Function plansys2::evaluate(const plansys2_msgs::msg::Tree&, std::vector<plansys2::Predicate>&, std::vector<plansys2::Function>&, bool, uint32_t)

• Defined in File Utils.hpp

Function Documentation

std::tuple<bool, bool, double> plansys2::evaluate(const plansys2_msgs::msg::Tree &tree, std::vector<plansys2::Predicate> &predicates, std::vector<plansys2::Function> &functions, bool apply = false, uint32_t node_id = 0)

Evaluate a PDDL expression represented as a tree using only local state.

Parameters:

• tree – [in] The root node of the PDDL expression.

• predicates – [inout] Current predicates state.

• functions – [inout] Current functions state.

• apply – [in] Apply result to state (default: false).

• node_id – [in] Node identifier in the tree (default: 0).

Returns:

tuple(bool, bool, double) with execution result.