1 files changed, 161 insertions, 0 deletions
diff --git a/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/SAN_Data/TaskNode.java b/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/SAN_Data/TaskNode.java
new file mode 100644
index 00000000000..3c241a54370
--- /dev/null
+++ b/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/SAN_Data/TaskNode.java
@@ -0,0 +1,161 @@
+package Translator.SAN_Data;
+
+import java.util.LinkedList;
+import java.util.List;
+
+
+/**
+ * Action node
+ * @author Ben
+ *
+ */
+public class TaskNode{
+	
+	private static int id_count = 0;
+	
+	final String name;
+	final String nodeID;
+	
+	String attenFactor = "";
+	String cost = "";
+	
+//	private List<PrecondLink> preconditions;
+	private List<PrecondLink> positive_preconditions;
+	private List<PrecondLink> negative_preconditions;
+	
+	private List<EffectLink> negative_effects;
+	private List<EffectLink> positive_effects;
+	
+	
+	public TaskNode(String p_name){
+		
+		name = p_name;
+		nodeID = "2"+(id_count++);
+	
+		positive_preconditions = new LinkedList<PrecondLink>();
+		negative_preconditions = new LinkedList<PrecondLink>();
+		
+		positive_effects = new LinkedList<EffectLink>();
+		negative_effects = new LinkedList<EffectLink>();
+	}
+	
+	public void destroy(){
+		
+		for(PrecondLink l: positive_preconditions){
+			l.precondition.getPreconditionTo().remove(l);
+		}
+		
+		for(PrecondLink l: negative_preconditions){
+			l.precondition.getPreconditionTo().remove(l);
+		}
+		
+		for(EffectLink l: positive_effects){
+			l.effect.getAffectedBy().remove(l);
+		}
+		
+		for(EffectLink l: negative_effects){
+			l.effect.getAffectedBy().remove(l);
+		}
+		
+	}
+	
+	public void set_precondition_probabilities(){
+		
+		int links = positive_preconditions.size()+negative_preconditions.size();
+
+		for(PrecondLink l: positive_preconditions){
+			l.setProbability(Math.pow(.5, links-1));
+		}
+
+		for(PrecondLink l: negative_preconditions){
+			l.setProbability(Math.pow(.5, links-1));
+		}
+	}
+	
+	public PrecondLink attach_precondition(CondNode n, boolean required_state){
+		PrecondLink plk = new PrecondLink(n, this, required_state);
+		
+		if(required_state){
+			positive_preconditions.add(plk);
+		}
+		else{
+			negative_preconditions.add(plk);
+		}
+		
+		return plk;
+	}
+	
+	public EffectLink attach_effect(CondNode n, double weight){
+		EffectLink elk = new EffectLink(this, n, weight);
+		
+		if(weight > 0){
+			positive_effects.add(elk);
+		}else{
+			negative_effects.add(elk);
+		}
+		
+		return elk;
+	}
+	
+	public String getName(){
+		return name;
+	}
+	
+	public String getNodeID(){
+		return nodeID;
+	}
+	
+	public String getAttenFactor(){
+		return attenFactor;
+	}
+	
+	public String getCost(){
+		return cost;
+	}
+	
+//	public List<PrecondLink> get_precondition_links(){
+//		return preconditions;
+//	}
+	
+	public List<PrecondLink> get_positive_precondition_links(){
+		return positive_preconditions;
+	}
+	
+	public List<PrecondLink> get_negative_precondition_links(){
+		return negative_preconditions;
+	}
+	
+	public List<EffectLink> get_positive_effect_links(){
+		return positive_effects;
+	}
+	
+	public List<EffectLink> get_negative_effect_links(){
+		return negative_effects;
+	}
+	
+	public double getPriorProb(){
+		return Math.pow(.5, positive_preconditions.size()+ negative_preconditions.size());
+	}
+	
+	public String toString(){
+		String s =  ("Action node: ["+ name+"] ID: "+nodeID);
+//		
+//		for(PrecondLink l: positive_preconditions){
+//			s+=("\n   "+l.toString());
+//		}
+//		
+//		for(PrecondLink l: negative_preconditions){
+//			s+=("\n   "+l.toString());
+//		}
+//		
+//		for(EffectLink l: positive_effects){
+//			s+=("\n   "+l.toString());
+//		}
+//		
+//		for(EffectLink l: negative_effects){
+//			s+=("\n   "+l.toString());
+//		}
+//		
+		return s;
+	}
+}
+\ No newline at end of file