bool Node::satisfyConditions(const Literals& effects){
for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
- cerr << "Satisfied effect: " << *effect << endl;
_preconditions.erase(_preconditions.find(*effect));
}
- cerr << "Number of preconditions left: " << _preconditions.size() << endl;
return _preconditions.size() == 0 && !_executed;
}
void Node::execute(){
- cerr << "Executing: " << _action->name() << endl;
if(_executed)
- cerr << "Already executed" << endl;
+ cerr << "Already executed " << _action->name() << endl;
if ((_preconditions.size() != 0) || _executed)
return;
int value = _action->execute();
_effects = _action->effects(value);
- cerr << "Got returnvalue: " << value << ", number of effects: " << _effects.size() << endl;
-
}
const std::vector<Node*>& Node::children() const{
EffectsMap initial;
initial[0] = init;
_action = new Action("start",Preconditions(),"", initial);
+ _executed = true;
+ _effects = init;
+}
+
+const Preconditions& Node::preconditions() const{
+ return _preconditions;
}
EndNode::EndNode(const Literals& goal){