Term.h

Go to the documentation of this file.

/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    ArmarX::Core
* @author     Kai Welke (welke _at_ kit _dot_ edu)
* @date       2012 Kai Welke
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
// variant includes
#include <ArmarXCore/observers/variant/DataFieldIdentifier.h>
#include <ArmarXCore/observers/variant/Variant.h>
 
// condition includes
#include <ArmarXCore/observers/condition/TermImpl.h>
#include <ArmarXCore/observers/condition/LiteralImpl.h>
 
namespace armarx
{
    class ARMARXCORE_IMPORT_EXPORT Term
    {
    public:
        Term();
 
        Term(const Term& other);
 
        Term(TermImplPtr impl);
 
        Term operator&&(const Term& right) const;
 
        Term operator||(const Term& right) const;
 
        Term operator!(void) const;
 
        Term& operator=(const Term& right);
 
        TermImplPtr getImpl() const;
 
 
        friend std::ostream& operator<<(std::ostream& stream, const Term& rhs)
        {
            // call streaming operator on implementation
            if (rhs.termImpl)
            {
                stream << rhs.termImpl;
            }
 
            return stream;
        }
 
    protected:
        // reference to term implementation
        TermImplPtr termImpl;
    };
 
 
    using VarList = std::vector<Variant>;
    class ARMARXCORE_IMPORT_EXPORT Literal :
        public Term
    {
    public:
        Literal(const std::string& dataFieldIdentifierStr, const std::string& checkName, const VarList& checkParameters = createParameterList());
 
 
        Literal(const DataFieldIdentifier& dataFieldIdentifier, const std::string& checkName, const VarList& checkParameters = createParameterList());
 
        Literal(const DataFieldIdentifierPtr& dataFieldIdentifier, const std::string& checkName, const VarList& checkParameters = createParameterList());
 
        Literal(const DatafieldRefBasePtr& datafieldRef, const std::string& checkName, const VarList& checkParameters = createParameterList());
 
        static VarList createParameterList();
 
        static VarList createParameterList(const Variant& param1);
 
        static VarList createParameterList(const Variant& param1, const Variant& param2);
 
        static VarList createParameterList(const Variant& param1, const Variant& param2, const Variant& param3);
 
        ParameterList toParamList(const VarList& varList) const;
    };
}