ActionTemplate.hh

// Copyright QED Software 2023.
 
#ifndef GRAIL_ACTION_TEMPLATE_H
#define GRAIL_ACTION_TEMPLATE_H
 
#include <functional>
#include <string>
#include <vector>
 
namespace grail
{
namespace planner
{
    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