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## robocup.lab
Class Brain

    java.lang.Object
      robocup.lab.Brain

    public class Brain

extends java.lang.Object

The Class Brain.

Field Summary
`private static org.apache.log4j.Logger` | `log` The log.
`private static java.util.Set<Literal>` | `memory` The memory.
`private static java.util.List<java.lang.String>` | `plan` The plan.
`private static plplan.javaapi.PLPlan` | `planner` The planner.
`private static java.util.Set<Literal>` | `sensors` The sensors.
`private static java.util.PriorityQueue<Literal>` | `targets` The targets.

Constructor Summary
`Brain()` Instantiates a new brain.

Method Summary
`void` | `addSense(Literal l)` Adds a `Literal` to the sensors set.
`void` | `consumeAction()` Consume the current action in the plan.
`private Literal` | `evaluate(Literal l, java.lang.String mode)` Evaluate the literal, in order to find a corresponding local goal.
`private void` | `initPlanner()` Inits the planner.
`java.lang.String` | `readAction()` Read the current action in the plan.
`void` | `removeSense(Literal l)` Removes a `Literal` from the sensors set.
`private void` | `replan()` Replan.
`void` | `resetSensors()` Reset sensors.
`void` | `restart()` Restart all the brain instance.
`void` | `tryReplan()` Try to replan.

Methods inherited from class java.lang.Object
`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

Field Detail

### log

    private static org.apache.log4j.Logger log

  The log.

### memory

    private static java.util.Set<Literal> memory

  The memory.

### sensors

    private static java.util.Set<Literal> sensors

  The sensors.

### targets

    private static java.util.PriorityQueue<Literal> targets

  The targets.

### planner

    private static plplan.javaapi.PLPlan planner

  The planner.

### plan

    private static java.util.List<java.lang.String> plan

  The plan.

Constructor Detail

### Brain

    public Brain()

  Instantiates a new brain.

Method Detail

### initPlanner

    private void initPlanner()

  Inits the planner.

### replan

    private void replan()

  Replan. Run the planner in order to find a better planning.

### addSense

    public void addSense(Literal l)

  Adds a `Literal` to the sensors set.

  Parameters:
    `l` - the literal

### removeSense

    public void removeSense(Literal l)

  Removes a `Literal` from the sensors set.

  Parameters:
    `l` - the literal

### evaluate

    private Literal evaluate(Literal l,
                             java.lang.String mode)

  Evaluate the literal, in order to find a corresponding local goal.

  Parameters:
    `l` - the literal
    `mode` - the mode (add, remove)
  Returns:
    the evaluated literal

### resetSensors

    public void resetSensors()

  Reset sensors.

### readAction

    public java.lang.String readAction()

  Read the current action in the plan.

  Returns:
    the action

### consumeAction

    public void consumeAction()

  Consume the current action in the plan.

### restart

    public void restart()

  Restart all the brain instance.

### tryReplan

    public void tryReplan()

  Try to replan.

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