def Grasp(self, item):
"""
pilla el bloque X
"""
message = 'Grasp %s' % (item)
gtree = GoalTree(message)
if self._table.get(item) != None:
gtree.add_child(self.ClearTop(item))
return gtree
def GetRidOf(self, item):
"""
saca el objeto X del medio (edited)
"""
message = 'GetRidOf %s' % (item)
gtree = GoalTree(message)
if self._table.get(item) != None:
gtree.add_child(self.PutOnTable(item))
return gtree
def ClearTop(self, item):
"""
despeja la parte superior del objeto X
"""
message = 'ClearTop %s' % (item)
gtree = GoalTree(message)
stack = []
blk = self._table.get(item)
if self.pickable(blk.name):
return gtree
for row in range(blk.row +1, self._table.height):
if self._table.grid[blk.col][row] != None:
stack.append(self._table.grid[blk.col][row].name)
while len(stack) > 0:
new_blk = stack.pop()
gtree.add_child(self.GetRidOf(new_blk))
return gtree
def test_add_child(self):
g = GoalTree('Test')
g.add_child(GoalTree('child'))
self.assertEqual(g._children[0].parent, 'Test')
self.assertEqual(g._children[0].name, 'child')