Term.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>
#include <ArmarXCore/observers/condition/Term.h>
 
namespace armarx
{
    Term::Term()
    {
        termImpl = nullptr;
    }
 
    Term::Term(const Term& other)
    {
        if (other.termImpl)
        {
            this->termImpl = TermImplPtr::dynamicCast(other.termImpl->ice_clone());
        }
        else
        {
            this->termImpl = nullptr;
        }
    }
 
    Term::Term(armarx::TermImplPtr impl)
    {
        this->termImpl = impl;
    }
 
    Term
    Term::operator&&(const Term& right) const
    {
        if (!this->getImpl())
        {
            return right;
        }
 
        Term opAnd;
        opAnd.termImpl = new OperationAnd(this->getImpl(), right.getImpl());
 
        return opAnd;
    }
 
    Term
    Term::operator||(const Term& right) const
    {
        if (!this->getImpl())
        {
            return right;
        }
 
        Term opOr;
        opOr.termImpl = new OperationOr(this->getImpl(), right.getImpl());
        return opOr;
    }
 
    Term
    Term::operator!(void) const
    {
        if (!this->getImpl())
        {
            return *this;
        }
 
        Term opNot;
        opNot.termImpl = new OperationNot(this->getImpl());
        return opNot;
    }
 
    Term&
    Term::operator=(const Term& right)
    {
        if (right.getImpl())
        {
            this->termImpl = TermImplPtr::dynamicCast(right.getImpl()->ice_clone());
        }
        else
        {
            this->termImpl = nullptr;
        }
 
        return *this;
    }
 
    TermImplPtr
    Term::getImpl() const
    {
        return termImpl;
    }
 
    Literal::Literal(const std::string& dataFieldIdentifierStr,
                     const std::string& checkName,
                     const VarList& checkParameters)
    {
        termImpl = new LiteralImpl(dataFieldIdentifierStr, checkName, toParamList(checkParameters));
    }
 
    Literal::Literal(const DataFieldIdentifier& dataFieldIdentifier,
                     const std::string& checkName,
                     const VarList& checkParameters)
    {
        termImpl = new LiteralImpl(dataFieldIdentifier, checkName, toParamList(checkParameters));
    }
 
    Literal::Literal(const DataFieldIdentifierPtr& dataFieldIdentifier,
                     const std::string& checkName,
                     const VarList& checkParameters)
    {
        termImpl = new LiteralImpl(dataFieldIdentifier, checkName, toParamList(checkParameters));
    }
 
    Literal::Literal(const DatafieldRefBasePtr& datafieldRef,
                     const std::string& checkName,
                     const VarList& checkParameters)
    {
        termImpl = new LiteralImpl(datafieldRef, checkName, toParamList(checkParameters));
    }
 
    VarList
    Literal::createParameterList()
    {
        return VarList();
    }
 
    VarList
    Literal::createParameterList(const Variant& param1)
    {
        VarList list;
        list.push_back((param1));
 
        return list;
    }
 
    VarList
    Literal::createParameterList(const Variant& param1, const Variant& param2)
    {
        VarList list;
        list.push_back((param1));
        list.push_back((param2));
 
        return list;
    }
 
    VarList
    Literal::createParameterList(const Variant& param1,
                                 const Variant& param2,
                                 const Variant& param3)
    {
        VarList list;
        list.push_back((param1));
        list.push_back((param2));
        list.push_back((param3));
 
        return list;
    }
 
    ParameterList
    Literal::toParamList(const VarList& varList) const
    {
        ParameterList result;
 
        for (const auto& var : varList)
        {
            result.push_back(new Variant(var));
        }
 
        return result;
    }
} // namespace armarx