ModalFormula.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_MODAL_FORMULA_H
#define KNOWROB_MODAL_FORMULA_H
 
#include "CompoundFormula.h"
#include "ModalOperator.h"
#include "knowrob/TimeInterval.h"
 
namespace knowrob {
    class ModalFormula : public CompoundFormula {
    public:
        ModalFormula(ModalOperatorPtr modalOperator, const FormulaPtr &formula);
 
        const ModalOperatorPtr &modalOperator() const { return modalOperator_; }
 
        const FormulaPtr &modalFormula() const { return formulae_[0]; }
 
        bool isModalPossibility() const { return !isModalNecessity(); }
 
        bool isModalNecessity() const;
 
        // Override CompoundFormula
        const char *operator_symbol() const override;
 
        // Override Formula
        void write(std::ostream &os) const override;
 
    protected:
        const ModalOperatorPtr modalOperator_;
 
        bool isEqual(const Formula &other) const override;
    };
 
    namespace modals {
        std::shared_ptr<ModalFormula> B(const FormulaPtr &phi);
 
        ModalOperatorPtr B();
 
        ModalOperatorPtr B(std::string_view perspective);
 
        ModalOperatorPtr B(std::string_view perspective, double confidence);
 
        ModalOperatorPtr B(double confidence);
 
        std::shared_ptr<ModalFormula> K(const FormulaPtr &phi);
 
        ModalOperatorPtr K();
 
        ModalOperatorPtr K(std::string_view perspective);
 
        std::shared_ptr<ModalFormula> P(const FormulaPtr &phi);
 
        ModalOperatorPtr P();
 
        ModalOperatorPtr P(const TimeInterval &timeInterval);
 
        std::shared_ptr<ModalFormula> H(const FormulaPtr &phi);
 
        ModalOperatorPtr H();
 
        ModalOperatorPtr H(const TimeInterval &timeInterval);
    } // modals
} // knowrob
 
 
#endif // KNOWROB_MODAL_FORMULA_H