X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.cpp;h=b4d22fb9569c28cea70176abce6ce585c2b8b8c1;hp=899f38bf325592f2a9fa200f48edfb0acf5cb66c;hb=d385ba13a2ded8ce22b83c82d8a50c89a5d1d63e;hpb=fdcf46671ca1dab0dadb490bb4375dc3dd2fc9a4 diff --git a/node.cpp b/node.cpp index 899f38b..b4d22fb 100644 --- a/node.cpp +++ b/node.cpp @@ -3,9 +3,9 @@ #include 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(){ @@ -18,7 +18,7 @@ Node::Node(const Node& node){ _executed = node._executed; } -const Action& Node::action() const{ +const Action* Node::action() const{ return _action; } @@ -34,9 +34,12 @@ bool Node::executed() const{ const Literals& Node::effects() const{ return _effects; } +void Node::satisfyCondition(std::string effect){ + _preconditions.erase(_preconditions.find(effect)); +} void Node::execute(const Literals& effects){ - cerr << "Executing: " << _action.name() << endl; + cerr << "Executing: " << _action->name() << endl; for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){ cerr << "Satisfied effect: " << *effect << endl; _preconditions.erase(_preconditions.find(*effect)); @@ -48,8 +51,8 @@ void Node::execute(const Literals& effects){ return; _executed = true; - int value = _action.execute(); - _effects = _action.effects(value); + int value = _action->execute(); + _effects = _action->effects(value); cerr << "Got returnvalue: " << value << ", number of effects: " << _effects.size() << endl; @@ -61,14 +64,14 @@ void Node::execute(const Literals& effects){ StartNode::StartNode(const Literals& init){ EffectsMap initial; initial[0] = init; - _action = Action("start",Preconditions(),"", initial); + _action = new Action("start",Preconditions(),"", initial); } 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(); + _action = new Action("finish",goalState,"",EffectsMap()); + _preconditions = _action->preconditions(); }