X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.cpp;h=24da8b1dd60c36d9575151630ca3e990905b9ef2;hp=4f81069e111eaf55e603c2bfd26b9a312eef216d;hb=HEAD;hpb=b177aeec472c3941b39b874a83883ff87a41919c

diff --git a/node.cpp b/node.cpp
index 4f81069..24da8b1 100644
--- a/node.cpp
+++ b/node.cpp
@@ -1,10 +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();
+	_executed = false;
+}
+Node::Node(){
+	_executed = false;
+}
+
+Node::Node(const Node& node){
+	_action = node._action;
+	_preconditions = node._preconditions;
+	_executed = node._executed;
 }
 
-Action Node::action(){
+const Action* Node::action() const{
 	return _action;
 }
 
@@ -13,3 +27,58 @@ void Node::addChild(Node* node){
 	_children.push_back(node);
 }
 
+bool Node::executed() const{
+	return _executed;
+}
+
+const Literals& Node::effects() const{
+	return _effects;
+}
+
+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));
+	}
+	return _preconditions.size() == 0 && !_executed;
+}
+
+void Node::execute(){
+	if(_executed)
+		cerr << "Already executed " << _action->name() << endl;
+	if ((_preconditions.size() != 0) || _executed)
+		return;
+
+	_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();
+}
+