/// <summary>
/// Traverse the tree and checks all preconditions and/or adds actions to the plan.
/// </summary>
/// <param name="currentTask">The tasks that is currently checked.</param>
private void Perform(Task currentTask)
{
// Check if the task is primitive.
if (!currentTask.isPrimitiveTask)
{
// Check the preconditions of the abstract task
if (currentTask.CheckPreconditions())
{
// Update the predicted world state.
// Traverse all subtasks.
for (int i = 0; i < currentTask.subtasks.Count; i++)
{
Perform(currentTask.subtasks[i]);
}
}
}
else
{
// Add the action of the primitive task to the plan.
plan.AddActionToPlan(currentTask.action);
}
}
