return _executed;
}
-const literals& Node::effects() const{
+const Literals& Node::effects() const{
return _effects;
}
-void Node::execute(const literals& effects){
- for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
- _preconditions.erase(find(_preconditions.begin(),_preconditions.end(), *effect));
+void Node::execute(bool strict, const Literals& effects){
+ for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ _preconditions.erase(_preconditions.find(*effect));
}
- if (_preconditions.size() != 0 || _executed)
+ if ((_preconditions.size() != 0 && strict) || _executed)
return;
+ if (_preconditions.size() != 0){
+ for (Preconditions::iterator precond = _preconditions.begin(); precond != _preconditions.end(); ++precond){
+ if (precond->second)
+ return;
+ }
+ }
+
_executed = true;
int value = _action.execute();
_effects = _action.effects(value);
for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
- (*child)->execute(effects);
+ (*child)->execute(strict,effects);
}
}
-StartNode::StartNode(const literals& init){
- effectsMap initial;
+StartNode::StartNode(const Literals& init){
+ EffectsMap initial;
initial[0] = init;
- Node(Action("start",preconditionsVector(), initial));
+ _action = Action("start",Preconditions(),"", initial);
}
-EndNode::EndNode(const literals& goal){
- preconditionsVector goalState;
- pair<string,literals> goalPair;
- goalPair.first = "";
- goalPair.second = goal;
- goalState.push_back(goalPair);
- Node(Action("finish",goalState,effectsMap()));
+EndNode::EndNode(const Literals& goal){
+ Preconditions goalState;
+ for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
+ goalState[*g] = true;
+ _action = Action("finish",goalState,"",EffectsMap());
+ _preconditions = _action.preconditions();
}