Program Listing for File Action.h

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#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