public Node AddChild(Action action, StateList goal)
{
// The state is our nodes current state with the action applied
// Cost goes up by one
Node child = new Node(action, action.Simulate(state, goal), this, cost + 1.0f);
children.Add(this);
return(child);
}
public void AddAction(Node previous, Action a)
{
// Calculate the world state after this action
StateList nextState = a.Simulate(previous.state);
// Calculate the total cost of the plan including this action
float totalCost = previous.cost + a.cost;
// Create the leaf node (which hooks up parent/child ref
Node leaf = new Node(previous, a, nextState, totalCost);
openLeaves.Add(leaf);
}
