World.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_LTL_WORLD_
38 #define OMPL_CONTROL_PLANNERS_LTL_WORLD_
39 
40 #include <unordered_map>
41 #include <string>
42 
43 namespace ompl
44 {
45  namespace control
46  {
47  class World;
48  }
49 }
50 
52 
53 namespace std
54 {
55  template <>
56  struct hash<ompl::control::World>
57  {
58  size_t operator()(const ompl::control::World &w) const;
59  };
60 }
62 
63 namespace ompl
64 {
65  namespace control
66  {
71  class World
72  {
73  public:
75  World(unsigned int numProps);
76 
79  bool operator[](unsigned int i) const;
80 
83  bool &operator[](unsigned int i);
84 
87  unsigned int numProps() const;
88 
92  bool satisfies(const World &w) const;
93 
96  std::string formula() const;
97 
100  const std::unordered_map<unsigned int, bool> &props() const;
101 
104  bool operator==(const World &w) const;
105 
107  void clear();
108 
109  friend struct std::hash<World>;
110 
111  protected:
112  unsigned int numProps_;
113  std::unordered_map<unsigned int, bool> props_;
114  };
115  }
116 }
117 #endif
A class to represent an assignment of boolean values to propositions. A World can be partially restri...
Definition: World.h:71
STL namespace.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21