Program Listing for File Ground.h

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#pragma once

#include "plansys2_msgs/msg/node.hpp"
#include "plansys2_msgs/msg/tree.hpp"

#include "plansys2_pddl_parser/Lifted.h"

namespace parser { namespace pddl {

class Ground : public ParamCond {

public:

    Lifted * lifted;

    Ground()
        : ParamCond(), lifted( 0 ) {}

    Ground( const std::string s, const IntVec & p = IntVec() )
        : ParamCond( s, p ), lifted( 0 ) {}

    Ground( Lifted * l, const IntVec & p = IntVec() )
        : ParamCond( l->name, p ), lifted( l ) {}

    Ground( const Ground * g, Domain & d );

    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 parse( Stringreader & f, TokenStruct< std::string > & ts, Domain & d );

    void addParams( int m, unsigned n ) {
        for ( unsigned i = 0; i < params.size(); ++i )
            if ( params[i] >= m ) params[i] += n;
    }

    Condition * copy( Domain & d ) {
        return new Ground( this, d );
    }

};

typedef std::vector< Ground * > GroundVec;

} } // namespaces