
00031             }
00032 
00034 
00038             void setModuleOptions(const std::string & options) {
00039                 _moduleOptions = options;
00040             }
00041 
00042         protected:
00043             bool writeProblem(const SymbolicState & init, const SymbolicState & goal) const;
00044 
00045             PlannerResult callPlanner(const std::string & domain, const std::string & problem,
00046                    const std::string & planNamePrefix);
00047             PlannerResult callMonitoring(const std::string & domain, const std::string & problem,
00048                    const std::string & planNamePrefix);
00049 
00050         protected:
00051             std::string _domainFile;
00052             std::string _domainName;
00053             std::string _problemFileName;
00054             std::string _moduleOptions;
00055     };
00056 
00057 };
00058 
00059 #endif
00060 


tfd_modules
Author(s): Maintained by Christian Dornhege (see AUTHORS file).
autogenerated on Mon Oct 6 2014 07:52:06