prada_readgoalfromfile.patch

--- main.cpp	2012-05-16 19:35:54.000000000 +0100
+++ main.cpp	2014-11-19 17:55:09.000000000 +0000
@@ -2,6 +2,10 @@
 
 #include <relational/prada.h>
 #include <relational/robotManipulationSymbols.h>
+#include <string>
+#include <iostream>
+#include <fstream>
+#include <sstream>
 
 
 
@@ -10,7 +14,7 @@
 #define PLAN_TYPE__UCT 3
 #define PLAN_TYPE__SST 4
 
-
+using namespace std;
 
 void test_plan() {
   cout<<"********************************"<<endl;
@@ -149,9 +153,15 @@
 //   relational::Literal* lit = relational::Literal::get(relational::Symbol::get("on"), TUP(66, 67), 1.);
 //   reward = new relational::LiteralReward(lit);
   // (1b) LiteralListReward
+  ifstream goalfile;
+  std::string goal_data;
+  goalfile.open("goal.dat");
+  getline(goalfile, goal_data);
+  std::istringstream iss(goal_data);
   relational::LitL lits_reward;
-  relational::Literal::get(lits_reward, MT::String("on(66 69) on(69 67)"));
+  relational::Literal::get(lits_reward, MT::String( iss.str().c_str() ));
   reward = new relational::LiteralListReward(lits_reward);
+  goalfile.close();
 
   // (2) STACKING REWARD 
   //     Use specification in robotManipulationInterface