EvaluatorLTL python wrapper updates

bark-simulator · Jan 25, 2024 · 17e72ca · 17e72ca
1 parent 6027c1f
commit 17e72ca
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Showing 3 changed files with 16 additions and 3 deletions.
diff --git a/bark/python_wrapper/world/ltl.cpp b/bark/python_wrapper/world/ltl.cpp
@@ -45,12 +45,12 @@ void python_ltl(py::module m) {
   using namespace bark::world::evaluation;
 
 #ifdef LTL_RULES
-  py::class_<EvaluatorLTL, BaseEvaluator, std::shared_ptr<EvaluatorLTL>>(
+
+  py::class_<EvaluatorLTL, BaseEvaluator, PyEvaluatorLTL, std::shared_ptr<EvaluatorLTL>>(
       m, "EvaluatorLTL")
       .def(py::init<AgentId, const std::string&, const LabelFunctions&>(),
            py::arg("agent_id"), py::arg("ltl_formula"),
            py::arg("label_functions"))
-      .def("Evaluate", py::overload_cast<const ObservedWorld&>(&PyEvaluatorLTL::Evaluate)) 
       .def_property_readonly("rule_states", &EvaluatorLTL::GetRuleStates)
       .def_property_readonly("label_functions",
                              &EvaluatorLTL::GetLabelFunctions)
@@ -65,7 +65,7 @@ void python_ltl(py::module m) {
              std::shared_ptr<BaseLabelFunction>>(m, "BaseLabelFunction")
       .def(py::init<const std::string&>())
       .def("Evaluate", &BaseLabelFunction::Evaluate);
-
+  
   py::class_<ConstantLabelFunction, BaseLabelFunction,
              std::shared_ptr<ConstantLabelFunction>>(m, "ConstantLabelFunction")
       .def(py::init<const std::string&>())

diff --git a/bark/python_wrapper/world/ltl.hpp b/bark/python_wrapper/world/ltl.hpp
@@ -74,6 +74,17 @@ class PySafeDistanceLabelFunction : public SafeDistanceLabelFunction {
 class PyEvaluatorLTL : public EvaluatorLTL { 
  public:
     using EvaluatorLTL::Evaluate; 
+    /* Inherit the constructors */
+    using EvaluatorLTL::EvaluatorLTL;
+
+    EvaluationReturn Evaluate(const ObservedWorld& observed_world) override {
+        PYBIND11_OVERLOAD(
+            EvaluationReturn,
+            EvaluatorLTL,     
+            Evaluate,       
+            observed_world
+        );
+    }
 };
 
 void python_ltl(py::module m);

diff --git a/bark/world/world.cpp b/bark/world/world.cpp
@@ -139,6 +139,7 @@ void World::AddObject(const objects::ObjectPtr& object) {
 void World::AddEvaluator(const std::string& name,
                          const EvaluatorPtr& evaluator) {
   evaluators_[name] = evaluator;
+  // std::cout << "AddEvaluator in World: " << name << ";" << evaluator << "\n";
 }
 
 EvaluationMap World::Evaluate() const {
@@ -152,6 +153,7 @@ EvaluationMap World::Evaluate() const {
 std::vector<ObservedWorld> World::Observe(
     const std::vector<AgentId>& agent_ids) const {
   WorldPtr current_world(this->Clone());
+
   std::vector<ObservedWorld> observed_worlds;
   for (auto agent_id : agent_ids) {
     if (agents_.find(agent_id) == agents_.end()) {