node.cpp

   1 #include "node.h"
   2 #include <algorithm>
   3 using namespace std;
   4
   5 Node::Node(const Action& action){
   6         _action = action;
   7         _preconditions = _action.preconditions();
   8         _executed = false;
   9 }
  10 Node::Node(){
  11         _executed = false;
  12 }
  13
  14 Node::Node(const Node& node){
  15         _action = node._action;
  16         _preconditions = node._preconditions;
  17         _executed = node._executed;
  18 }
  19
  20 const Action& Node::action() const{
  21         return _action;
  22 }
  23
  24
  25 void Node::addChild(Node* node){
  26         _children.push_back(node);
  27 }
  28
  29 bool Node::executed() const{
  30         return _executed;
  31 }
  32
  33 const Literals& Node::effects() const{
  34         return _effects;
  35 }
  36
  37 void Node::execute(const Literals& effects){
  38         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  39                 _preconditions.erase(_preconditions.find(*effect));
  40         }
  41         if ((_preconditions.size() != 0) || _executed)
  42                 return;
  43
  44         if (_preconditions.size() != 0){
  45                 for (Preconditions::iterator precond = _preconditions.begin(); precond != _preconditions.end(); ++precond){
  46                         if (precond->second)
  47                                 return;
  48                 }
  49         }
  50
  51         _executed = true;
  52         int value = _action.execute();
  53         _effects = _action.effects(value);
  54
  55         for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
  56                 (*child)->execute(effects);
  57         }
  58 }
  59
  60 StartNode::StartNode(const Literals& init){
  61         EffectsMap initial;
  62         initial[0] = init;
  63         _action = Action("start",Preconditions(),"", initial);
  64 }
  65
  66 EndNode::EndNode(const Literals& goal){
  67         Preconditions goalState;
  68         for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
  69                 goalState[*g] = true;
  70         _action = Action("finish",goalState,"",EffectsMap());
  71         _preconditions = _action.preconditions();
  72 }
  73