PlannerSnapshots.h

#ifndef GRAIL_PLANNER_SNAPSHOT_H
#define GRAIL_PLANNER_SNAPSHOT_H
 
#include <vector>
#include <map>
#include <limits>
#include <utility>
#include <string>
 
namespace grail
{
 namespace planning
 {
 class WorldState;
 class Action;
 class ParametrizedObject;
 }
 
 struct PlannerWorldObjectSnapshot
 {
 std::string typeName;
 int objectId = 0;
 
 std::map<std::string, std::string> objectData{};
 };
 
 struct PlannerActionSnapshot
 {
 std::string name{};
 std::vector<std::string> parametrization{};
 std::vector<PlannerWorldObjectSnapshot> resultingWorldState{};
 
 PlannerActionSnapshot() = default;
 };
 
 struct PlannerIterationSnapshot
 {
 size_t iterationNumber = 0;
 
 std::vector<PlannerActionSnapshot> planActions = {};
 
 bool goalReached = false;
 
 double score = 0;
 double totalCost = std::numeric_limits<double>::max();
 PlannerIterationSnapshot(size_t keyIterationIndex);
 PlannerIterationSnapshot() = default;
 };
 
 
 struct PlannerReasonerSnapshot
 {
 std::vector<PlannerIterationSnapshot> iterations = {};
 
 float absoluteTime = 0;
 float relativeTime = 0;
 size_t entityId = 0;
 };
}
#endif