X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.cpp;h=acc5bd7090144cf31ffd4b536e2a5a68f1a72f18;hp=1fb2b2e3ee9448eeb50a7f0657e23f1082f72895;hb=3dadaa088d9fff7ca05cbb297f3d7e88179faccb;hpb=13441470b3b895e08b4165e2154665863f1c3b33

diff --git a/node.cpp b/node.cpp
index 1fb2b2e..acc5bd7 100644
--- a/node.cpp
+++ b/node.cpp
@@ -2,9 +2,19 @@
 #include <algorithm>
 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;
 }
 
 const Action& Node::action() const{
@@ -16,16 +26,42 @@ 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));
 	}
-	if (_preconditions.size() != 0)
+	if (_preconditions.size() != 0 || _executed)
 		return;
-	_action.execute();
-	
+
+	_executed = true;
+	int value = _action.execute();
+	_effects = _action.effects(value);
+
 	for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
-		(*child)->execute(_action.effects());
+		(*child)->execute(effects);
 	}
 }
+
+StartNode::StartNode(const literals& init){
+	effectsMap initial;
+	initial[0] = init;
+	Node(Action("start",preconditionsVector(), 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()));
+}
+