#include "node.h"
+#include <algorithm>
using namespace std;
-Node::Node(Action action){
+Node::Node(const Action& action){
_action = action;
+ _preconditions = _action.preconditions();
+ _executed = false;
+}
+Node::Node(){
+ _executed = false;
+}
+
+Node::Node(const Node& node){
+ _action = node._action;
+ _preconditions = node._preconditions;
+ _executed = node._executed;
}
-Action Node::action(){
+const Action& Node::action() const{
return _action;
}
_children.push_back(node);
}
+bool Node::executed() const{
+ return _executed;
+}
+
+const Literals& Node::effects() const{
+ return _effects;
+}
+
+void Node::execute(bool strict, const Literals& effects){
+ for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ _preconditions.erase(_preconditions.find(*effect));
+ }
+ if ((_preconditions.size() != 0 && strict) || _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);
-void Node::execute(){
- _action.execute();
-
for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
- (*child)->execute();
+ (*child)->execute(strict,effects);
}
}
+
+StartNode::StartNode(const Literals& init){
+ EffectsMap initial;
+ initial[0] = init;
+ _action = 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();
+}
+