X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.cpp;h=9bedf3834d34c4786dddbd46354f4879af759f07;hp=acc5bd7090144cf31ffd4b536e2a5a68f1a72f18;hb=716fc4e282ce52fe953867171c046acd3b614d3b;hpb=3dadaa088d9fff7ca05cbb297f3d7e88179faccb

diff --git a/node.cpp b/node.cpp
index acc5bd7..9bedf38 100644
--- a/node.cpp
+++ b/node.cpp
@@ -30,38 +30,44 @@ 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));
+void Node::execute(bool strict, const Literals& effects){
+	for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		_preconditions.erase(_preconditions.find(*effect));
 	}
-	if (_preconditions.size() != 0 || _executed)
+	if ((_preconditions.size() != 0 && strict) || _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);
+		(*child)->execute(strict,effects);
 	}
 }
 
-StartNode::StartNode(const literals& init){
-	effectsMap initial;
+StartNode::StartNode(const Literals& init){
+	EffectsMap initial;
 	initial[0] = init;
-	Node(Action("start",preconditionsVector(), initial));
+	_action = Action("start",Preconditions(),"", 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()));
+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();
 }