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.