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htn_method.hpp
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/
htn_method.hpp
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#ifndef HTN_METHOD_HPP__
#define HTN_METHOD_HPP__
class HtnMethod
{
public:
static HtnMethod * FromPddl( std::stringstream & p_sInput,
const std::set< std::string, StrLessNoCase > & p_sTypes,
const std::vector< FormulaPred > & p_vAllowablePredicates,
long p_iRequirements );
static HtnMethod * FromShop( std::stringstream & p_sInput );
HtnMethod( const HtnMethod & p_Other );
virtual ~HtnMethod();
HtnTaskHeadP GetCHead() const;
FormulaConjP GetCPreconditions() const;
unsigned int GetNumSubtasks() const;
HtnTaskHeadP GetCSubtask( unsigned int p_iIndex ) const;
bool Subsumes( const HtnMethod * p_pOther ) const;
std::vector< TermVariableP > GetVariables() const;
std::set< TermVariableP > GetRelVars() const;
std::tr1::shared_ptr< const std::vector< TermVariableP > > GetRelevantVariables() const;
std::string ToStr() const;
std::string ToPddl( long p_iRequirements ) const;
bool SubtasksArePartiallyLinked() const;
HtnMethod * AfterSubstitution( const Substitution & p_sSub,
unsigned int p_iDepth ) const;
void AddNdCheckers();
double GetQValue() const;
int GetQCount() const;
void UpdateQValue( double p_fNewCost );
const std::string & GetId() const;
void SetId( const std::string & p_sId );
size_t GetMemSizeMin() const;
size_t GetMemSizeMax() const;
private:
HtnMethod();
std::string m_sId;
HtnTaskHeadP m_pHead;
FormulaConjP m_pPreconditions;
std::vector< HtnTaskHeadP > m_vSubtasks;
TypeTable m_TypeTable;
double m_fQValue;
int m_iQCount;
mutable std::tr1::shared_ptr< std::vector< TermVariableP > > m_pVariables;
};
#endif//HTN_METHOD_HPP__