Package edu.tufts.hrilab.action.selector

Class GoalPlanningActionSelector

java.lang.Object

edu.tufts.hrilab.action.selector.ActionSelector

edu.tufts.hrilab.action.selector.GoalPlanningActionSelector

public class GoalPlanningActionSelector
extends ActionSelector

Constructor Summary

Constructors

Constructor	Description
GoalPlanningActionSelector()	This should stay protected to prevent instantiation without using the ActionSelection.getInstance singleton getter.

Method Summary

Modifier and Type	Method	Description
ParameterizedAction	selectActionForGoal(Goal goal, ActionConstraints constraints, StateMachine stateMachine)	Main implementation of the action selector.

Methods inherited from class edu.tufts.hrilab.action.selector.ActionSelector

getCandidateActions, getInstance, selectActionForCommand, setActionSelectorType, setActionSelectorType

Methods inherited from class java.lang.Object

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

Constructor Details

GoalPlanningActionSelector

public GoalPlanningActionSelector()

This should stay protected to prevent instantiation without using the ActionSelection.getInstance singleton getter.

Method Details

selectActionForGoal

public ParameterizedAction selectActionForGoal(Goal goal,
 ActionConstraints constraints,
 StateMachine stateMachine)

Main implementation of the action selector. Performs a problem escalation, starting with checking if goal can be satisfied by a single pre-existing action,

Specified by:

selectActionForGoal in class ActionSelector

Parameters:

goal - the goal that the selected action should accomplish

constraints - a returned goal should satisfy any constraints

stateMachine - in case the action selector cares about the state

Returns:

an action that accomplishes goal, satisfies constraints