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

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

#pragma once

using namespace std;

class GroundedCondition
{
private:
    string predicate;
    list<string> arg_values;
    bool truth = true;

public:
    GroundedCondition(string predicate, list<string> arg_values, bool truth = true)
    {
        this->predicate = predicate;
        this->truth = truth;  // fixed
        for (string l : arg_values)
        {
            this->arg_values.push_back(l);
        }
    }

    GroundedCondition(const GroundedCondition& gc)
    {
        this->predicate = gc.predicate;
        this->truth = gc.truth;  // fixed
        for (string l : gc.arg_values)
        {
            this->arg_values.push_back(l);
        }
    }

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

    bool get_truth() const
    {
        return this->truth;
    }

    void set_truth(bool val)
    {
        this->truth = val;
    }

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

    bool operator==(const GroundedCondition& rhs) const
    {
        if (this->predicate != rhs.predicate || 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;
        }

        if (this->truth != rhs.get_truth()) // fixed
            return false;

        return true;
    }

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