X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.cpp;h=1efdf6a03199e01f882e27e4d4d7de499f01a27b;hp=b6347a4d78cb016bf71b60660dd61a27475678e8;hb=c9c72023d15decebe700ad0bfe3e8cbac9a85248;hpb=50f9b29fed8c97deac825a31c35bb7759abca04f

diff --git a/node.cpp b/node.cpp
index b6347a4..1efdf6a 100644
--- a/node.cpp
+++ b/node.cpp
@@ -1 +1,73 @@
 #include "node.h"
+#include <algorithm>
+using namespace std;
+
+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{
+	return _action;
+}
+
+
+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(_preconditions.find(*effect));
+	}
+	if ((_preconditions.size() != 0) || _executed)
+		return;
+
+	if (_preconditions.size() != 0){
+		for (Preconditions::iterator precond = _preconditions.begin(); precond != _preconditions.end(); ++precond){
+			if (precond->second)
+				return;
+		}
+	}
+
+	_executed = true;
+	int value = _action.execute();
+	_effects = _action.effects(value);
+
+	for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
+		(*child)->execute(effects);
+	}
+}
+
+StartNode::StartNode(const Literals& init){
+	EffectsMap initial;
+	initial[0] = init;
+	_action = Action("start",Preconditions(),"", initial);
+}
+
+EndNode::EndNode(const Literals& goal){
+	Preconditions goalState;
+	for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
+		goalState[*g] = true;
+	_action = Action("finish",goalState,"",EffectsMap());
+	_preconditions = _action.preconditions();
+}
+