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// -*- C++ -*-
// $Id$
//=============================================================================
/**
* @file PlanHeuristic.h
*
* This file contains the class definitions for the encapsulations of
* algorithms corresponding to planning/scheduling substeps.
*
* @author John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
*/
//=============================================================================
#ifndef SA_POP_PLAN_STEP_H_
#define SA_POP_PLAN_STEP_H_
#include "SA_POP_Types.h"
#include "PlanStrategy.h"
namespace SA_POP {
// Forward declaration of Planner.
class Planner;
/**
* @class CondStrategy
*
* @brief CondStrategy abstract base class for a PlanHeuristic that
* chooses an open condition in the plan to satisfy next.
*/
class CondStrategy {
public:
/// Constructor.
/**
* @param planner Planner object to use.
*/
CondStrategy (SA_POP::Planner *planner)
: planner_ (planner) { };
/// Destructor.
virtual ~CondStrategy (void) { };
/// Choose the next open condition to satisfy.
/**
* @param open_conds Open conditions in the plan.
*
* @return Next open condition to satisfy.
*/
virtual Condition choose_cond (const OpenCondMap &open_conds) = 0;
protected:
/// Pointer to Planner object.
SA_POP::Planner *planner_;
};
/**
* @class TaskStrategy
*
* @brief TaskStrategy abstract base class for a PlanHeuristic that
* chooses an ordering of tasks for the choice to satisfy an
* open condition.
*/
class TaskStrategy {
public:
/// Constructor.
/**
* @param planner Planner object to use.
*/
TaskStrategy (SA_POP::Planner *planner)
: planner_ (planner) { };
/// Destructor.
virtual ~TaskStrategy (void) { };
/// Choose the (ordering of) task(s) to satisfy an open condition.
/**
* @param open_cond Open condition to satisfy.
*
* @return Sorted list of tasks that satisfy given condition.
*/
virtual TaskList choose_task (Condition open_cond) = 0;
protected:
/// Pointer to Planner object.
SA_POP::Planner *planner_;
};
/**
* @class ImplStrategy
*
* @brief ImplStrategy abstract base class for a PlanHeuristic that
* chooses an ordering of implementations to try for a given
* task instance.
*/
class ImplStrategy {
public:
/// Constructor.
/**
* @param planner Planner object to use.
*/
ImplStrategy (SA_POP::Planner *planner)
: planner_ (planner) { };
/// Destructor.
virtual ~ImplStrategy (void) { };
/// Choose the (ordering of) task implementation(s) for a task instance.
/**
* @param task_inst Task instance for which to choose implementations.
*
* @return Ordered list of implementations for the given task instance.
*/
virtual TaskImplList choose_impl (TaskInstID task_inst) = 0;
protected:
/// Pointer to Planner object.
SA_POP::Planner *planner_;
};
}; /* SA_POP namespace */
#endif /* SA_POP_PLAN_STEP_H_ */
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