predicate.h

Go to the documentation of this file.

#ifndef _PREDICATE_H_
#define _PREDICATE_H_

#include <string>
#include <map>

#include <boost/shared_ptr.hpp>
#include <boost/function.hpp>

#include <predicate_manager/common_defs.h>
#include <predicate_manager/predicate_dependent_entity.h>

#define MAX_CYCLIC_UPDATES 100

namespace predicate_manager
{
class Predicate : public PredicateDependentEntity
{
public:
    Predicate ( const std::string& name,
                const Dependencies& deps,
                bool initial_value = false );

    Predicate ( const std::string& name,
                bool initial_value = false );

    std::string getName();

    bool getValue();

    std::string setName ( const std::string& new_name );

    void setTrigger ( const boost::function<void ( bool ) > trigger );

protected:
    void setValue ( bool val );

private:
    std::string name_; 
    bool value_; 

    uint8_t requested_updates_;
    boost::function<void ( bool ) > trigger_;
};
}

#endif