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;
        
        void ResetMemoryPool(MemoryPool& memory);
 
    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::size_t domainSize = 0;
        std::shared_ptr<Domain> domain = nullptr;
    };
}
}
 
#endif  //GRAIL_DOMAIN_TRANSLATOR_H