.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_pddl_parser_include_plansys2_pddl_parser_Action.h:

Program Listing for File Action.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_pddl_parser_include_plansys2_pddl_parser_Action.h>` (``/tmp/ws/src/ros2_planning_system/plansys2_pddl_parser/include/plansys2_pddl_parser/Action.h``)

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

.. code-block:: cpp

   
   #pragma once
   
   #include "plansys2_msgs/msg/node.hpp"
   #include "plansys2_msgs/msg/tree.hpp"
   
   #include "plansys2_pddl_parser/Ground.h"
   
   namespace parser { namespace pddl {
   
   class Action : public ParamCond {
   
   public:
   
       Condition *pre, *eff;
   
       Action( const std::string & s )
           : ParamCond( s ), pre( 0 ), eff( 0 ) {}
   
       Action( ParamCond * c )
           : ParamCond( c ), pre( 0 ), eff( 0 ) {}
   
       Action( const Action * a, Domain & d )
           : ParamCond( a ), pre( 0 ), eff( 0 ) {
           if ( a->pre ) pre = a->pre->copy( d );
           if ( a->eff ) eff = a->eff->copy( d );
       }
   
       virtual ~Action() {
           if ( pre ) delete pre;
           if ( eff ) delete eff;
       }
   
       void print( std::ostream & s ) const {
           s << name << params << "\n";
           s << "Pre: " << pre;
           if ( eff ) s << "Eff: " << eff;
       }
   
       virtual double duration() {
           return 1;
       }
   
       void PDDLPrint( std::ostream & s, unsigned indent, const TokenStruct< std::string > & ts, const Domain & d ) const override;
   
       plansys2_msgs::msg::Node::SharedPtr getTree( plansys2_msgs::msg::Tree & tree, const Domain & d, const std::vector<std::string> & replace = {} ) const override;
   
       void parseConditions( Stringreader & f, TokenStruct< std::string > & ts, Domain & d );
   
       void parse( Stringreader & f, TokenStruct< std::string > & ts, Domain & d );
   
       void addParams( int m, unsigned n ) {}
   
       void addParams( const IntVec & v ) {
           if ( pre ) pre->addParams( params.size(), v.size() );
           if ( eff ) eff->addParams( params.size(), v.size() );
           params.insert( params.end(), v.begin(), v.end() );
       }
   
       Condition * copy( Domain & d ) {
           return new Action( this, d );
       }
   
       CondVec precons();
   
       CondVec effects();
   
       GroundVec addEffects();
   
       GroundVec deleteEffects();
   
   protected:
   
       CondVec getSubconditionsFromCondition( Condition * c );
   
       GroundVec getGroundsFromCondition( Condition * c, bool neg );
   };
   
   typedef std::vector< Action * > ActionVec;
   
   } } // namespaces