From 185b9931cdc61c8ecee17e2c12cc05fdbc67140a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?David=20Mart=C3=ADnez?= <dmartinez@iri.upc.edu>
Date: Sun, 27 Mar 2016 21:05:21 +0200
Subject: [PATCH] Set planner methods to non-const as planner is now modified
to get next action.
---
src/ippc_wrapper/ippc_planner.cpp | 6 +++---
src/ippc_wrapper/ippc_planner.h | 12 ++++++------
src/rexd/planner.cpp | 4 ++--
src/rexd/planner.h | 8 ++++----
src/rexd/prada_planner.cpp | 4 ++--
src/rexd/prada_planner.h | 4 ++--
6 files changed, 19 insertions(+), 19 deletions(-)
diff --git a/src/ippc_wrapper/ippc_planner.cpp b/src/ippc_wrapper/ippc_planner.cpp
index 8897a3c2..67c64a46 100755
--- a/src/ippc_wrapper/ippc_planner.cpp
+++ b/src/ippc_wrapper/ippc_planner.cpp
@@ -40,7 +40,7 @@ int IppcPlanner::estimate_distance_to_finish(const RexdScenario &rexd_scenario)
}
-bool IppcPlanner::plan_n_actions(const RexdScenario& rexd_scenario, std::vector<TypedAtom>& plan_result, const bool thoroughly, const int verbose, const uint n_actions, const bool force_effect) const
+bool IppcPlanner::plan_n_actions(const RexdScenario& rexd_scenario, std::vector<TypedAtom>& plan_result, const bool thoroughly, const int verbose, const uint n_actions, const bool force_effect)
{
RexdScenario updated_scenario(rexd_scenario);
TypedAtomOpt current_action_opt;
@@ -108,7 +108,7 @@ bool IppcPlanner::plan_n_actions(const RexdScenario& rexd_scenario, std::vector<
}
-TypedAtomOpt IppcPlanner::plan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result) const
+TypedAtomOpt IppcPlanner::plan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result)
{
TypedAtomOpt resulting_plan;
@@ -133,7 +133,7 @@ TypedAtomOpt IppcPlanner::plan(const RexdScenario& rexd_scenario, const bool rul
}
-TypedAtomOpt IppcPlanner::ippcPlan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result) const
+TypedAtomOpt IppcPlanner::ippcPlan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result)
{
if (rexd_scenario.get_planning_horizon() == 0) {
planning_result = 0;
diff --git a/src/ippc_wrapper/ippc_planner.h b/src/ippc_wrapper/ippc_planner.h
index 81780484..7ff05cce 100755
--- a/src/ippc_wrapper/ippc_planner.h
+++ b/src/ippc_wrapper/ippc_planner.h
@@ -51,12 +51,12 @@ public:
~IppcPlanner();
using Planner::plan; // Once you overload a function from Base class in Derived class all functions with the same name in the Base class get hidden in Derived class.
- virtual TypedAtomOpt plan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result) const;
+ virtual TypedAtomOpt plan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result);
virtual bool plan_n_actions(const RexdScenario& rexd_scenario,
std::vector<TypedAtom>& plan,
const bool thoroughly = true, const int verbose = 0,
const uint n_actions = std::numeric_limits<uint>::max(),
- const bool force_effect = false) const;
+ const bool force_effect = false);
virtual int estimate_distance_to_finish(const RexdScenario &rexd_scenario);
@@ -66,11 +66,11 @@ protected:
private:
bool noop_actions_allowed;
- mutable bool planner_running = false;
- mutable boost::shared_ptr<RexdScenario> running_scenario_ptr;
- mutable boost::shared_ptr<XMLServer_t> ippcserver_ptr;
+ bool planner_running = false;
+ boost::shared_ptr<RexdScenario> running_scenario_ptr;
+ boost::shared_ptr<XMLServer_t> ippcserver_ptr;
- TypedAtomOpt ippcPlan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result) const;
+ TypedAtomOpt ippcPlan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result);
virtual void execute_planner_command(const bool rules_changed, const bool thoroughly, const int verbose) const =0;
virtual void write_problem_files(const RexdScenario& rexd_scenario) const =0;
diff --git a/src/rexd/planner.cpp b/src/rexd/planner.cpp
index 6f15c579..99e596bd 100755
--- a/src/rexd/planner.cpp
+++ b/src/rexd/planner.cpp
@@ -5,7 +5,7 @@ Planner::Planner():
dev_null_ofs(new std::ofstream("/dev/null"))
{ }
-TypedAtomOpt Planner::plan(RexdScenario rexd_scenario, const bool thoroughly, const int verbose) const
+TypedAtomOpt Planner::plan(RexdScenario rexd_scenario, const bool thoroughly, const int verbose)
{
float planning_result;
return plan(rexd_scenario, true, thoroughly, verbose, planning_result);
@@ -23,7 +23,7 @@ void Planner::stream_restore(std::ostream& ostream, std::streambuf* ostream_sbuf
ostream.rdbuf(ostream_sbuf); // restore the original stream buffer
}
-float Planner::get_expected_action_success_probability(const RexdScenario& rexd_scenario, const TypedAtom& action, const bool check_only_dangerous_effects) const
+float Planner::get_expected_action_success_probability(const RexdScenario& rexd_scenario, const TypedAtom& action, const bool check_only_dangerous_effects)
{
float dead_end_probability = 0.0;
diff --git a/src/rexd/planner.h b/src/rexd/planner.h
index b66e323b..87fe9525 100755
--- a/src/rexd/planner.h
+++ b/src/rexd/planner.h
@@ -60,7 +60,7 @@ public:
\return planned action, false if no plan was found
*/
TypedAtomOpt plan(RexdScenario rexd_scenario,
- const bool thoroughly = true, const int verbose = 0) const;
+ const bool thoroughly = true, const int verbose = 0);
/*!
