Package edu.tufts.hrilab.action.goal

Class Goal

java.lang.Object
edu.tufts.hrilab.action.goal.Goal
Direct Known Subclasses:
ScheduledGoal
public class Goal extends Object
Goal encapsulates a goal Predicate, the ActionInterpreter in charge of executing it and some additional information.

  • Field Details

  • Constructor Details

    • Goal

      protected Goal(Predicate goalPredicate)
      Construct goal that defines the actor to achieve the goal, and the desired goal/action. This is the main method used when using the GoalManager submitGoal method.
      Parameters:
      goalPredicate -

    • Goal

      protected Goal(Symbol actor, Symbol goalState)
      Construct goal with explicit actor. This is primarily used for creating goal instance from ASL
      Parameters:
      actor -
      goalState -

    • Goal

      protected Goal(Symbol actor, Symbol goalState, Observable observable)
      Goal constructor used to explicitly mark goal as an observation. It's possible to have an observation goal without the OBS(actor, state) predicate form. This is almost always the case for observations from conditions and effects checks.
      Parameters:
      actor - the actor doing the observing
      goalState - the goal state
      observable - enum specifying if goal is observable, and if so what type (true/false/default)

  • Method Details

    • createGoal

      public static Goal createGoal(Predicate goalState)
      This is the standard way to construct a new Goal. This will automatically create a ScheduledGoal if the goalState is scheduled(...).
      Parameters:
      goalState -
      Returns:

    • createGoal

      public static Goal createGoal(Symbol actor, Symbol goalState)
      Convenience factory method for constructing goals from the execution of ASL, or when you don't already have a goal predicate of the form "goal(actor, goalState)".
      Parameters:
      actor -
      goalState -
      Returns:

    • createGoal

      public static Goal createGoal(Symbol actor, Symbol goalState, Observable observable)
      Convenience factory method for constructing goals that explicitly mark goal as an observation. It's possible to have an observation goal without the OBS(actor, state) predicate form. This is almost always the case for observations from conditions and effects checks.
      Parameters:
      actor - the actor doing the observing (can be null, if it can be inferred from predicate)
      goalState - the goal predicate
      observable - enum specifying if goal is observable, and if so what type (true/false/default)

    • matches

      public boolean matches(Predicate goalPredicate)
      Check if this goal predicate matches the given goal predicate.
      Parameters:
      goalPredicate -
      Returns:

    • getGoalPredicate

      public Predicate getGoalPredicate()
      Get the full goal predicate. This is the predicate that was used to create this goal. Examples: goal(self,state) --> goal(self,state) action1(self,args) --> action1(self,args) obs(self,state) --> obs(self,state) If the original goal predicate was unbound, this will return the unbound version.
      Returns:

    • getGoalStatePredicate

      public Predicate getGoalStatePredicate()
      Get the goal state predicate. This is the state to be achieved, or the action to be executed. Examples: goa(self,state) --> state action1(self,args) --> action1(self,args) obs(self,state) --> state This can contain free variables, and it can also become bound depending on where in the goal execution process this method is called.
      Returns:

    • bindPredicate

      public boolean bindPredicate(Context context)
      Binds goal predicate to values in context.
      Parameters:
      context - context providing bindings
      Returns:
      true if predicate was bound using variables in context

    • getId

      public long getId()

    • isAction

      public boolean isAction()

    • setIsAction

      public void setIsAction(boolean value)

    • isObservation

      public boolean isObservation()

    • getObservableEnum

      public Observable getObservableEnum()

    • isPersistent

      public boolean isPersistent()

    • isScheduled

      public boolean isScheduled()

    • setScheduledState

      public void setScheduledState(int scheduledState)

    • getScheduledState

      public int getScheduledState()

    • getActor

      public Symbol getActor()

    • getFailConditions

      public Justification getFailConditions()

    • getStatus

      public GoalStatus getStatus()

    • getStartTime

      public long getStartTime()

    • getEndTime

      public long getEndTime()

