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Duration and instant action handling in KB and plan parser #288

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Duration and instant action handling in KB and plan parser #288

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2 changes: 2 additions & 0 deletions rosplan_knowledge_base/include/rosplan_knowledge_base/VALVisitorOperator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@ namespace KCL_rosplan {
/* visitor methods */
virtual void visit_proposition(VAL1_2::proposition *);
virtual void visit_operator_(VAL1_2::operator_ *);
virtual void visit_action(VAL1_2::action * s);
virtual void visit_durative_action(VAL1_2::durative_action * s);

virtual void visit_simple_goal(VAL1_2::simple_goal *);
virtual void visit_qfied_goal(VAL1_2::qfied_goal *);
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2 changes: 1 addition & 1 deletion rosplan_knowledge_base/src/PDDLKnowledgeBase.cpp
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Expand Up @@ -118,7 +118,7 @@ namespace KCL_rosplan {
VAL1_2::operator_list* operators = domain_parser.domain->ops;
for (VAL1_2::operator_list::const_iterator ci = operators->begin(); ci != operators->end(); ci++) {
if((*ci)->name->symbol::getName() == req.name) {
op_visitor.visit_operator_(*ci);
(*ci)->visit(&op_visitor);
res.op = op_visitor.msg;
return true;
}
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19 changes: 19 additions & 0 deletions rosplan_knowledge_base/src/VALVisitorOperator.cpp
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Expand Up @@ -4,6 +4,7 @@
namespace KCL_rosplan {

/* encoding state */
bool parsing_duration;
bool cond_neg;
bool eff_neg;
VAL1_2::time_spec cond_time;
Expand All @@ -14,6 +15,19 @@ namespace KCL_rosplan {
/* operators */
/*-----------*/

void VALVisitorOperator::visit_durative_action(VAL1_2::durative_action * op) {
visit_operator_(op);
parsing_duration = true;
msg.instant_action = false;
op->dur_constraint->visit(this);
parsing_duration = false;
}

void VALVisitorOperator::visit_action(VAL1_2::action * op) {
visit_operator_(op);
msg.instant_action = true;
}

/**
* Visit an operator to pack into ROS message
*/
Expand Down Expand Up @@ -51,6 +65,7 @@ namespace KCL_rosplan {
op->effects->visit(this);

// conditions
parsing_duration = false;
if (op->precondition) op->precondition->visit(this);
}

Expand Down Expand Up @@ -143,6 +158,10 @@ namespace KCL_rosplan {
case VAL1_2::E_EQUALS: ineq.comparison_type = rosplan_knowledge_msgs::DomainInequality::EQUALS; break;
}

if(parsing_duration) {
msg.duration = ineq;
return;
}
switch(cond_time) {
case VAL1_2::E_AT_START: msg.at_start_comparison.push_back(ineq); break;
case VAL1_2::E_AT_END: msg.at_end_comparison.push_back(ineq); break;
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3 changes: 2 additions & 1 deletion rosplan_knowledge_msgs/msg/DomainOperator.msg
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Expand Up @@ -4,7 +4,8 @@
rosplan_knowledge_msgs/DomainFormula formula

# (2) duration constraint

bool instant_action
rosplan_knowledge_msgs/DomainInequality duration

# (3) effect lists
rosplan_knowledge_msgs/DomainFormula[] at_start_add_effects
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