DomainTranslator.hh

// Copyright QED Software 2023.
 
#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 planner
{
 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