ModalOperator.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_MODAL_OPERATOR_H
#define KNOWROB_MODAL_OPERATOR_H
 
#include <list>
#include <map>
#include <optional>
#include "knowrob/terms/Term.h"
#include "knowrob/semweb/Perspective.h"
#include "knowrob/TimeInterval.h"
 
namespace knowrob {
    enum class ModalType {
        KNOWLEDGE = 1,
        BELIEF,
        ALWAYS,
        SOMETIMES
    };
 
    class ModalOperator {
    public:
        static constexpr const char* KEY_PERSPECTIVE = "agent";
        static constexpr const char* KEY_CONFIDENCE = "confidence";
        static constexpr const char* KEY_BEGIN = "begin";
        static constexpr const char* KEY_END = "end";
 
        explicit ModalOperator(ModalType modalType);
 
        bool operator==(const ModalOperator &other) const;
 
        bool isModalNecessity() const;
 
        bool isModalPossibility() const;
 
        auto modalType() const { return modalType_; }
 
        const char *symbol() const;
 
        void setParameter(std::string_view key, const TermPtr &value);
 
        std::optional<TermPtr> parameter(std::string_view key) const;
 
        std::optional<PerspectivePtr> perspective() const;
 
        void setPerspective(const std::string_view &agent);
 
        std::optional<double> confidence() const;
 
        void setConfidence(double confidence);
 
        std::optional<double> begin() const;
 
        void setBegin(double begin);
 
        std::optional<double> end() const;
 
        void setEnd(double end);
 
        void setTimeInterval(const TimeInterval &timeInterval);
 
        void write(std::ostream &os) const;
 
    protected:
        const ModalType modalType_;
        std::map<std::string, TermPtr> parameters_;
    };
 
    using ModalOperatorPtr = std::shared_ptr<const ModalOperator>;
 
    class ModalIteration {
    public:
        ModalIteration() = default;
 
        bool operator==(const ModalIteration &other) const;
 
        void operator+=(const ModalOperatorPtr &modalOperator);
 
        ModalIteration operator+(const ModalOperatorPtr &modalOperator) const;
 
        auto numOperators() const { return modalitySequence_.size(); }
 
        auto begin() const { return modalitySequence_.begin(); }
 
        auto end() const { return modalitySequence_.end(); }
 
        static const ModalIteration &emptyIteration();
 
    protected:
        std::list<ModalOperatorPtr> modalitySequence_;
    };
 
} // knowrob
 
#endif //KNOWROB_MODAL_OPERATOR_H