.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_domain_expert_include_plansys2_domain_expert_DomainExpertClient.hpp:

Program Listing for File DomainExpertClient.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_domain_expert_include_plansys2_domain_expert_DomainExpertClient.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_domain_expert/include/plansys2_domain_expert/DomainExpertClient.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_DOMAIN_EXPERT__DOMAINEXPERTCLIENT_HPP_
   #define PLANSYS2_DOMAIN_EXPERT__DOMAINEXPERTCLIENT_HPP_
   
   #include <optional>
   #include <string>
   #include <vector>
   #include <memory>
   
   #include "plansys2_core/Types.hpp"
   #include "plansys2_domain_expert/DomainExpertInterface.hpp"
   
   #include "plansys2_msgs/msg/action.hpp"
   #include "plansys2_msgs/msg/durative_action.hpp"
   #include "plansys2_msgs/msg/node.hpp"
   
   #include "plansys2_msgs/srv/get_domain.hpp"
   #include "plansys2_msgs/srv/get_domain_name.hpp"
   #include "plansys2_msgs/srv/get_domain_types.hpp"
   #include "plansys2_msgs/srv/get_domain_constants.hpp"
   #include "plansys2_msgs/srv/get_domain_actions.hpp"
   #include "plansys2_msgs/srv/get_domain_action_details.hpp"
   #include "plansys2_msgs/srv/get_domain_durative_action_details.hpp"
   #include "plansys2_msgs/srv/get_node_details.hpp"
   #include "plansys2_msgs/srv/get_states.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   
   namespace plansys2
   {
   
   
   class DomainExpertClient : public DomainExpertInterface
   {
   public:
     DomainExpertClient();
   
   
     std::string getName();
   
   
     std::vector<std::string> getTypes();
   
   
     std::vector<std::string> getConstants(const std::string & type);
   
   
     std::vector<plansys2::Predicate> getPredicates();
   
   
     std::optional<plansys2::Predicate> getPredicate(const std::string & predicate);
   
   
     std::vector<plansys2::Function> getFunctions();
   
   
     std::optional<plansys2::Function> getFunction(const std::string & function);
   
   
     std::vector<std::string> getActions();
   
   
     plansys2_msgs::msg::Action::SharedPtr getAction(
       const std::string & action,
       const std::vector<std::string> & params = {});
   
   
     std::vector<std::string> getDurativeActions();
   
   
     plansys2_msgs::msg::DurativeAction::SharedPtr getDurativeAction(
       const std::string & action,
       const std::vector<std::string> & params = {});
   
   
     std::string getDomain();
   
   private:
     rclcpp::Node::SharedPtr node_;
   
     rclcpp::Client<plansys2_msgs::srv::GetDomain>::SharedPtr get_domain_client_;
     rclcpp::Client<plansys2_msgs::srv::GetDomainName>::SharedPtr get_name_client_;
     rclcpp::Client<plansys2_msgs::srv::GetDomainTypes>::SharedPtr get_types_client_;
     rclcpp::Client<plansys2_msgs::srv::GetDomainConstants>::SharedPtr get_constants_client_;
     rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr get_predicates_client_;
     rclcpp::Client<plansys2_msgs::srv::GetStates>::SharedPtr get_functions_client_;
     rclcpp::Client<plansys2_msgs::srv::GetDomainActions>::SharedPtr get_actions_client_;
     rclcpp::Client<plansys2_msgs::srv::GetDomainActions>::SharedPtr get_durative_actions_client_;
     rclcpp::Client<plansys2_msgs::srv::GetNodeDetails>::SharedPtr get_predicate_details_client_;
     rclcpp::Client<plansys2_msgs::srv::GetNodeDetails>::SharedPtr get_function_details_client_;
     rclcpp::Client<plansys2_msgs::srv::GetDomainActionDetails>::SharedPtr get_action_details_client_;
     rclcpp::Client<plansys2_msgs::srv::GetDomainDurativeActionDetails>::SharedPtr
       get_durative_action_details_client_;
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_DOMAIN_EXPERT__DOMAINEXPERTCLIENT_HPP_