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

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// Environment Class file for Task Planner
// Author : Prateek Parmeshwar

#pragma once

using namespace std;

struct ActionComparator
{
    bool operator()(const Action& lhs, const Action& rhs) const
    {
        return lhs == rhs;
    }
};

struct ActionHasher
{
    size_t operator()(const Action& ac) const
    {
        return hash<string>{}(ac.get_name());
    }
};

class Env
{
private:
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> initial_conditions;
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> goal_conditions;
    unordered_set<Action, ActionHasher, ActionComparator> actions;
    unordered_set<string> symbols;

public:
    void remove_initial_condition(GroundedCondition gc)
    {
        this->initial_conditions.erase(gc);
    }
    void add_initial_condition(GroundedCondition gc)
    {
        this->initial_conditions.insert(gc);
    }
    void add_goal_condition(GroundedCondition gc)
    {
        this->goal_conditions.insert(gc);
    }
    void remove_goal_condition(GroundedCondition gc)
    {
        this->goal_conditions.erase(gc);
    }
    void add_symbol(string symbol)
    {
        symbols.insert(symbol);
    }
    void add_symbols(list<string> symbols)
    {
        for (string l : symbols)
            this->symbols.insert(l);
    }
    void add_action(Action action)
    {
        this->actions.insert(action);
    }
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> get_initial_condition()
    {
        return this->initial_conditions;
    }
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> get_goal_condition()
    {
        return this->goal_conditions;
    }

    Action get_action(string name)
    {
        for (Action a : this->actions)
        {
            if (a.get_name() == name)
                return a;
        }
        throw runtime_error("Action " + name + " not found!");
    }

    unordered_set<Action, ActionHasher, ActionComparator> get_actions()
    {
        return actions;
    }
    unordered_set<string> get_symbols() const
    {
        return this->symbols;
    }

    friend ostream& operator<<(ostream& os, const Env& w)
    {
        os << "***** Environment *****" << endl << endl;
        os << "Symbols: ";
        for (string s : w.get_symbols())
            os << s + ",";
        os << endl;
        os << "Initial conditions: ";
        for (GroundedCondition s : w.initial_conditions)
            os << s;
        os << endl;
        os << "Goal conditions: ";
        for (GroundedCondition g : w.goal_conditions)
            os << g;
        os << endl;
        os << "Actions:" << endl;
        for (Action g : w.actions)
            os << g << endl;
        cout << "***** Environment Created! *****" << endl;
        return os;
    }
};