FirstOrderLiteral.cpp

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#include "knowrob/formulas/FirstOrderLiteral.h"
#include "knowrob/integration/python/utils.h"
 
using namespace knowrob;
 
FirstOrderLiteral::FirstOrderLiteral(const PredicatePtr &predicate, bool isNegative)
        : predicate_(predicate),
          isNegated_(isNegative) {}
 
/*
FirstOrderLiteral::FirstOrderLiteral(const FirstOrderLiteral &other, const Substitution &sub)
        : predicate_(std::static_pointer_cast<Predicate>(applyBindings(other.predicate_, sub))),
          isNegated_(other.isNegated_) {}
*/
 
void FirstOrderLiteral::write(std::ostream &os) const {
    if (isNegated()) {
        os << "not(" << *predicate_ << ")";
    } else {
        os << *predicate_;
    }
}
 
namespace knowrob {
    FirstOrderLiteralPtr applyBindings(const FirstOrderLiteralPtr &lit, const Bindings &bindings) {
        auto predicate = std::static_pointer_cast<Predicate>(applyBindings(lit->predicate(), bindings));
        if (predicate != lit->predicate()) {
            return std::make_shared<FirstOrderLiteral>(predicate, lit->isNegated());
        }
        else {
            return lit;
        }
    }
}
 
namespace knowrob::py {
    template<>
    void createType<FirstOrderLiteral>() {
        using namespace boost::python;
        class_<FirstOrderLiteral, std::shared_ptr<FirstOrderLiteral>>
                ("FirstOrderLiteral", init<const PredicatePtr &, bool>())
                .def("predicate", &FirstOrderLiteral::predicate, return_value_policy<copy_const_reference>())
                .def("isNegated", &FirstOrderLiteral::isNegated)
                .def("functor", &FirstOrderLiteral::functor, return_value_policy<copy_const_reference>())
                .def("arity", &FirstOrderLiteral::arity)
                .def("numVariables", &FirstOrderLiteral::numVariables);
    }
}