X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.h;h=4b8708db18c1da03d3fde8e18b314de5ea49876c;hp=55e34e6d4675fc644e7a8070abfe929efc0a0844;hb=HEAD;hpb=dc49c0c521090f0eb4b9692b25a129537c07e19e

diff --git a/node.h b/node.h
index 55e34e6..4b8708d 100644
--- a/node.h
+++ b/node.h
@@ -2,17 +2,109 @@
 #define __node_h__
 
 #include <vector>
+#include <utility>
 #include "action.h"
 
+/**
+ * A node in the plan graph, corresponds to a single action.
+ */
 class Node {
 
 	public:
-		Node(Action action);
+		/**
+		 * Creates a node for the given action.
+		 */
+		Node(const Action* action);
+
+		/**
+		 * Creates an empty, non-functional, node.
+		 */
+		Node();
+
+		/**
+		 * Creates a copy of the given node.
+		 */
+		Node(const Node& node);
+		virtual ~Node(){}
+
+		/**
+		 * Add a child node, which will be executed after this node.
+		 */
 		void addChild(Node* node);
 
+		/**
+		 * Returns the action this node corresponds to.
+		 */
+		const Action* action() const;
+
+		/**
+		 * Execute this node, and hence the corresponding action.
+		 * Sets the effects achieved.
+		 *
+		 * If _executed is true or _preconditions.size() > 0 this method will
+		 * just return.
+		 */
+		void execute();
+
+		/**
+		 * Checks if this node has been executed or not.
+		 */
+		bool executed() const;
+
+		/**
+		 * Returns the effects that was achieved from execution.
+		 */
+		const Literals& effects() const;
+
+		/**
+		 * Satisfy a single condition.
+		 */
+		bool satisfyCondition(std::string effect);
+
+		/**
+		 * Satisfies a list of conditions.
+		 */
+		bool satisfyConditions(const Literals& effects);
+
+		/**
+		 * Returns all the children to this node.
+		 */
+		const std::vector<Node*>& children() const;
+
+		/**
+		 * Returns the unsatisfied preconditions.
+		 */
+		const Preconditions& preconditions() const;
+
 	protected:
-		Action _action;
+		//! The action this node corresponds to.
+		const Action* _action;
+		//! The list of children to this node.
 		std::vector<Node*> _children;
+		//! The, so far, unsatisfied preconditions.
+		Preconditions _preconditions;
+		//! Will be true if this node has been executed.
+		bool _executed;
+		//! The effects which were achieved by the execution.
+		Literals _effects;
+};
+
+/**
+ * Class which is used as the start node in the plan graph.
+ */
+class StartNode :public Node {
+	public:
+		StartNode(const Literals& init);
+		~StartNode(){delete _action;}
+};
+
+/**
+ * Class which is used as the end node in the plan graph.
+ */
+class EndNode :public Node {
+	public:
+		EndNode(const Literals& goal);
+		~EndNode(){delete _action;}
 };
 
 #endif