    • setRootContext

      public void setRootContext(Context context)
      Set the root context of this goal (not the root of the entire tree).
      Parameters:
      context -

    • setCurrentContext

      public void setCurrentContext(Context context)
      Set the current context being executed by an ActionInterpreter.
      Parameters:
      context -

    • getRootContext

      public Context getRootContext()
      Get the root context of this goal (not the root of the entire tree).
      Returns:

    • getCurrentContext

      public Context getCurrentContext()
      Get the current context being executed by an ActionInterpreter.
      Returns:

    • getContextDescription

      public ContextDescription getContextDescription(Predicate location)

    • setAsStarted

      public boolean setAsStarted()
      Set goal status to ACTIVE and set start time. This method does not actually start goal execution.
      Returns:

    • setStatus

      public void setStatus(GoalStatus status)
      Set the status of this goal. Does not directly change the actual execution of this goal.
      Parameters:
      status -

    • setFailureStatus

      public void setFailureStatus(GoalStatus status, Justification failureJustification)
      Alternate method to setStatus, to set failure condition before sending goal status notifications.
      Parameters:
      status -
      failureJustification -

    • setPriority

      public void setPriority(long priority)

    • getPriority

      public long getPriority()

    • setPriorityTier

      public void setPriorityTier(PriorityTier priorityTier)

    • getPriorityTier

      public PriorityTier getPriorityTier()

    • setSubmitter

      public void setSubmitter(Symbol submitter)

    • getSubmitter

      public Symbol getSubmitter()

    • getRequiredResources

      public Set<Resource> getRequiredResources()
      Get the set of resources necessary to be available in order to execute this goal. Note: This set is specific to the subclass of ExecutionManager being used in the system and requires setRequiredResources to be called first (by the ExecutionManager). Will return null if the set of resources has not yet been computed by an ExecutionManager.

    • setRequiredResources

      public void setRequiredResources(Set<Resource> requiredResources)
      Set the set of resources which must be available for this goal during execution. This method should only be called by the Execution Manager on submission.

    • getHeldResources

      public Set<Resource> getHeldResources()
      Get the set of resources that will be held by this goal during execution. Note: This set is specific to the subclass of ExecutionManager being used in the system and requires setRequiredResources to be called first (by the ExecutionManager). Will return null if the set of resources has not yet been computed by an ExecutionManager.

    • setHeldResources

      public void setHeldResources(Set<Resource> heldResources)
      Set the set of resources which will be held by this goal during execution. This method should only be called by the Execution Manager on submission.

    • setIsLearningGoal

      public void setIsLearningGoal(boolean isLearningGoal)
      Set indication whether this goal is being used as a part of action learning. This is important for reasoning in the ExecutionManager about whether the goal conflicts with active learning.

    • isLearningGoal

      public boolean isLearningGoal()
      Returns true if this goal was submitted as part of an action learning process

    • cancel

      public boolean cancel()
      Cancels goal execution (if currently being executed). If being executed, calls cancel on the ActionInterpreter which will set the status of this goal once execution has terminated.

    • suspend

      public boolean suspend()
      Suspends goal execution (if currently being executed). If being executed, calls suspend on the ActionInterpreter which will set the status of this goal once execution has fully suspended.

    • resume

      public boolean resume()
      Resumes goal execution (if currently suspended). Calls suspend on the ActionInterpreter which will set the status of this goal once execution has resumed.

    • getActionInterpreter

      public ActionInterpreter getActionInterpreter()

    • setActionInterpreter

      public boolean setActionInterpreter(ActionInterpreter interpreter)

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • setMetric

      public void setMetric(Predicate metric)

    • getMetric

      public Predicate getMetric()

    • getInfo

      public GoalInfo getInfo()
      Get copy of GoalInfo.
      Returns:

    • addListener

      public void addListener(GoalListener listener)

    • removeListener

      public void removeListener(GoalListener listener)

    • getExecutionType

      public ExecutionType getExecutionType()

    • setExecutionType

      public void setExecutionType(ExecutionType executionType)