knowrob::Goal Class Reference

#include <Goal.h>

Inheritance diagram for knowrob::Goal:

Collaboration diagram for knowrob::Goal:

Public Member Functions
	Goal (SimpleConjunctionPtr formula, QueryContextPtr ctx=DefaultQueryContext())
	Goal (const FirstOrderLiteralPtr &literal, QueryContextPtr ctx=DefaultQueryContext())
	Goal (SimpleConjunctionPtr formula, const Goal &goal)
	~Goal () override
auto &	formula () const
void	push (const AnswerPtr &answer)
void	push (const BindingsPtr &bindings)
void	finish ()
auto &	answerBuffer () const
auto &	outputChannel () const
	Goal (SimpleConjunctionPtr formula, QueryContextPtr ctx=DefaultQueryContext())
	Goal (const FirstOrderLiteralPtr &literal, QueryContextPtr ctx=DefaultQueryContext())
	Goal (SimpleConjunctionPtr formula, const Goal &goal)
	~Goal () override
auto &	formula () const
void	push (const AnswerPtr &answer)
void	push (const BindingsPtr &bindings)
void	finish ()
auto &	answerBuffer () const
auto &	outputChannel () const
Public Member Functions inherited from knowrob::Query
	Query (QueryContextPtr ctx=DefaultQueryContext())
virtual	~Query ()=default
auto &	ctx () const
void	setContext (QueryContextPtr ctx)
	Query (QueryContextPtr ctx=DefaultQueryContext())
virtual	~Query ()=default
auto &	ctx () const
void	setContext (QueryContextPtr ctx)
Public Member Functions inherited from knowrob::Printable
virtual	~Printable ()=default
virtual std::string	format () const
virtual	~Printable ()=default
virtual std::string	format () const

Protected Member Functions
void	write (std::ostream &os) const override
void	write (std::ostream &os) const override

Protected Attributes
std::shared_ptr< const QueryContext >	ctx_
std::shared_ptr< TokenBuffer >	answerBuffer_
std::shared_ptr< TokenStream::Channel >	outputChannel_
std::shared_ptr< SimpleConjunction >	formula_
Protected Attributes inherited from knowrob::Query
QueryContextPtr	ctx_

Detailed Description

A query that can be submitted to a reasoner.

Definition at line 20 of file Goal.h.

Constructor & Destructor Documentation

Goal() [1/6]

Goal::Goal ( SimpleConjunctionPtr  formula, QueryContextPtr  ctx = DefaultQueryContext()  )

explicit

Parameters

formula	a formula.
ctx	a query context.

Definition at line 57 of file Goal.cpp.

        : Query(ctx),
          ctx_(std::move(ctx)),
          answerBuffer_(std::make_shared<TokenBuffer>()),
          outputChannel_(TokenStream::Channel::create(answerBuffer_)),
          formula_(std::move(formula)) {}

Goal() [2/6]

Goal::Goal ( const FirstOrderLiteralPtr &  literal, QueryContextPtr  ctx = DefaultQueryContext()  )

explicit

Parameters

literal	a literal.
ctx	a query context.

Definition at line 64 of file Goal.cpp.

        : Query(ctx),
          ctx_(std::move(ctx)),
          answerBuffer_(std::make_shared<TokenBuffer>()),
          outputChannel_(TokenStream::Channel::create(answerBuffer_)),
          formula_(std::make_shared<SimpleConjunction>(literal)) {}

Goal() [3/6]

Goal::Goal	(	SimpleConjunctionPtr	formula,
		const Goal &	goal
	)

Parameters

formula	a formula.
goal	a goal.

Definition at line 50 of file Goal.cpp.

        : Query(goal.ctx_),
          ctx_(goal.ctx_),
          answerBuffer_(goal.answerBuffer_),
          outputChannel_(goal.outputChannel_),
          formula_(std::move(formula)) {}

~Goal() [1/2]

Goal::~Goal ( )

override

Definition at line 71 of file Goal.cpp.

            {
    outputChannel_->close();
}

Goal() [4/6]

knowrob::Goal::Goal ( SimpleConjunctionPtr  formula, QueryContextPtr  ctx = DefaultQueryContext()  )

explicit

Parameters

formula	a formula.
ctx	a query context.

Goal() [5/6]

knowrob::Goal::Goal ( const FirstOrderLiteralPtr &  literal, QueryContextPtr  ctx = DefaultQueryContext()  )

explicit

Parameters

literal	a literal.
ctx	a query context.

