not working

[popboot.git] / node.cpp

diff --git a/node.cpp b/node.cpp
index 1fb2b2e3ee9448eeb50a7f0657e23f1082f72895..acc5bd7090144cf31ffd4b536e2a5a68f1a72f18 100644 (file)
--- a/node.cpp
+++ b/node.cpp
@@ -2,9 +2,19 @@
 #include <algorithm>
 using namespace std;
 
-Node::Node(Action action){
+Node::Node(const Action& action){
        _action = action;
        _preconditions = _action.preconditions();
+       _executed = false;
+}
+Node::Node(){
+       _executed = false;
+}
+
+Node::Node(const Node& node){
+       _action = node._action;
+       _preconditions = node._preconditions;
+       _executed = node._executed;
 }
 
 const Action& Node::action() const{
@@ -16,16 +26,42 @@ void Node::addChild(Node* node){
        _children.push_back(node);
 }
 
+bool Node::executed() const{
+       return _executed;
+}
+
+const literals& Node::effects() const{
+       return _effects;
+}
 
 void Node::execute(const literals& effects){
        for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
                _preconditions.erase(find(_preconditions.begin(),_preconditions.end(), *effect));
        }
-       if (_preconditions.size() != 0)
+       if (_preconditions.size() != 0 || _executed)
                return;
-       _action.execute();
-       
+
+       _executed = true;
+       int value = _action.execute();
+       _effects = _action.effects(value);
+
        for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
-               (*child)->execute(_action.effects());
+               (*child)->execute(effects);
        }
 }
+
+StartNode::StartNode(const literals& init){
+       effectsMap initial;
+       initial[0] = init;
+       Node(Action("start",preconditionsVector(), initial));
+}
+
+EndNode::EndNode(const literals& goal){
+       preconditionsVector goalState;
+       pair<string,literals> goalPair;
+       goalPair.first = "";
+       goalPair.second = goal;
+       goalState.push_back(goalPair);
+       Node(Action("finish",goalState,effectsMap()));
+}
+