Package edu.tufts.hrilab.action.goal

Class GoalInfo

java.lang.Object

edu.tufts.hrilab.action.goal.GoalInfo

All Implemented Interfaces:

Serializable

public class GoalInfo
extends Object
implements Serializable

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
Symbol	actor	Actor responsible for this goal.
long	end	System time that goal execution terminated.
Justification	failConditions	Justification containing failure reasons.
final long	gid	Unique goal ID.
Predicate	goal	Goal predicate.
boolean	isAction	If this goal is a state-base goal (isAction==false) or action-based (isAction==true).
Predicate	metric	Optional metric for task planning.
boolean	persistent	If true, this goal is wrapped as a persistent goal (i.e., while loop) and executed until failure or cancellation/suspension.
long	priority	Goal priority.
long	start	System time that goal execution started.
GoalStatus	status	GoalStatus.
Symbol	unboundGoal	Goal predicate that can have unbound variables.

Constructor Summary

Constructors

Constructor	Description
GoalInfo(long gid)
GoalInfo(GoalInfo other)

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

goal

public Predicate goal

Goal predicate. This predicate can toggle between bound and unbound forms, depending on if the goal execution has been started. If the initial goal predicate has unbound variables, this predicate will contain unbound variables until the GoalContext binds them during the action selection stage of goal execution. If the GoalContext is reset and executed again, this predicate can be rebound to different variable bindings.

unboundGoal

public Symbol unboundGoal

Goal predicate that can have unbound variables. This goal predicate never changes, and is used to unbind the goal predicate so that a Goal can be reused inside a GoalContext when the context is reset.

gid

public final long gid

Unique goal ID.

failConditions

public Justification failConditions

Justification containing failure reasons.

start

public long start

System time that goal execution started.

end

public long end

System time that goal execution terminated.

status

public GoalStatus status

GoalStatus.

actor

public Symbol actor

Actor responsible for this goal.

isAction

public boolean isAction

If this goal is a state-base goal (isAction==false) or action-based (isAction==true). Action goals map directly onto an existing action, where no top-level task planning is needed.

metric

public Predicate metric

Optional metric for task planning.

persistent

public boolean persistent

If true, this goal is wrapped as a persistent goal (i.e., while loop) and executed until failure or cancellation/suspension.

priority

public long priority

Goal priority. Used by the ExecutionManager to determine what goals to execute.

Constructor Details

GoalInfo

public GoalInfo(long gid)

GoalInfo

public GoalInfo(GoalInfo other)