message: polymorphic conversion of uct planner macro actions
diff: #include "modules/world/goal_definition/goal_definition_sequential.hpp"
  #include "modules/commons/params/setter_params.hpp"
  +#ifdef PLANNER_UCT
  +#include "src/behavior_uct_single_agent.hpp"
  +using modules::models::behavior::BehaviorUCTSingleAgentMacroActions;
  +#endif
  +
  namespace py = pybind11;
  using modules::world::goal_definition::GoalDefinitionPolygon;
  @@ -34,7 +39,13 @@ py::tuple BehaviorModelToPython(BehaviorModelPtr behavior_model) {
  behavior_model_name = "BehaviorConstantVelocity";
  } else if (typeid(*behavior_model) == typeid(BehaviorIDMClassic)) {
  behavior_model_name = "BehaviorIDMClassic";
  - } else {
  + }
  +#ifdef PLANNER_UCT
  + else if(typeid(*behavior_model) == typeid(BehaviorUCTSingleAgentMacroActions)) {
  + behavior_model_name = "BehaviorUCTSingleAgentMacroActions";
  + }
  +#endif
  + else {
  LOG(ERROR) << "Unknown BehaviorType for polymorphic conversion.";
  throw;
  }
  @@ -49,7 +60,15 @@ BehaviorModelPtr PythonToBehaviorModel(py::tuple t) {
  } else if (behavior_model_name.compare("BehaviorIDMClassic") == 0) {
  return std::make_shared<BehaviorIDMClassic>(
  t[0].cast<BehaviorIDMClassic>());
  - } else {
  + }
  +#ifdef PLANNER_UCT
  + else if(behavior_model_name.compare("BehaviorUCTSingleAgentMacroActions") == 0) {
  + return std::make_shared<BehaviorUCTSingleAgentMacroActions>(
  + t[0].cast<BehaviorUCTSingleAgentMacroActions>());
  +
  + }
  +#endif
  + else {
  LOG(ERROR) << "Unknown BehaviorType for polymorphic conversion.";
  throw;
  }
  