Operations.cpp

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/*
* 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
*/
 
#include <ArmarXCore/observers/condition/Operations.h>
 
namespace armarx
{
    OperationType
    Operation::getOperationType(const Ice::Current& c) const
    {
        return opType;
    }
 
    Operation::Operation()
    {
        type = eOperation;
        opType = eUndefinedOperation;
    }
 
    // OperationAnd
    OperationAnd::OperationAnd(TermImplPtr a, TermImplPtr b)
    {
        opType = eOperationAnd;
        addChild(a);
        addChild(b);
    }
 
    void
    OperationAnd::update(const Ice::Current& c)
    {
        if (childs.size() != 2)
        {
            return;
        }
 
        value = childs.at(0)->getValue() && childs.at(1)->getValue();
 
        TermImpl::update();
    }
 
    void
    OperationAnd::updateWithData(const Ice::Current&)
    {
        if (childs.size() != 2)
        {
            return;
        }
        datafieldValues = childs.at(0)->getDatafields();
        auto values2 = childs.at(1)->getDatafields();
        datafieldValues.insert(values2.begin(), values2.end());
 
        value = childs.at(0)->getValue() && childs.at(1)->getValue();
 
        TermImpl::updateWithData();
    }
 
    void
    OperationAnd::output(std::ostream& out) const
    {
        if (childs.size() != 2)
        {
            return;
        }
 
        out << "(" << TermImplPtr::dynamicCast(childs.at(0)) << " && "
            << TermImplPtr::dynamicCast(childs.at(1)) << ")";
    }
 
    std::string
    OperationAnd::getOperationString(const Ice::Current& c)
    {
        return "&";
    }
 
    Ice::ObjectPtr
    OperationAnd::ice_clone() const
    {
        return new OperationAnd(TermImplPtr::dynamicCast(childs.at(0)->ice_clone()),
                                TermImplPtr::dynamicCast(childs.at(1)->ice_clone()));
    }
 
    OperationAnd::OperationAnd()
    {
        opType = eOperationAnd;
    }
 
    // OperationOr
    OperationOr::OperationOr(TermImplPtr a, TermImplPtr b)
    {
        opType = eOperationOr;
 
        addChild(a);
        addChild(b);
    }
 
    void
    OperationOr::update(const Ice::Current& c)
    {
        if (childs.size() != 2)
        {
            return;
        }
 
        value = childs.at(0)->getValue() || childs.at(1)->getValue();
 
        TermImpl::update();
    }
 
    void
    OperationOr::updateWithData(const Ice::Current&)
    {
        if (childs.size() != 2)
        {
            return;
        }
 
        value = childs.at(0)->getValue() || childs.at(1)->getValue();
        datafieldValues = childs.at(0)->getDatafields();
        auto values2 = childs.at(1)->getDatafields();
        datafieldValues.insert(values2.begin(), values2.end());
        TermImpl::updateWithData();
    }
 
    void
    OperationOr::output(std::ostream& out) const
    {
        if (childs.size() != 2)
        {
            return;
        }
 
        out << "(" << TermImplPtr::dynamicCast(childs.at(0)) << " || "
            << TermImplPtr::dynamicCast(childs.at(1)) << ")";
    }
 
    std::string
    OperationOr::getOperationString(const Ice::Current& c)
    {
        return "|";
    }
 
    Ice::ObjectPtr
    OperationOr::ice_clone() const
    {
        return new OperationOr(TermImplPtr::dynamicCast(childs.at(0)->ice_clone()),
                               TermImplPtr::dynamicCast(childs.at(1)->ice_clone()));
    }
 
    OperationOr::OperationOr()
    {
        opType = eOperationOr;
    }
 
    // OperationNot
    OperationNot::OperationNot(TermImplPtr a)
    {
        opType = eOperationNot;
 
        addChild(a);
    }
 
    void
    OperationNot::update(const Ice::Current& c)
    {
        if (childs.size() != 1)
        {
            return;
        }
 
        value = !childs.at(0)->getValue();
 
        TermImpl::update();
    }
 
    void
    OperationNot::updateWithData(const Ice::Current&)
    {
        if (childs.size() != 1)
        {
            return;
        }
 
        value = !childs.at(0)->getValue();
        datafieldValues = childs.at(0)->getDatafields();
        TermImpl::updateWithData();
    }
 
    void
    OperationNot::output(std::ostream& out) const
    {
        if (childs.size() != 1)
        {
            return;
        }
 
        out << "!(" << TermImplPtr::dynamicCast(childs.at(0)) << ")";
    }
 
    std::string
    OperationNot::getOperationString(const Ice::Current& c)
    {
        return "!";
    }
 
    Ice::ObjectPtr
    OperationNot::ice_clone() const
    {
        return new OperationNot(TermImplPtr::dynamicCast(childs.at(0)->ice_clone()));
    }
 
    OperationNot::OperationNot()
    {
        opType = eOperationNot;
    }
} // namespace armarx