D:/bcatch/bcpoc_src/bcpoc/src/sfhrp/SFHRP/reactive_planner.hpp

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#ifndef REACTIVE_PLANNER
#define REACTIVE_PLANNER

#include <vector>
#include <cstdlib>
#include <ctime>
#include <string>

#include "types.hpp"
#include "simple_plan.hpp"



class ReactivePlanner {
public:
        //ctor
        ReactivePlanner();

        //dtor
        ~ReactivePlanner();

        //set entry point
        void EntryPlan(ptrSimplePlan);

        //execute one engine cycle
        int GetAction();

        void SetInactive(ptrBaseRule);
        ptrBaseRule GetActive();

        friend int SimplePlan::GetAction();

protected:

        //pointer to root plan
        ptrSimplePlan _root_plan;

        //current active rule, NULL when no rule active
        ptrBaseRule _active_rule;

};

#endif