const Literals& Node::effects() const{
return _effects;
}
-void Node::satisfyCondition(std::string effect){
+
+bool Node::satisfyCondition(std::string effect){
_preconditions.erase(_preconditions.find(effect));
+ return _preconditions.size() == 0 && !_executed;
}
-void Node::execute(const Literals& effects){
- cerr << "Executing: " << _action->name() << endl;
+bool Node::satisfyConditions(const Literals& effects){
for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
cerr << "Satisfied effect: " << *effect << endl;
_preconditions.erase(_preconditions.find(*effect));
}
cerr << "Number of preconditions left: " << _preconditions.size() << endl;
+ return _preconditions.size() == 0 && !_executed;
+}
+
+void Node::execute(){
+ cerr << "Executing: " << _action->name() << endl;
if(_executed)
cerr << "Already executed" << endl;
if ((_preconditions.size() != 0) || _executed)
cerr << "Got returnvalue: " << value << ", number of effects: " << _effects.size() << endl;
- for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
- (*child)->execute(_effects);
- }
}
+const std::vector<Node*>& Node::children() const{
+ return _children;
+}
StartNode::StartNode(const Literals& init){
EffectsMap initial;
initial[0] = init;