action.h

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/* 
* Copyright (C) 2014 WYSIWYD Consortium, European Commission FP7 Project ICT-612139
* Authors: Gori Ilaria and Petit Maxime
* email:   ilaria.gori@iit.it, maxime.petit@inserm.fr
* website: https://github.com/robotology/icub-client/ 
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* icub-client/license/gpl.txt
*
* This program 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
*/

#ifndef __ICUBCLIENT_ACTION_H__
#define __ICUBCLIENT_ACTION_H__

#include "entity.h"
#include "relation.h"
#include "icubclient/tags.h"

namespace icubclient{

    class Action:public Entity
    {
        friend class OPCClient;

        Relation initialDescription; 
        std::list<Action> subActions; 
    public:
        std::map<std::string, double> estimatedDriveEffects;

        Action();
        Action(const Action &b);

        virtual bool isType(std::string _entityType) const
        {
            if (_entityType == ICUBCLIENT_OPC_ENTITY_ACTION)
                return true;
            else
                return this->Entity::isType(_entityType);
        }

        void setInitialDescription(const Relation &r);
        Relation    description() const; 
        Action      express(const Relation &r) const;

        void    append(Action &a);

        virtual std::list<Action>    asPlan() const;

        virtual std::list<Action>    asPlan(const Relation& newDescription) const;

        virtual bool isComposite(){ return subActions.size(); }

        int size(){ return subActions.size(); }

        virtual yarp::os::Bottle asBottle() const;
        virtual bool             fromBottle(const yarp::os::Bottle &b);
        virtual std::string      toString() const;
                
        virtual void getPlanDrivesEffect(std::map<std::string,double> &driveEffects);

        virtual std::string toString(const Relation &newRelation) const;
    };

}//Namespace

#endif