X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.cpp;h=24da8b1dd60c36d9575151630ca3e990905b9ef2;hp=1fb2b2e3ee9448eeb50a7f0657e23f1082f72895;hb=HEAD;hpb=e26fd7b3195576b25ffe51253a391b53f412a650

diff --git a/node.cpp b/node.cpp
index 1fb2b2e..24da8b1 100644
--- a/node.cpp
+++ b/node.cpp
@@ -1,13 +1,24 @@
 #include "node.h"
 #include <algorithm>
+#include <iostream>
 using namespace std;
 
-Node::Node(Action action){
+Node::Node(const Action* action){
 	_action = action;
-	_preconditions = _action.preconditions();
+	_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{
+const Action* Node::action() const{
 	return _action;
 }
 
@@ -16,16 +27,58 @@ 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));
+bool Node::satisfyCondition(std::string effect){
+	_preconditions.erase(_preconditions.find(effect));
+	return _preconditions.size() == 0 && !_executed;
+}
+
+bool Node::satisfyConditions(const Literals& effects){
+	for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		_preconditions.erase(_preconditions.find(*effect));
 	}
-	if (_preconditions.size() != 0)
+	return _preconditions.size() == 0 && !_executed;
+}
+
+void Node::execute(){
+	if(_executed)
+		cerr << "Already executed " << _action->name() << endl;
+	if ((_preconditions.size() != 0) || _executed)
 		return;
-	_action.execute();
-	
-	for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
-		(*child)->execute(_action.effects());
-	}
+
+	_executed = true;
+	int value = _action->execute();
+	_effects = _action->effects(value);
+
+}
+
+const std::vector<Node*>& Node::children() const{
+	return _children;
+}
+StartNode::StartNode(const Literals& init){
+	EffectsMap initial;
+	initial[0] = init;
+	_action = new Action("start",Preconditions(),"", initial);
+	_executed = true;
+	_effects = init;
 }
+
+const Preconditions& Node::preconditions() const{
+	return _preconditions;
+}
+
+EndNode::EndNode(const Literals& goal){
+	Preconditions goalState;
+	for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
+		goalState[*g] = false;
+	_action = new Action("finish",goalState,"",EffectsMap());
+	_preconditions = _action->preconditions();
+}
+