.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_problem_expert_include_plansys2_problem_expert_ProblemExpert.hpp:

Program Listing for File ProblemExpert.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_problem_expert_include_plansys2_problem_expert_ProblemExpert.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_problem_expert/include/plansys2_problem_expert/ProblemExpert.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_PROBLEM_EXPERT__PROBLEMEXPERT_HPP_
   #define PLANSYS2_PROBLEM_EXPERT__PROBLEMEXPERT_HPP_
   
   #include <optional>
   #include <string>
   #include <vector>
   #include <memory>
   
   #include "plansys2_msgs/msg/node.hpp"
   #include "plansys2_msgs/msg/param.hpp"
   #include "plansys2_msgs/msg/tree.hpp"
   
   #include "plansys2_pddl_parser/Utils.h"
   #include "plansys2_problem_expert/ProblemExpertInterface.hpp"
   #include "plansys2_domain_expert/DomainExpert.hpp"
   
   namespace plansys2
   {
   
   class ProblemExpert : public ProblemExpertInterface
   {
   public:
     explicit ProblemExpert(std::shared_ptr<DomainExpert> & domain_expert);
   
     std::vector<plansys2::Instance> getInstances();
     bool addInstance(const plansys2::Instance & instance);
     bool removeInstance(const plansys2::Instance & instance);
     std::optional<plansys2::Instance> getInstance(const std::string & name);
   
     std::vector<plansys2::Predicate> getPredicates();
     bool addPredicate(const plansys2::Predicate & predicate);
     bool removePredicate(const plansys2::Predicate & predicate);
     bool existPredicate(const plansys2::Predicate & predicate);
     std::optional<plansys2::Predicate> getPredicate(const std::string & expr);
   
     std::vector<plansys2::Function> getFunctions();
     bool addFunction(const plansys2::Function & function);
     bool removeFunction(const plansys2::Function & function);
     bool existFunction(const plansys2::Function & function);
     bool updateFunction(const plansys2::Function & function);
     std::optional<plansys2::Function> getFunction(const std::string & expr);
   
     plansys2::Goal getGoal();
     bool setGoal(const plansys2::Goal & goal);
     bool isGoalSatisfied(const plansys2::Goal & goal);
   
     bool clearGoal();
     bool clearKnowledge();
   
     std::string getProblem();
     bool addProblem(const std::string & problem_str);
   
     bool existInstance(const std::string & name);
     bool isValidType(const std::string & type);
     bool isValidPredicate(const plansys2::Predicate & predicate);
     bool isValidFunction(const plansys2::Function & function);
     bool isValidGoal(const plansys2::Goal & goal);
   
   private:
     bool checkPredicateTreeTypes(
       const plansys2_msgs::msg::Tree & tree,
       std::shared_ptr<DomainExpert> & domain_expert_,
       uint8_t node_id = 0);
   
     void removeInvalidPredicates(
       std::vector<plansys2::Predicate> & predicates,
       const plansys2::Instance & instance);
     void removeInvalidFunctions(
       std::vector<plansys2::Function> & functions,
       const plansys2::Instance & instance);
     void removeInvalidGoals(const plansys2::Instance & instance);
   
     std::vector<plansys2::Instance> instances_;
     std::vector<plansys2::Predicate> predicates_;
     std::vector<plansys2::Function> functions_;
     plansys2::Goal goal_;
   
     std::shared_ptr<DomainExpert> domain_expert_;
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_PROBLEM_EXPERT__PROBLEMEXPERT_HPP_