node.cpp

   1 #include "node.h"
   2 #include <algorithm>
   3 using namespace std;
   4
   5 Node::Node(Action action){
   6         _action = action;
   7         _preconditions = _action.preconditions();
   8 }
   9
  10 Action Node::action(){
  11         return _action;
  12 }
  13
  14
  15 void Node::addChild(Node* node){
  16         _children.push_back(node);
  17 }
  18
  19
  20 void Node::execute(literals effects){
  21         for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
  22                 _preconditions.erase(find(_preconditions.begin(),_preconditions.end(), *effect));
  23         }
  24         if (_preconditions.size() != 0)
  25                 return;
  26         _action.execute();
  27
  28         for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
  29                 (*child)->execute(_action.effects());
  30         }
  31 }