Automaton.h

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/* Author: Matt Maly, Keliang He */

#ifndef OMPL_CONTROL_PLANNERS_LTL_AUTOMATON_
#define OMPL_CONTROL_PLANNERS_LTL_AUTOMATON_

#include "ompl/control/planners/ltl/World.h"
#include "ompl/util/ClassForward.h"
#include "ompl/config.h"
#include <unordered_map>
#include <limits>
#include <ostream>
#include <vector>

namespace ompl
{
    namespace control
    {

        OMPL_CLASS_FORWARD(Automaton);

        class Automaton
        {
        public:
            struct TransitionMap
            {
                int eval(const World &w) const;

                TransitionMap &operator=(const TransitionMap &tm) = default;

                mutable std::unordered_map<World, unsigned int> entries;
            };

            Automaton(unsigned int numProps, unsigned int numStates = 0);

#if OMPL_HAVE_SPOT

            Automaton(unsigned numProps, std::string formula, bool isCosafe = true);
#endif

            unsigned int addState(bool accepting = false);

            void setAccepting(unsigned int s, bool a);

            bool isAccepting(unsigned int s) const;

            void setStartState(unsigned int s);

            int getStartState() const;

            void addTransition(unsigned int src, const World &w, unsigned int dest);

            bool run(const std::vector<World> &trace) const;

            int step(int state, const World &w) const;

            TransitionMap &getTransitions(unsigned int src);

            unsigned int numStates() const;

            unsigned int numTransitions() const;

            unsigned int numProps() const;

            void print(std::ostream &out) const;

            unsigned int distFromAccepting(unsigned int s,
                                           unsigned int maxDist = std::numeric_limits<unsigned int>::max()) const;

            static AutomatonPtr AcceptingAutomaton(unsigned int numProps);

            static AutomatonPtr CoverageAutomaton(unsigned int numProps, const std::vector<unsigned int> &covProps);

            static AutomatonPtr SequenceAutomaton(unsigned int numProps, const std::vector<unsigned int> &seqProps);

            static AutomatonPtr DisjunctionAutomaton(unsigned int numProps, const std::vector<unsigned int> &disjProps);

            static AutomatonPtr AvoidanceAutomaton(unsigned int numProps, const std::vector<unsigned int> &avoidProps);

            static AutomatonPtr CoverageAutomaton(unsigned int numProps);

            static AutomatonPtr SequenceAutomaton(unsigned int numProps);

            static AutomatonPtr DisjunctionAutomaton(unsigned int numProps);

        protected:
            unsigned int numProps_;
            unsigned int numStates_;
            int startState_{-1};
            std::vector<bool> accepting_;
            std::vector<TransitionMap> transitions_;
            mutable std::vector<unsigned int> distances_;
        };
    }
}
#endif