GoalDrivenReasoner.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_GOAL_DRIVEN_REASONER_H
#define KNOWROB_GOAL_DRIVEN_REASONER_H
 
#include "Reasoner.h"
#include "Goal.h"
#include "knowrob/formulas/PredicateIndicator.h"
 
namespace knowrob {
    enum class GoalDrivenReasonerFeature {
        SupportsSimpleConjunctions = 0x01,
        SupportsExtensionalGrounding = 0x02,
    };
 
    class GoalDrivenReasoner : public Reasoner {
    public:
        GoalDrivenReasoner() : Reasoner(), features_(0) {}
 
        bool hasFeature(GoalDrivenReasonerFeature feature) const;
 
        void enableFeature(GoalDrivenReasonerFeature feature);
 
        bool isRelationDefined(const PredicateIndicator &indicator);
 
        bool isClassDefined(const std::string_view &iri);
 
        void defineRelation(const PredicateIndicator &indicator);
 
        void defineRelation(const IRIAtomPtr &iri);
 
        void undefineRelation(const PredicateIndicator &indicator);
 
        void defineClass(const IRIAtomPtr &iri);
 
        void undefineClass(const IRIAtomPtr &iri);
 
        const auto &definedRelations() const { return definedRelations_; }
 
        const auto &definedClasses() const { return definedClasses_; }
 
        virtual bool evaluate(GoalPtr query) = 0;
 
    protected:
        std::set<PredicateIndicator> definedRelations_;
        std::set<PredicateIndicator> definedClasses_;
        int features_;
    };
 
    class ReasonerRunner : public ThreadPool::Runner {
    public:
        std::shared_ptr<GoalDrivenReasoner> reasoner;
        std::shared_ptr<Goal> query;
 
        ReasonerRunner() = default;
 
        // ThreadPool::Runner interface
        void run() override;
 
    private:
        void run_();
    };
 
    using GoalDrivenReasonerPtr = std::shared_ptr<GoalDrivenReasoner>;
    using DefiningReasoner = std::pair<GoalDrivenReasonerPtr,AtomPtr>;
}
 
#endif //KNOWROB_GOAL_DRIVEN_REASONER_H