#include "node.h"
#include <algorithm>
+#include <iostream>
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(){
_executed = node._executed;
}
-const Action& Node::action() const{
+const Action* Node::action() const{
return _action;
}
const Literals& Node::effects() const{
return _effects;
}
+void Node::satisfyCondition(std::string effect){
+ _preconditions.erase(_preconditions.find(effect));
+}
-void Node::execute(bool strict, const Literals& effects){
+void Node::execute(const Literals& effects){
+ 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));
}
- if ((_preconditions.size() != 0 && strict) || _executed)
+ cerr << "Number of preconditions left: " << _preconditions.size() << endl;
+ if(_executed)
+ cerr << "Already executed" << endl;
+ if ((_preconditions.size() != 0) || _executed)
return;
- if (_preconditions.size() != 0){
- for (Preconditions::iterator precond = _preconditions.begin(); precond != _preconditions.end(); ++precond){
- if (precond->second)
- 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;
for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
- (*child)->execute(strict,effects);
+ (*child)->execute(_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();
+ goalState[*g] = false;
+ _action = new Action("finish",goalState,"",EffectsMap());
+ _preconditions = _action->preconditions();
}