X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.h;h=4b8708db18c1da03d3fde8e18b314de5ea49876c;hp=cbe17348aa103a1befce5a11baca11391b28f424;hb=HEAD;hpb=318003cdb8615b39ef71761f55ac2159caabbf47

diff --git a/node.h b/node.h
index cbe1734..4b8708d 100644
--- a/node.h
+++ b/node.h
@@ -5,37 +5,102 @@
 #include <utility>
 #include "action.h"
 
+/**
+ * A node in the plan graph, corresponds to a single action.
+ */
 class Node {
 
 	public:
+		/**
+		 * 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:
+		//! 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);