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General Documentation Manual Tutorial Class Reference Master Thesis Examples Related Papers Downloads Links News mailto:webmaster Main Page     Class Hierarchy   Compound List   File List   Compound Members   File Members caction.h Go to the documentation of this file. // Copyright (C) 2003 // Gerhard Neumann (gneumann@gmx.net) // Stephan Neumann (sneumann@gmx.net) // // This file is part of RL Toolbox. // http://www.igi.tugraz.at/ril_toolbox // // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // 1. Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // 2. Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // 3. The name of the author may not be used to endorse or promote products // derived from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR // IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES // OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. // IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT // NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF // THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef CACTION_H #define CACTION_H #include <stdio.h> #include <vector> #include <list> #include <map> #include "cbaseobjects.h" class CStateCollection; class CStateProperties; #define EXTENDEDACTION 1 #define MULTISTEPACTION 2 #define PRIMITIVEACTION 4 #define CONTINUOUSACTION 16 #define CONTINUOUSSTATICACTION 32 class CActionData { protected: bool bIsChangeAble; public: CActionData(); virtual ~CActionData() {}; virtual void saveASCII(FILE *stream) = 0; virtual void loadASCII(FILE *stream) = 0; virtual void saveBIN(FILE *stream) = 0; virtual void loadBIN(FILE *stream) = 0; virtual void setData(CActionData *actionData) = 0; bool isChangeAble(); void setIsChangeAble(bool changeAble); }; class CMultiStepActionData : public CActionData { public: CMultiStepActionData(); virtual ~CMultiStepActionData() {}; int duration; bool finished; virtual void saveASCII(FILE *stream); virtual void loadASCII(FILE *stream); virtual void saveBIN(FILE *stream); virtual void loadBIN(FILE *stream); virtual void setData(CActionData *actionData); }; class CContinuousActionProperties; class CActionDataSet; class CAction { protected: int type; CActionData *actionData; CAction(CActionData *actionData); public: CAction(); virtual ~CAction(); int getType(); bool isType(int type); void addType(int Type); virtual CActionData *getNewActionData(); virtual void loadActionData(CActionData *actionData); virtual CActionData * getActionData(); virtual bool isAvailable(CStateCollection *) {return true ;};//return isAvailable(state->getState());}; //virtual bool isAvailable(CState *state) {return true;}; virtual int getDuration() {return 1;}; virtual bool equals(CAction *action); virtual bool isSameAction(CAction *action, CActionData *data); }; class CHierarchicalStack: public std::list<CAction *> { protected: public: CHierarchicalStack(); virtual ~CHierarchicalStack(); void clearAndDelete(); }; // An action which can long for several steps. class CMultiStepAction : public CAction { protected: CMultiStepActionData *multiStepData; CMultiStepAction(CMultiStepActionData *multiStepData); public: CMultiStepAction(); virtual ~CMultiStepAction(){}; virtual bool isFinished(CStateCollection *oldState, CStateCollection *newState) = 0; virtual CActionData *getNewActionData(); virtual CMultiStepActionData *getMultiStepActionData() {return multiStepData;}; virtual int getDuration() {return multiStepData->duration;}; }; // Represents a primitive Action class CPrimitiveAction : public CAction { protected: CPrimitiveAction(CMultiStepActionData *actionData); public: CPrimitiveAction(); virtual ~CPrimitiveAction(); virtual int getDuration() {return 1;}; }; class CExtendedAction : public CMultiStepAction { protected: CExtendedAction(CMultiStepActionData *actionData); public: CAction *nextHierarchyLevel; CExtendedAction(); virtual ~CExtendedAction(){}; virtual CAction* getNextHierarchyLevel(CStateCollection *state, CActionDataSet *actionDataSet = NULL) = 0; void getHierarchicalStack(CHierarchicalStack *actionStack); bool sendIntermediateSteps; }; class CActionSet : public std::list<CAction *> { public: CActionSet(); virtual ~CActionSet(); int getIndex(CAction *action); CAction *get(unsigned int index); void add(CAction *action); void add(CActionSet *actions); void getAvailableActions(CActionSet *availableActions, CStateCollection *state); // returns wether the given action is member of the actionset bool isMember(CAction *action); }; class CActionDataSet //: public CActionObject { protected: std::map<CAction *, CActionData *> *actionDatas; public: CActionDataSet(CActionSet *actions); CActionDataSet(); virtual ~CActionDataSet(); CActionData *getActionData(CAction *action); void setActionData(CAction *action, CActionData *data); void addActionData(CAction *action); void removeActionData(CAction *action); }; class CActionList : public CActionObject { protected: // vector for the action indices std::vector<int> *actionIndices; std::map<int, CActionData *> *actionDatas; public: CActionList(CActionSet *actions); virtual ~CActionList(); void addAction(CAction *action); CAction *getAction(unsigned int num, CActionDataSet *l_data); virtual void loadBIN(FILE *stream); virtual void saveBIN(FILE *stream); virtual void loadASCII(FILE *stream); virtual void saveASCII(FILE *stream); unsigned int getSize(); unsigned int getNumActions(); void clear(); }; #endif