ActionTemplate.hh

#ifndef GRAIL_ACTION_TEMPLATE_H
#define GRAIL_ACTION_TEMPLATE_H
 
#include <functional>
#include <vector>
#include <string>
 
namespace grail
{
    namespace planning
    {
        class WorldObject;
        class WorldState;
 
        using PreconditionFunction = std::function<bool(const std::vector<const WorldObject*>&, const WorldState&)>;
        using EffectFunction = std::function<void(const std::vector<WorldObject*>&, WorldState&)>;
        using CostFunction = std::function<double(const std::vector<const WorldObject*>&, const WorldState&)>;
 
        class ActionTemplate
        {
            friend class Action;
 
        public:
            ActionTemplate(const std::string& name, const std::vector<unsigned int>& actionParameterTypes);
            ActionTemplate(ActionTemplate&& other) = default;
            ~ActionTemplate() = default;
 
            void SetPreconditions(PreconditionFunction preconditionFunction);
 
            void SetEffects(EffectFunction effectFunction);
 
            void SetCostFunction(CostFunction costFunction);
 
            void SetTypeId(int id);
            int GetTypeId() const;
            const std::string& GetName() const;
            std::vector<class Action> GenerateActions(const class WorldState& worldState) const;
 
        private:
            std::string name = "";
            std::vector<unsigned int> actionParameterTypes{};
            PreconditionFunction preconditions = [](const std::vector<const WorldObject*>&, const WorldState&) {return true; };
            EffectFunction effects = [](const std::vector<WorldObject*>&, WorldState&) {};
            CostFunction cost = [](const std::vector<const WorldObject*>&, const WorldState&) {return 1.0; };
            int typeId = -1;
        };
    }
}
#endif // GRAIL_ACTION_TEMPLATE_H