Generic-Task-Planner/Action.hpp at master · pparmesh/Generic-Task-Planner · GitHub

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// Action Class for Task Planner
// Author : Prateek Parmeshwar
#pragma once

using namespace std;


struct ConditionComparator
{
    bool operator()(const Condition& lhs, const Condition& rhs) const
    {
        return lhs == rhs;
    }
};

struct ConditionHasher
{
    size_t operator()(const Condition& cond) const
    {
        return hash<string>{}(cond.toString());
    }
};

class Action
{
private:
    string name;
    list<string> args;
    unordered_set<Condition, ConditionHasher, ConditionComparator> preconditions;
    unordered_set<Condition, ConditionHasher, ConditionComparator> effects;

public:
    Action(string name, list<string> args,
        unordered_set<Condition, ConditionHasher, ConditionComparator>& preconditions,
        unordered_set<Condition, ConditionHasher, ConditionComparator>& effects)
    {
        this->name = name;
        for (string l : args)
        {
            this->args.push_back(l);
        }
        for (Condition pc : preconditions)
        {
            this->preconditions.insert(pc);
        }
        for (Condition pc : effects)
        {
            this->effects.insert(pc);
        }
    }
    string get_name() const
    {
        return this->name;
    }
    list<string> get_args() const
    {
        return this->args;
    }
    int get_args_number() const
    {
        return (this->args).size();
    }

    unordered_set<Condition, ConditionHasher, ConditionComparator> get_preconditions() const
    {
        return this->preconditions;
    }
    unordered_set<Condition, ConditionHasher, ConditionComparator> get_effects() const
    {
        return this->effects;
    }

    bool operator==(const Action& rhs) const
    {
        if (this->get_name() != rhs.get_name() || this->get_args().size() != rhs.get_args().size())
            return false;

        return true;
    }

    friend ostream& operator<<(ostream& os, const Action& ac)
    {
        os << ac.toString() << endl;
        os << "Precondition: ";
        for (Condition precond : ac.get_preconditions())
            os << precond;
        os << endl;
        os << "Effect: ";
        for (Condition effect : ac.get_effects())
            os << effect;
        os << endl;
        return os;
    }

    string toString() const
    {
        string temp = "";
        temp += this->get_name();
        temp += "(";
        for (string l : this->get_args())
        {
            temp += l + ",";
        }
        temp = temp.substr(0, temp.length() - 1);
        temp += ")";
        return temp;
    }
};