grail::planner::PlannerReasoner Class Reference

A reasoner which uses planners to find optimal sequences of behaviors based on goals. More...

#include <PlannerReasoner.hh>

Inheritance diagram for grail::planner::PlannerReasoner:

Collaboration diagram for grail::planner::PlannerReasoner:

Classes
struct	Config

Public Member Functions
	PlannerReasoner (std::unique_ptr< MemoryPool > memory)
	PlannerReasoner (std::unique_ptr< MemoryPool > memory, std::shared_ptr< planner::GoalSelector > goalSelector, std::unique_ptr< planner::DomainTranslator > domainTranslator, const Config &config)
virtual void	StageBehavior (AIEntity &entity) override
	selectBehavior - Runs reasoner's selection algorithm and assigns chosen behavior to provided entity. More...
virtual void	SetNewGoal (std::unique_ptr< planner::Goal > newGoal, AIEntity &entity) override
void	SetupNewPlanner (std::unique_ptr< planner::DomainTranslator > domainTranslator, const Config &config)
void	SetFallbackBehavior (std::unique_ptr< Behavior > behavior)
	Sets the behavior that should be performed during plan computation or if no valid plan is found.
virtual const planner::Goal *	GetCurrentGoal () const override
void	BindPlanningSucceededCallback (PlannerCallback callback)
	BindPlanningSucceededCallback - Binds a function handle to call if a sufficient (all goal conditions and plan restrictions met) plan is found. Found plan will be passed as function argument. More...
void	BindPartialPlanFoundCallback (PlannerCallback callback)
	BindPartialPlanFoundCallback - Bind a function to call when no sufficient plan could be found, but some plan was formulated, this delegate will be called instead of onPlanningFailed. usePartialPlans needs to be true for this execute Plan with highest score will be passed as a function argument. More...
void	BindPlanningFailedCallback (std::function< void(const planner::Goal &)> callback)
	BindPlanningFailedCallback - Bind a function to call when no sufficient plan was found. If reasoner uses partial plans this will only be called if no plan was formulated at all. More...
void	BindPlanExecutedCallback (std::function< void()> callback)
	BindPlanExecutedCallback - Bind a function to call when entity has successfully executed chosen plan. More...
void	SetSnapshotProduction (bool shouldProduce)
bool	IsComputing () const
data::PlannerReasonerSnapshot	ProduceDebugSnapshot ()
virtual std::unique_ptr< ISnapshotGenerator >	CreateSnapshotGenerator (std::size_t) override
void	ClearCurrentDebugSnapshot ()
void	SetDebugSnapshotFirstIteration (std::size_t iterationNumber)
void	SetDebugSnapshotLastIteration (std::size_t iterationNumber)
std::size_t	GetDebugSnapshotFirstIteration () const
std::size_t	GetDebugSnapshotLastIteration () const
Public Member Functions inherited from grail::Reasoner
	Reasoner (const Reasoner &)=default
	Reasoner (Reasoner &&)=default
Reasoner &	operator= (const Reasoner &)=default
Reasoner &	operator= (Reasoner &&)=default
virtual std::unique_ptr< ISnapshotGenerator >	CreateSnapshotGenerator (size_t)

Detailed Description

A reasoner which uses planners to find optimal sequences of behaviors based on goals.

Member Function Documentation

BindPartialPlanFoundCallback()

void grail::planner::PlannerReasoner::BindPartialPlanFoundCallback

(

PlannerCallback

callback

)

BindPartialPlanFoundCallback - Bind a function to call when no sufficient plan could be found, but some plan was formulated, this delegate will be called instead of onPlanningFailed. usePartialPlans needs to be true for this execute Plan with highest score will be passed as a function argument.

Parameters

callback

Function to call if a partial plan is found

BindPlanExecutedCallback()

void grail::planner::PlannerReasoner::BindPlanExecutedCallback

(

std::function< void()>

callback

)

BindPlanExecutedCallback - Bind a function to call when entity has successfully executed chosen plan.

Parameters

callback

Function to call when plan goal is achieved

BindPlanningFailedCallback()

void grail::planner::PlannerReasoner::BindPlanningFailedCallback

(

std::function< void(const planner::Goal &)>

callback

)

BindPlanningFailedCallback - Bind a function to call when no sufficient plan was found. If reasoner uses partial plans this will only be called if no plan was formulated at all.

Parameters

callback

function to call if planning failed

BindPlanningSucceededCallback()

void grail::planner::PlannerReasoner::BindPlanningSucceededCallback

(

PlannerCallback

callback

)

BindPlanningSucceededCallback - Binds a function handle to call if a sufficient (all goal conditions and plan restrictions met) plan is found. Found plan will be passed as function argument.

Parameters

callback

Function to call if a suitable plan is found

SetupNewPlanner()

void grail::planner::PlannerReasoner::SetupNewPlanner	(	std::unique_ptr< planner::DomainTranslator >	domainTranslator,
		const Config &	config
	)

Resets the planner domain. based on data provided by the new domain translator . This method can be used if you want the agent to start planning an entirely different set of actions and disregard the previously defined domain.

StageBehavior()

void grail::planner::PlannerReasoner::StageBehavior ( AIEntity &  entity )

overridevirtual

selectBehavior - Runs reasoner's selection algorithm and assigns chosen behavior to provided entity.

Parameters

entity

Implements grail::Reasoner.

---

The documentation for this class was generated from the following files:

• GrailPlanners/Reasoners/PlannerReasoner.hh
• GrailPlanners/Reasoners/PlannerReasoner.cpp