memoryx::WorldStateObserverInterface
Overview
interface WorldStateObserverInterface
Operation Index
- getWorldState
-
Returns the current world state as perceived by the robot including
non-observable predicates that were inferred from actions.
- isObservable
-
Checks wether the given predicate is observable by the robot or only
inferrable.
- updatePredicateValue
-
Updates the predicate instance according to second parameter.
- addObservablePredicateInstances
-
@brief Add the given predicates to the WorldState.
- setPredicateArgumentWhitelist
-
@brief setPredicateArgumentWhitelist only allow getWorldState to consider these entities
@param argumentWhitelist the allowed entities; all are allowed if empty
- resetPredicateArgumentWhitelist
-
- registerAsUpdater
-
- getRegisteredUpdaters
-
Operations
Returns the current world state as perceived by the robot including
non-observable predicates that were inferred from actions.
bool isObservable(string predicateName)
Checks wether the given predicate is observable by the robot or only
inferrable.
Parameters
- predicateName
-
Name of the predicate to check
bool updatePredicateValue(PredicateInstance pi, bool removePredicate)
Updates the predicate instance according to second parameter.
Parameters
- pi
-
the predicate instance to add/remove
- removePredicate
-
flag that signals whether the predicate
should be added or removed (i.e. "add()" and "del()" in PKS)
Return Value
returns true if the world state was really changed or remained the same
(i.e. if the status of the predicate was before the same as after)
void addObservablePredicateInstances(PredicateInstanceList predicates)
@brief Add the given predicates to the WorldState.
Does not check if the predicate already exists.
Parameters
-
void setPredicateArgumentWhitelist(EntityBaseList argumentWhitelist)
@brief setPredicateArgumentWhitelist only allow getWorldState to consider these entities
Parameters
- argumentWhitelist
-
the allowed entities; all are allowed if empty
void resetPredicateArgumentWhitelist()