6 Node::Node(const Action* action){
8 _preconditions = _action->preconditions();
15 Node::Node(const Node& node){
16 _action = node._action;
17 _preconditions = node._preconditions;
18 _executed = node._executed;
21 const Action* Node::action() const{
26 void Node::addChild(Node* node){
27 _children.push_back(node);
30 bool Node::executed() const{
34 const Literals& Node::effects() const{
38 bool Node::satisfyCondition(std::string effect){
39 _preconditions.erase(_preconditions.find(effect));
40 return _preconditions.size() == 0 && !_executed;
43 bool Node::satisfyConditions(const Literals& effects){
44 for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
45 _preconditions.erase(_preconditions.find(*effect));
47 return _preconditions.size() == 0 && !_executed;
52 cerr << "Already executed " << _action->name() << endl;
53 if ((_preconditions.size() != 0) || _executed)
57 int value = _action->execute();
58 _effects = _action->effects(value);
62 const std::vector<Node*>& Node::children() const{
65 StartNode::StartNode(const Literals& init){
68 _action = new Action("start",Preconditions(),"", initial);
73 const Preconditions& Node::preconditions() const{
74 return _preconditions;
77 EndNode::EndNode(const Literals& goal){
78 Preconditions goalState;
79 for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
80 goalState[*g] = false;
81 _action = new Action("finish",goalState,"",EffectsMap());
82 _preconditions = _action->preconditions();