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(find(_preconditions.begin(),_preconditions.end(), *effect));
  40         }
  41         if (_preconditions.size() != 0 || _executed)
  42                 return;
  43
  44         _executed = true;
  45         int value = _action.execute();
  46         _effects = _action.effects(value);
  47
  48         for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
  49                 (*child)->execute(effects);
  50         }
  51 }
  52
  53 StartNode::StartNode(const literals& init){
  54         effectsMap initial;
  55         initial[0] = init;
  56         Node(Action("start",preconditionsVector(), initial));
  57 }
  58
  59 EndNode::EndNode(const literals& goal){
  60         preconditionsVector goalState;
  61         pair<string,literals> goalPair;
  62         goalPair.first = "";
  63         goalPair.second = goal;
  64         goalState.push_back(goalPair);
  65         Node(Action("finish",goalState,effectsMap()));
  66 }
  67