/// <summary>
/// foamliu, 2009/01/21, 建立 PreCondition 边.
///
/// 例如:
/// Move ( b1, b2, b3 )
/// PreCondition 是:
/// ON (b1, b2) & Clear (b1) & Clear (b3)
/// </summary>
/// <param name="theAct"></param>
private void CreatePreEdges(Action theAct)
{
Conjunction pre = theAct.PreCondition;
foreach (string s in pre.Literals)
{
Proposition theProp = m_prev.GetProposition(s);
theProp.AddPreEdge(theAct);
theAct.AddPreProp(theProp);
}
}
/// <summary>
/// foamliu, 2009/01/21, 添加 No-op actions.
/// </summary>
private void AddNoops()
{
Conjunction conj = m_prev.Conjunction;
foreach (string s in conj.Literals)
{
// 创建 No-op action.
Action theAct = new Action("NOOP: " + s);
theAct.PreCondition.Literals.Add(s);
theAct.AddEffects.Literals.Add(s);
this.m_actions.Add(theAct);
// 把这个 no-op 加入当前行为层.
Proposition theProp = m_prev.GetProposition(s);
theProp.AddPreEdge(theAct);
theAct.AddPreProp(theProp);
// 把这个命题加入下个命题层.
theProp = m_next.AddProposition(s);
theProp.AddAddEdge(theAct);
theAct.AddAddProp(theProp);
}
}