private void SetNodeActionDetails()
{
g = parent.g + action.Cost;
state = parent.state.Clone();
state.ClearMetPreconditions(action.GetEffects());
state.AddUnmetPreconditions(action.GetPreconditions());
h = GetNumUnmetPreconditions();
}
public AINode(IAIAgent <L, V> agent, IAIGoal <L, V> goal, IAIAction <L, V> action = null, AINode <L, V> parent = null)
{
this.agent = agent;
this.action = action;
this.parent = parent;
if (action == null)
{
// This is a goal node
state = new AIState <L, V>(goal, agent.Memory.CloneState());
state.AddUnmetPreconditions(goal.GetConditions());
g = 0;
}
else
{
// This is an action node
state = new AIState <L, V>();
g = float.MaxValue;
}
}