Goal() [6/6]

knowrob::Goal::Goal	(	SimpleConjunctionPtr	formula,
		const Goal &	goal
	)

Parameters

formula	a formula.
goal	a goal.

~Goal() [2/2]

knowrob::Goal::~Goal ( )

override

Member Function Documentation

answerBuffer() [1/2]

auto& knowrob::Goal::answerBuffer ( ) const

inline

Returns

the answer buffer.

Definition at line 67 of file Goal.h.

{ return answerBuffer_; }

answerBuffer() [2/2]

auto& knowrob::Goal::answerBuffer ( ) const

inline

Returns

the answer buffer.

Definition at line 67 of file Goal.h.

{ return answerBuffer_; }

finish() [1/2]

void knowrob::Goal::finish ( )

inline

Indicates that the evaluation has finished.

Definition at line 62 of file Goal.h.

{ outputChannel_->push(EndOfEvaluation::get()); }

finish() [2/2]

void knowrob::Goal::finish ( )

inline

Indicates that the evaluation has finished.

Definition at line 62 of file Goal.h.

{ outputChannel_->push(EndOfEvaluation::get()); }

formula() [1/2]

auto& knowrob::Goal::formula ( ) const

inline

Returns

the literal.

Definition at line 45 of file Goal.h.

{ return formula_; }

formula() [2/2]

auto& knowrob::Goal::formula ( ) const

inline

Returns

the literal.

Definition at line 45 of file Goal.h.

{ return formula_; }

outputChannel() [1/2]

auto& knowrob::Goal::outputChannel ( ) const

inline

Returns

the output channel.

Definition at line 72 of file Goal.h.

{ return outputChannel_; }

outputChannel() [2/2]

auto& knowrob::Goal::outputChannel ( ) const

inline

Returns

the output channel.

Definition at line 72 of file Goal.h.

{ return outputChannel_; }

push() [1/4]

void Goal::push

(

const AnswerPtr &

answer

)

Pushes an answer into the output channel.

Parameters

answer

an answer.

Definition at line 75 of file Goal.cpp.

                                       {
    outputChannel_->push(answer);
}

push() [2/4]

void knowrob::Goal::push

(

const AnswerPtr &

answer

)

Pushes an answer into the output channel.

Parameters

answer

an answer.

push() [3/4]

void Goal::push

(

const BindingsPtr &

bindings

)

Pushes a positive answer into the output channel.

Parameters

bindings

the bindings under which the query is true.

Definition at line 79 of file Goal.cpp.

                                           {
    auto filteredBindings = includeOnly(bindings, formula_);
    auto yes = std::make_shared<AnswerYes>(filteredBindings);
    for (const auto &lit : formula_->literals()) {
        auto instance = applyBindings(lit->predicate(), *filteredBindings);
        yes->addGrounding(std::static_pointer_cast<Predicate>(instance), lit->isNegated());
    }
    push(yes);
}

push() [4/4]

void knowrob::Goal::push

(

const BindingsPtr &

bindings

)

Pushes a positive answer into the output channel.

Parameters

bindings

the bindings under which the query is true.

write() [1/2]

void knowrob::Goal::write ( std::ostream &  os ) const

inlineoverrideprotectedvirtual

Print this object to a stream.

Parameters

os	the stream to print to.

Implements knowrob::Printable.

Definition at line 81 of file Goal.h.

{ os << *formula_; }

write() [2/2]

void knowrob::Goal::write ( std::ostream &  os ) const

inlineoverrideprotectedvirtual

Print this object to a stream.

Parameters

os	the stream to print to.

Implements knowrob::Printable.

Definition at line 81 of file Goal.h.

{ os << *formula_; }

Member Data Documentation

answerBuffer_

std::shared_ptr< TokenBuffer > knowrob::Goal::answerBuffer_

protected

Definition at line 76 of file Goal.h.

ctx_

std::shared_ptr< const QueryContext > knowrob::Goal::ctx_

protected

Definition at line 75 of file Goal.h.

formula_

std::shared_ptr< SimpleConjunction > knowrob::Goal::formula_

protected

Definition at line 78 of file Goal.h.

outputChannel_

std::shared_ptr< TokenStream::Channel > knowrob::Goal::outputChannel_

protected

Definition at line 77 of file Goal.h.

---

The documentation for this class was generated from the following files:

• build/_CPack_Packages/Linux/DEB/knowrob-2.1.0-Linux/usr/include/knowrob/reasoner/Goal.h
• src/reasoner/Goal.cpp