\brief plans an action in the scenario
@@ -75,7 +75,7 @@ public:
*/
virtual TypedAtomOpt plan(const RexdScenario& rexd_scenario,
const bool rules_changed, const bool thoroughly, const int verbose,
- float& planning_result) const =0;
+ float& planning_result) =0;
/*!
\brief plans a sequence of actions
@@ -96,7 +96,7 @@ public:
std::vector<TypedAtom>& plan,
const bool thoroughly = true, const int verbose = 0,
const uint n_actions = std::numeric_limits<uint>::max(),
- const bool force_effect = false) const =0;
+ const bool force_effect = false) =0;
/*!
\brief Gets the probability that a plan that reaches the goal exists if the action is applied
@@ -108,7 +108,7 @@ public:
\param check_only_dangerous_effects true if only dangerous effects should be checked to speed up
\return probability of reaching a goal
*/
- float get_expected_action_success_probability(const RexdScenario& rexd_scenario, const TypedAtom& action, const bool check_only_dangerous_effects) const;
+ float get_expected_action_success_probability(const RexdScenario& rexd_scenario, const TypedAtom& action, const bool check_only_dangerous_effects);
protected:
/*!
diff --git a/src/rexd/prada_planner.cpp b/src/rexd/prada_planner.cpp
index ea0e6585..8ae956aa 100755
--- a/src/rexd/prada_planner.cpp
+++ b/src/rexd/prada_planner.cpp
@@ -58,7 +58,7 @@ int PradaPlanner::estimate_distance_to_finish(const RexdScenario &rexd_scenario)
/**
* Actual method to prepare planning
*/
-TypedAtomOpt PradaPlanner::plan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result) const
+TypedAtomOpt PradaPlanner::plan(const RexdScenario& rexd_scenario, const bool rules_changed, const bool thoroughly, const int verbose, float& planning_result)
{
rexd_scenario.get_state().write_to_file(prada_state_filename);
Typed::RuleSet simplified_rules(rexd_scenario.get_rules());
@@ -94,7 +94,7 @@ TypedAtomOpt PradaPlanner::plan(const RexdScenario& rexd_scenario, const bool ru
}
-bool PradaPlanner::plan_n_actions(const RexdScenario& rexd_scenario, std::vector<TypedAtom>& resulting_plan, const bool thoroughly, const int verbose, const uint n_actions, const bool force_effect) const
+bool PradaPlanner::plan_n_actions(const RexdScenario& rexd_scenario, std::vector<TypedAtom>& resulting_plan, const bool thoroughly, const int verbose, const uint n_actions, const bool force_effect)
{
rexd_scenario.get_state().write_to_file(prada_state_filename);
Typed::RuleSet simplified_rules(rexd_scenario.get_rules());
diff --git a/src/rexd/prada_planner.h b/src/rexd/prada_planner.h
index 7a5d2003..029065b1 100755
--- a/src/rexd/prada_planner.h
+++ b/src/rexd/prada_planner.h
@@ -50,13 +50,13 @@ public:
virtual TypedAtomOpt plan(const RexdScenario& rexd_scenario, const bool rules_changed,
const bool thoroughly, const int verbose,
- float& planning_result) const;
+ float& planning_result);
virtual bool plan_n_actions(const RexdScenario& rexd_scenario,
std::vector<TypedAtom>& plan,
const bool thoroughly = true, const int verbose = 0,
const uint n_actions = std::numeric_limits<uint>::max(),
- const bool force_effect = false) const;
+ const bool force_effect = false);
virtual int estimate_distance_to_finish(const RexdScenario &rexd_scenario);
--
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