WorldState.hh

// Copyright QED Software 2023.
 
#ifndef GRAIL_WORLD_STATE_H
#define GRAIL_WORLD_STATE_H
 
#include <sstream>
#include <vector>
#include "WorldObject.hh"
#include "../Domain.hh"
 
namespace grail
{
namespace planner
{
    class WorldState : public ParametrizedObject
    {
    public:
        WorldState(MemoryPool* memory, const std::shared_ptr<Domain>& domain,
                   const std::vector<WorldObject>& worldObjects);
        WorldState(const WorldState& other);
        WorldState(WorldState&& other) = default;
        virtual ~WorldState() override = default;
 
        WorldState& operator=(const WorldState& other);
        WorldState& operator=(WorldState&& other) = default;
 
        bool operator==(const WorldState& other) const;
 
        std::vector<class Action> GetLegalActions() const;
        std::vector<std::vector<unsigned int>> GenerateParameterLists(
            const std::vector<std::vector<unsigned int>>& precedingParameterLists,
            unsigned int searchedTypeIndex) const;
 
        const WorldObject* GetObjectByIndex(unsigned int index) const;
        WorldObject* GetObjectByIndex(unsigned int index);
        const std::map<unsigned int, WorldObject>& GetObjectMap() const;
        std::shared_ptr<Domain> GetDomain() const;
 
        WorldObject& AddObject(const std::string& typeName);
 
        void RemoveObject(unsigned int objectIndex);
        void AddQueuedObjects();
        void RemoveQueuedObjects();
 
        std::vector<const WorldObject*> GetObjectsOfType(const std::string& typeName) const;
 
        std::vector<WorldObject*> GetObjectsOfType(const std::string& typeName);
 
        int CountObjectsOfType(const std::string& typeName) const;
 
    private:
        std::shared_ptr<Domain> domain = nullptr;
        std::map<unsigned int, WorldObject> objects{};
        std::vector<WorldObject> objectsToAdd{};
        //TODO: move it out of this class, preferably to a temporal object (that is removed when not needed anymore)
        //REVIEW: resolve todo
 
        std::vector<unsigned int> indicesToRemove{};
        // 0 is reserved for world
        unsigned int nextIndex = 1;
    };
}
}
 
#endif //GRAIL_WORLD_STATE_H