CompoundFormula.cpp

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#include <knowrob/formulas/CompoundFormula.h>
#include <algorithm>
#include "knowrob/integration/python/utils.h"
 
using namespace knowrob;
 
CompoundFormula::CompoundFormula(FormulaType type,
                                 const std::vector<std::shared_ptr<Formula>> &formulae)
        : Formula(type),
          formulae_(formulae) {
    isGround_ = isGround1();
}
 
bool CompoundFormula::isGround1() const {
    return std::all_of(formulae_.begin(), formulae_.end(),
                       [](const std::shared_ptr<Formula> &x) { return x->isGround(); });
}
 
void CompoundFormula::write(std::ostream &os) const {
    if (formulae_.size() == 1) {
        os << operator_symbol() << ' ';
        os << *(formulae_[0].get());
    } else {
        os << '(';
        for (uint32_t i = 0; i < formulae_.size(); i++) {
            os << *(formulae_[i].get());
            if (i + 1 < formulae_.size()) {
                os << ' ' << operator_symbol() << ' ';
            }
        }
        os << ')';
    }
}
 
namespace knowrob::py {
    template<>
    void createType<CompoundFormula>() {
        using namespace boost::python;
        class_<CompoundFormula, std::shared_ptr<CompoundFormula>, boost::noncopyable, bases<Formula>>
                ("CompoundFormula", no_init)
                .def("formulae", &CompoundFormula::formulae, return_value_policy<copy_const_reference>());
    }
}