X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=node.cpp;h=acc5bd7090144cf31ffd4b536e2a5a68f1a72f18;hb=3dadaa088d9fff7ca05cbb297f3d7e88179faccb;hp=11fed08507b52bfe5953a1558aed3c3e2be6818a;hpb=dc49c0c521090f0eb4b9692b25a129537c07e19e;p=popboot.git

diff --git a/node.cpp b/node.cpp
index 11fed08..acc5bd7 100644
--- a/node.cpp
+++ b/node.cpp
@@ -1,5 +1,67 @@
 #include "node.h"
+#include <algorithm>
+using namespace std;
 
-Node::Node(Action action){
+Node::Node(const Action& action){
 	_action = action;
+	_preconditions = _action.preconditions();
+	_executed = false;
 }
+Node::Node(){
+	_executed = false;
+}
+
+Node::Node(const Node& node){
+	_action = node._action;
+	_preconditions = node._preconditions;
+	_executed = node._executed;
+}
+
+const Action& Node::action() const{
+	return _action;
+}
+
+
+void Node::addChild(Node* node){
+	_children.push_back(node);
+}
+
+bool Node::executed() const{
+	return _executed;
+}
+
+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));
+	}
+	if (_preconditions.size() != 0 || _executed)
+		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);
+	}
+}
+
+StartNode::StartNode(const literals& init){
+	effectsMap initial;
+	initial[0] = init;
+	Node(Action("start",preconditionsVector(), 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()));
+}
+