Bindings.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_BINDINGS_H_
#define KNOWROB_BINDINGS_H_
 
#include <queue>
#include <functional>
#include <map>
#include <memory>
#include <ostream>
#include "Term.h"
#include "Variable.h"
#include "knowrob/formulas/Formula.h"
#include "Atomic.h"
#include "knowrob/Printable.h"
 
namespace knowrob {
    class Bindings : public Printable {
    public:
        using Map = std::map<std::string_view, std::pair<std::shared_ptr<Variable>, TermPtr>>;
        using VarMap = std::map<std::shared_ptr<Variable>, TermPtr>;
 
        Bindings() = default;
 
        explicit Bindings(const std::map<std::shared_ptr<Variable>, TermPtr> &mapping);
 
        ~Bindings() override = default;
 
        bool operator==(const Bindings &other) const;
 
        void operator+=(const Bindings &other);
 
        bool empty() const { return mapping_.empty(); }
 
        auto size() const { return mapping_.size(); }
 
        auto begin() const { return mapping_.begin(); }
 
        auto end() const { return mapping_.end(); }
 
        auto find(std::string_view varName) const { return mapping_.find(varName); }
 
        void set(const std::shared_ptr<Variable> &var, const TermPtr &term);
 
        const TermPtr &get(std::string_view varName) const;
 
        std::shared_ptr<Atomic> getAtomic(std::string_view varName) const;
 
        bool contains(std::string_view varName) const;
 
        bool unifyWith(const Bindings &other);
 
        bool isConsistentWith(const Bindings &other) const;
 
        size_t hash() const;
 
        static std::shared_ptr<const Bindings> emptyBindings();
 
        // Printable interface
        void write(std::ostream &os) const override;
 
    protected:
        Map mapping_;
    };
 
    // alias declaration
    using BindingsPtr = std::shared_ptr<const Bindings>;
    using BindingsHandler = std::function<void(const BindingsPtr &)>;
 
    TermPtr applyBindings(const TermPtr &term, const Bindings &bindings);
 
    FormulaPtr applyBindings(const FormulaPtr &phi, const Bindings &bindings);
}
 
#endif //KNOWROB_BINDINGS_H_