int dummyEffect(const ParameterList & parameterList,
predicateCallbackType predicateCallback,
numericalFluentCallbackType numericalFluentCallback,
int relaxed, vector<double>& writtenVars)
{
ROS_DEBUG("Calling %s module", __func__);
if(predicateCallback == NULL)
return false;
PredicateList pl;
ParameterList paramList;
paramList.push_back(Parameter("","","pos-1"));
pl.push_back(Predicate("free", paramList));
PredicateList* plp = &pl;
bool ret = predicateCallback(plp);
if(!ret)
return false;
if(pl.empty()) // callback removed our predicate!
return false;
// now we could / should react on the value of the predicate. skip
// this for the moment....
std::cout << "(free pos-1) is currently " << pl.front().value <<
std::endl;
// write arbitrary value back
writtenVars[0] = 17.0;
return 0;
}
Conjunct& operator|| (const Predicate& predicate) {
mPredicates.push_back(predicate);
return *this;
}
Conjunct(const Predicate& predicate) {
mPredicates.push_back(predicate);
}