public void Insert(IPlanStep newStep)
{
steps.Add(newStep);
orderings.Insert(InitialStep, newStep);
orderings.Insert(newStep, GoalStep);
// Add new flaws
foreach (var pre in newStep.OpenConditions)
{
Flaws.Add(this, new OpenCondition(pre, newStep));
}
}
public void InsertPrimitive(IPlanStep newStep)
{
steps.Add(newStep);
orderings.Insert(InitialStep, newStep);
orderings.Insert(newStep, GoalStep);
// Add new flaws
foreach (var pre in newStep.OpenConditions)
{
Flaws.Add(this, new OpenCondition(pre, newStep));
}
//Flaws.UpdateFlaws(this, newStep);
// Don't update open conditions until this newStep has ordering wrt s_{need}
// Don't check for threats when inserting.
}