.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_problem_expert_include_plansys2_problem_expert_ProblemExpertClient.hpp:

Program Listing for File ProblemExpertClient.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_problem_expert_include_plansys2_problem_expert_ProblemExpertClient.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_problem_expert/include/plansys2_problem_expert/ProblemExpertClient.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__PROBLEMEXPERTCLIENT_HPP_
   #define PLANSYS2_PROBLEM_EXPERT__PROBLEMEXPERTCLIENT_HPP_
   
   #include <optional>
   #include <string>
   #include <vector>
   
   #include "plansys2_problem_expert/ProblemExpertInterface.hpp"
   #include "plansys2_core/Types.hpp"
   
   #include "plansys2_msgs/msg/node.hpp"
   #include "plansys2_msgs/msg/param.hpp"
   #include "plansys2_msgs/msg/tree.hpp"
   #include "plansys2_msgs/srv/add_problem.hpp"
   #include "plansys2_msgs/srv/add_problem_goal.hpp"
   #include "plansys2_msgs/srv/affect_node.hpp"
   #include "plansys2_msgs/srv/affect_param.hpp"
   #include "plansys2_msgs/srv/exist_node.hpp"
   #include "plansys2_msgs/srv/get_problem.hpp"
   #include "plansys2_msgs/srv/get_problem_goal.hpp"
   #include "plansys2_msgs/srv/get_problem_instance_details.hpp"
   #include "plansys2_msgs/srv/get_problem_instances.hpp"
   #include "plansys2_msgs/srv/get_node_details.hpp"
   #include "plansys2_msgs/srv/get_states.hpp"
   #include "plansys2_msgs/srv/is_problem_goal_satisfied.hpp"
   #include "plansys2_msgs/srv/remove_problem_goal.hpp"
   #include "plansys2_msgs/srv/clear_problem_knowledge.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   
   namespace plansys2
   {
   
   class ProblemExpertClient : public ProblemExpertInterface
   {
   public:
     ProblemExpertClient();
   
     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 & predicate);
   
     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 & function);
   
     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);
   
     rclcpp::Time getUpdateTime() const {return update_time_;}
   
   private:
     rclcpp::Client<plansys2_msgs::srv::AddProblem>::SharedPtr
       add_problem_client_;
     rclcpp::Client<plansys2_msgs::srv::AddProblemGoal>::SharedPtr
       add_problem_goal_client_;
     rclcpp::Client<plansys2_msgs::srv::AffectParam>::SharedPtr
       add_problem_instance_client_;
     rclcpp::Client<plansys2_msgs::srv::AffectNode>::SharedPtr
       add_problem_predicate_client_;
     rclcpp::Client<plansys2_msgs::srv::AffectNode>::SharedPtr
       add_problem_function_client_;
     rclcpp::Client<plansys2_msgs::srv::GetProblemGoal>::SharedPtr
       get_problem_goal_client_;
     rclcpp::Client<plansys2_msgs::srv::GetProblemInstanceDetails>::SharedPtr
       get_problem_instance_details_client_;
     rclcpp::Client<plansys2_msgs::srv::GetProblemInstances>::SharedPtr
       get_problem_instances_client_;
     rclcpp::Client<plansys2_msgs::srv::GetNodeDetails>::SharedPtr
       get_problem_predicate_details_client_;
     rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr
       get_problem_predicates_client_;
     rclcpp::Client<plansys2_msgs::srv::GetNodeDetails>::SharedPtr
       get_problem_function_details_client_;
     rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr
       get_problem_functions_client_;
     rclcpp::Client<plansys2_msgs::srv::GetProblem>::SharedPtr
       get_problem_client_;
     rclcpp::Client<plansys2_msgs::srv::RemoveProblemGoal>::SharedPtr
       remove_problem_goal_client_;
     rclcpp::Client<plansys2_msgs::srv::ClearProblemKnowledge>::SharedPtr
       clear_problem_knowledge_client_;
     rclcpp::Client<plansys2_msgs::srv::AffectParam>::SharedPtr
       remove_problem_instance_client_;
     rclcpp::Client<plansys2_msgs::srv::AffectNode>::SharedPtr
       remove_problem_predicate_client_;
     rclcpp::Client<plansys2_msgs::srv::AffectNode>::SharedPtr
       remove_problem_function_client_;
     rclcpp::Client<plansys2_msgs::srv::ExistNode>::SharedPtr
       exist_problem_predicate_client_;
     rclcpp::Client<plansys2_msgs::srv::ExistNode>::SharedPtr
       exist_problem_function_client_;
     rclcpp::Client<plansys2_msgs::srv::AffectNode>::SharedPtr
       update_problem_function_client_;
     rclcpp::Client<plansys2_msgs::srv::IsProblemGoalSatisfied>::SharedPtr
       is_problem_goal_satisfied_client_;
     rclcpp::Node::SharedPtr node_;
     rclcpp::Time update_time_;
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_PROBLEM_EXPERT__PROBLEMEXPERTCLIENT_HPP_