node.cpp

   1 #include "node.h"
   2 #include <algorithm>
   3 #include <iostream>
   4 using namespace std;
   5
   6 Node::Node(const Action* action){
   7         _action = action;
   8         _preconditions = _action->preconditions();
   9         _executed = false;
  10 }
  11 Node::Node(){
  12         _executed = false;
  13 }
  14
  15 Node::Node(const Node& node){
  16         _action = node._action;
  17         _preconditions = node._preconditions;
  18         _executed = node._executed;
  19 }
  20
  21 const Action* Node::action() const{
  22         return _action;
  23 }
  24
  25
  26 void Node::addChild(Node* node){
  27         _children.push_back(node);
  28 }
  29
  30 bool Node::executed() const{
  31         return _executed;
  32 }
  33
  34 const Literals& Node::effects() const{
  35         return _effects;
  36 }
  37
  38 bool Node::satisfyCondition(std::string effect){
  39         _preconditions.erase(_preconditions.find(effect));
  40         return _preconditions.size() == 0 && !_executed;
  41 }
  42
  43 bool Node::satisfyConditions(const Literals& effects){
  44         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  45                 _preconditions.erase(_preconditions.find(*effect));
  46         }
  47         return _preconditions.size() == 0 && !_executed;
  48 }
  49
  50 void Node::execute(){
  51         if(_executed)
  52                 cerr << "Already executed " << _action->name() << endl;
  53         if ((_preconditions.size() != 0) || _executed)
  54                 return;
  55
  56         _executed = true;
  57         int value = _action->execute();
  58         _effects = _action->effects(value);
  59
  60 }
  61
  62 const std::vector<Node*>& Node::children() const{
  63         return _children;
  64 }
  65 StartNode::StartNode(const Literals& init){
  66         EffectsMap initial;
  67         initial[0] = init;
  68         _action = new Action("start",Preconditions(),"", initial);
  69         _executed = true;
  70         _effects = init;
  71 }
  72
  73 const Preconditions& Node::preconditions() const{
  74         return _preconditions;
  75 }
  76
  77 EndNode::EndNode(const Literals& goal){
  78         Preconditions goalState;
  79         for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
  80                 goalState[*g] = false;
  81         _action = new Action("finish",goalState,"",EffectsMap());
  82         _preconditions = _action->preconditions();
  83 }
  84