X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.h;h=4b8708db18c1da03d3fde8e18b314de5ea49876c;hp=cfa02223854a9d66dfad039fc2fcd0deb57e2a76;hb=HEAD;hpb=3dadaa088d9fff7ca05cbb297f3d7e88179faccb

diff --git a/node.h b/node.h
index cfa0222..4b8708d 100644
--- a/node.h
+++ b/node.h
@@ -5,35 +5,106 @@
 #include <utility>
 #include "action.h"
 
+/**
+ * A node in the plan graph, corresponds to a single action.
+ */
 class Node {
 
 	public:
-		Node(const 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);
-		const Action& action() const;
-		void execute(const literals& effects);
+
+		/**
+		 * 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;
-		const literals& effects() 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;
-		literals _preconditions;
+		//! The, so far, unsatisfied preconditions.
+		Preconditions _preconditions;
+		//! Will be true if this node has been executed.
 		bool _executed;
-		literals _effects;
+		//! The effects which were achieved by the execution.
+		Literals _effects;
 };
 
-class StartNode : Node {
+/**
+ * Class which is used as the start node in the plan graph.
+ */
+class StartNode :public Node {
 	public:
-		StartNode(const literals& init);
+		StartNode(const Literals& init);
+		~StartNode(){delete _action;}
 };
 
-class EndNode : Node {
+/**
+ * Class which is used as the end node in the plan graph.
+ */
+class EndNode :public Node {
 	public:
-		EndNode(const literals& goal);
+		EndNode(const Literals& goal);
+		~EndNode(){delete _action;}
 };
 
 #endif