X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.cpp;h=24da8b1dd60c36d9575151630ca3e990905b9ef2;hp=acc5bd7090144cf31ffd4b536e2a5a68f1a72f18;hb=HEAD;hpb=3dadaa088d9fff7ca05cbb297f3d7e88179faccb

diff --git a/node.cpp b/node.cpp
index acc5bd7..24da8b1 100644
--- a/node.cpp
+++ b/node.cpp
@@ -1,10 +1,11 @@
 #include "node.h"
 #include <algorithm>
+#include <iostream>
 using namespace std;
 
-Node::Node(const Action& action){
+Node::Node(const Action* action){
 	_action = action;
-	_preconditions = _action.preconditions();
+	_preconditions = _action->preconditions();
 	_executed = false;
 }
 Node::Node(){
@@ -17,7 +18,7 @@ Node::Node(const Node& node){
 	_executed = node._executed;
 }
 
-const Action& Node::action() const{
+const Action* Node::action() const{
 	return _action;
 }
 
@@ -30,38 +31,54 @@ bool Node::executed() const{
 	return _executed;
 }
 
-const literals& Node::effects() const{
+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 || _executed)
+	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);
+	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;
+const std::vector<Node*>& Node::children() const{
+	return _children;
+}
+StartNode::StartNode(const Literals& init){
+	EffectsMap initial;
 	initial[0] = init;
-	Node(Action("start",preconditionsVector(), initial));
+	_action = new Action("start",Preconditions(),"", initial);
+	_executed = true;
+	_effects = init;
+}
+
+const Preconditions& Node::preconditions() const{
+	return _preconditions;
 }
 
-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()));
+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();
 }