Problem.hpp

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#ifndef PDDL_PLANNER_REPRESENTATION_PROBLEM
#define PDDL_PLANNER_REPRESENTATION_PROBLEM

#include <pddl_planner/representation/Domain.hpp>

namespace pddl_planner {
namespace representation {

struct Problem
{
    std::string name;
    Domain domain;
    ConstantList objects;

    ExpressionList status;
    Expression goal;

    Problem(const std::string& name, const Domain& domain);

    void addObject(const TypedItem& type, bool overwrite = false);

    void addInitialStatus(const Expression& e);


    void setGoal(const Expression& e);

    void addSubGoal(const Expression& e);

    bool undefined() const { return goal.isNull() || domain.isNull(); }

    void validate() const;

    std::string toLISP() const;
};

} // end representation
} // end pddl_planner

#endif // PDDL_PLANNER_REPRESENTATION_PROBLEM