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

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

#pragma once

using namespace std;

struct GroundedConditionComparator
{
    bool operator()(const GroundedCondition& lhs, const GroundedCondition& rhs) const
    {
        return lhs == rhs;
    }
};

struct GroundedConditionHasher
{
    size_t operator()(const GroundedCondition& gcond) const
    {
        return hash<string>{}(gcond.toString());
    }
};


class GroundedAction
{
private:
    string name;
    list<string> arg_values;
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> gPreconditions;
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> gEffects;

public:

    GroundedAction(string name, list<string> arg_values)
    {
        this->name = name;
        for (string ar : arg_values)
        {
            this->arg_values.push_back(ar);
        }
    }

    GroundedAction(string name, list<string> arg_values,
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> gPreconditions,
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> gEffects)
    {
        this->name = name;
        for (string ar : arg_values)
        {
            this->arg_values.push_back(ar);
        }
        for (GroundedCondition gpc : gPreconditions)
        {
            this->gPreconditions.insert(gpc);
        }
        for (GroundedCondition gEf : gEffects)
        {
            this->gEffects.insert(gEf);
        }
    }

    string get_name() const
    {
        return this->name;
    }

    list<string> get_arg_values() const
    {
        return this->arg_values;
    }

    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> get_preconditions()
    {
        return this->gPreconditions;
    }
    unordered_set<GroundedCondition, GroundedConditionHasher, GroundedConditionComparator> get_effects()
    {
        return this->gEffects;
    }

    bool operator==(const GroundedAction& rhs) const
    {
        if (this->name != rhs.name || this->arg_values.size() != rhs.arg_values.size())
            return false;

        auto lhs_it = this->arg_values.begin();
        auto rhs_it = rhs.arg_values.begin();

        while (lhs_it != this->arg_values.end() && rhs_it != rhs.arg_values.end())
        {
            if (*lhs_it != *rhs_it)
                return false;
            ++lhs_it;
            ++rhs_it;
        }
        return true;
    }

    friend ostream& operator<<(ostream& os, const GroundedAction& gac)
    {
        os << gac.toString() << " ";
        return os;
    }

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