.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_core_include_plansys2_core_Types.hpp:

Program Listing for File Types.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_core_include_plansys2_core_Types.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_core/include/plansys2_core/Types.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 Intelligent Robotics Lab
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef PLANSYS2_CORE__TYPES_HPP_
   #define PLANSYS2_CORE__TYPES_HPP_
   
   #include <string>
   #include <vector>
   
   #include "plansys2_msgs/msg/node.hpp"
   #include "plansys2_msgs/msg/param.hpp"
   #include "plansys2_msgs/msg/tree.hpp"
   
   #include "plansys2_pddl_parser/Utils.h"
   
   namespace plansys2
   {
   
   class Instance : public plansys2_msgs::msg::Param
   {
   public:
     Instance()
     : plansys2_msgs::msg::Param() {}
     explicit Instance(const std::string & name, const std::string & type = {})
     : plansys2_msgs::msg::Param(parser::pddl::fromStringParam(name, type)) {}
     Instance(const plansys2_msgs::msg::Param & instance)  // NOLINT(runtime/explicit)
     : plansys2_msgs::msg::Param(instance) {}
   };
   
   class Predicate : public plansys2_msgs::msg::Node
   {
   public:
     Predicate()
     : plansys2_msgs::msg::Node() {}
     explicit Predicate(const std::string & pred)
     : plansys2_msgs::msg::Node(parser::pddl::fromStringPredicate(pred)) {}
     Predicate(const plansys2_msgs::msg::Node & pred)  // NOLINT(runtime/explicit)
     : plansys2_msgs::msg::Node(pred) {}
   };
   
   class Function : public plansys2_msgs::msg::Node
   {
   public:
     Function()
     : plansys2_msgs::msg::Node() {}
     explicit Function(const std::string & func)
     : plansys2_msgs::msg::Node(parser::pddl::fromStringFunction(func)) {}
     Function(const plansys2_msgs::msg::Node & func)  // NOLINT(runtime/explicit)
     : plansys2_msgs::msg::Node(func) {}
   };
   
   class Goal : public plansys2_msgs::msg::Tree
   {
   public:
     Goal()
     : plansys2_msgs::msg::Tree() {}
     explicit Goal(const std::string & goal)
     : plansys2_msgs::msg::Tree(parser::pddl::fromString(goal)) {}
     Goal(const plansys2_msgs::msg::Tree & goal)  // NOLINT(runtime/explicit)
     : plansys2_msgs::msg::Tree(goal) {}
   };
   
   template<class toT, class fromT>
   std::vector<toT>
   convertVector(const std::vector<fromT> & in_vector)
   {
     std::vector<toT> ret;
     for (const auto & item : in_vector) {
       ret.push_back(item);
     }
     return ret;
   }
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_CORE__TYPES_HPP_