DomainTranslator.hh

#ifndef GRAIL_DOMAIN_TRANSLATOR_H
#define GRAIL_DOMAIN_TRANSLATOR_H
 
#include "IPlannerObject.hh"
#include "ObjectIndexBinding.hh"
#include "../GrailCore/Behavior.hh"
#include "../GrailCore/Plan.hh"
 
namespace grail
{
    namespace planning
    {
        class Goal;
 
        class DomainTranslator
        {
        public:
            DomainTranslator(bool isDomainReusable = true);
            DomainTranslator(const DomainTranslator&) = default;
            DomainTranslator(DomainTranslator&&) = default;
 
            virtual ~DomainTranslator() = default;
 
            DomainTranslator& operator =(const DomainTranslator&) = default;
            DomainTranslator& operator =(DomainTranslator&&) = default;
 
            std::unique_ptr<WorldState> GetWorldState(AIEntity& entity, const class Goal& goal, MemoryPool* memory);
 
            const ObjectIndexBinding& GetObjectIndexBinding() const;
 
            virtual Plan TranslatePlan(const AIEntity& entity,
                                       const Planner::AbstractPlan& plan,
                                       const Goal& goal) const = 0;
 
        protected:
            virtual std::vector<IPlannerObject*> GeneratePlannerObjects(AIEntity& entity,
                                                                        const Goal& goal,
                                                                        MemoryPool* memory) = 0;
 
            virtual std::vector<WorldObjectType> CreateObjectTypes(const AIEntity& entity,
                                                                   const Goal& goal,
                                                                   MemoryPool* memory) = 0;
 
            virtual void AddActionTemplates(const AIEntity& entity,
                                            const std::shared_ptr<Domain>& domain,
                                            const Goal& goal) = 0;
 
            virtual void SetWorldStateParameters(const AIEntity& entity, WorldState& state, const Goal& goal) const;
 
            ObjectIndexBinding binding{};
 
        private:
            bool isDomainReusable = false;
            std::shared_ptr<Domain> domain = nullptr;
        };
    }
}
#endif  //GRAIL_DOMAIN_TRANSLATOR_H