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