Revert "Removed default methods on MetaPlanner."

This reverts commit 7d708dd.

Author: Michael Koval

src/prpy/planning/base.py

@@ -125,9 +125,23 @@ def __init__(self):
 class MetaPlanner(Planner):
     __metaclass__ = abc.ABCMeta
 
-    @abc.abstractmethod
+    def __init__(self):
+        super(MetaPlanner, self).__init__()
+        self._planners = list()
+
+    def has_planning_method(self, method_name):
+        for planner in self._planners:
+            if planner.has_planning_method(method_name):
+                return True
+
+        return False
+
     def get_planning_method_names(self):
-        pass
+        method_names = set()
+        for planner in self._planners:
+            method_names.update(planner.get_planning_method_names())
+
+        return list(method_names)
 
     @abc.abstractmethod
     def get_planners(self, method_name):
@@ -210,13 +224,6 @@ def __init__(self, *planners):
     def __str__(self):
         return 'Sequence({:s})'.format(', '.join(map(str, self._planners)))
 
-    def get_planning_method_names(self):
-        method_names = set()
-        for planner in self._planners:
-            method_names.update(planner.get_planning_method_names())
-
-        return list(method_names)
-
     def get_planners(self, method_name):
         return [planner for planner in self._planners
                 if planner.has_planning_method(method_name)]
@@ -261,13 +268,6 @@ def __init__(self, *planners):
     def __str__(self):
         return 'Ranked({0:s})'.format(', '.join(map(str, self._planners)))
 
-    def get_planning_method_names(self):
-        method_names = set()
-        for planner in self._planners:
-            method_names.update(planner.get_planning_method_names())
-
-        return list(method_names)
-
     def get_planners(self, method_name):
         return [planner for planner in self._planners
                 if planner.has_planning_method(method_name)]
@@ -338,13 +338,6 @@ def __init__(self, *planners):
     def __str__(self):
         return 'Fallback({:s})'.format(', '.join(map(str, self._planners)))
 
-    def get_planning_method_names(self):
-        method_names = set()
-        for planner in self._planners:
-            method_names.update(planner.get_planning_method_names())
-
-        return list(method_names)
-
     def get_planners(self, method_name):
         return [planner for planner in self._planners
                 if planner.has_planning_method(method_name)]