Goal.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_GOAL_H_
#define KNOWROB_GOAL_H_
 
#include <ostream>
#include <utility>
#include <knowrob/semweb/TriplePattern.h>
#include <knowrob/queries/TokenBuffer.h>
#include <knowrob/queries/Answer.h>
#include "knowrob/formulas/SimpleConjunction.h"
 
namespace knowrob {
    class Goal : public Query {
    public:
        explicit Goal(SimpleConjunctionPtr formula, QueryContextPtr ctx = DefaultQueryContext());
 
        explicit Goal(const FirstOrderLiteralPtr &literal, QueryContextPtr ctx = DefaultQueryContext());
 
        Goal(SimpleConjunctionPtr formula, const Goal &goal);
 
        ~Goal() override;
 
        auto &formula() const { return formula_; }
 
        void push(const AnswerPtr &answer);
 
        void push(const BindingsPtr &bindings);
 
        void finish() { outputChannel_->push(EndOfEvaluation::get()); }
 
        auto &answerBuffer() const { return answerBuffer_; }
 
        auto &outputChannel() const { return outputChannel_; }
 
    protected:
        std::shared_ptr<const QueryContext> ctx_;
        std::shared_ptr<TokenBuffer> answerBuffer_;
        std::shared_ptr<TokenStream::Channel> outputChannel_;
        std::shared_ptr<SimpleConjunction> formula_;
 
        // Override Query
        void write(std::ostream &os) const override { os << *formula_; }
    };
 
    using GoalPtr = std::shared_ptr<Goal>;
}
 
#endif //KNOWROB_GOAL_H_