private void SetNodeActionDetails()
{
g = parent.g + action.Cost;
state = parent.CloneState();
state.ClearMetPreconditions(action.GetEffects());
state.AddUnmetPreconditions(action.GetPreconditions());
h = GetNumUnmetPreconditions();
}
public AINode(AIAgent agent, AIPlanner planner, AIAction action = null, AINode parent = null)
{
this.agent = agent;
this.planner = planner;
this.action = action;
this.parent = parent;
if (action == null)
{
// This is a goal node
state = new AIState(planner.GetGoal(), agent.GetMemory().CloneState());
state.AddUnmetPreconditions(planner.GetGoal().GetConditions());
g = 0;
}
else
{
// Initialise Action node
state = new AIState();
g = float.MaxValue;
}
}
