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 void Node::execute(const Literals& effects){
  39         cerr << "Executing: " << _action.name() << endl;
  40         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  41                 cerr << "Satisfied effect: " << *effect << endl;
  42                 _preconditions.erase(_preconditions.find(*effect));
  43         }
  44         cerr << "Number of preconditions left: " << _preconditions.size() << endl;
  45         if(_executed)
  46                 cerr << "Already executed" << endl;
  47         if ((_preconditions.size() != 0) || _executed)
  48                 return;
  49
  50         _executed = true;
  51         int value = _action.execute();
  52         _effects = _action.effects(value);
  53
  54         cerr << "Got returnvalue: " << value << ", number of effects: " << _effects.size() << endl;
  55
  56         for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
  57                 (*child)->execute(_effects);
  58         }
  59 }
  60
  61 StartNode::StartNode(const Literals& init){
  62         EffectsMap initial;
  63         initial[0] = init;
  64         _action = Action("start",Preconditions(),"", initial);
  65 }
  66
  67 EndNode::EndNode(const Literals& goal){
  68         Preconditions goalState;
  69         for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
  70                 goalState[*g] = true;
  71         _action = Action("finish",goalState,"",EffectsMap());
  72         _preconditions = _action.preconditions();
  73 }
  74