class PlanningNode(object):
"""
each node has a copy of a bb (self.bb) in order to simulate a plan.
"""
def __init__(self, parent, action, bb=None):
self.parent = parent
self.action = action
self.bb = Blackboard()
self.delta = Blackboard()
#self.cost = action.calc_cost()
self.cost = 1
self.g = calcG(self)
self.h = 1
if not parent == None:
self.bb.update(parent.bb)
elif not bb == None:
self.bb.update(bb)
action.touch(self.delta)
self.bb.update(self.delta)
def __eq__(self, other):
if isinstance(other, PlanningNode):
#if DEBUG: print "[cmp] {} {}".format(self.delta.memory, other.delta.memory)
return self.delta == other.delta
else:
return False
def __repr__(self):
try:
return "<PlanNode: '%s', cost: %s, p: %s>" % \
(self.action.__name__,
self.cost,
self.parent.action.__class__.__name__)
except AttributeError:
return "<PlanNode: '%s', cost: %s, p: None>" % \
(self.action.__class__.__name__,
self.cost)
class PlanningNode(object):
"""
each node has a copy of a bb (self.bb) in order to simulate a plan.
"""
def __init__(self, parent, action, bb=None):
self.parent = parent
self.action = action
self.bb = Blackboard()
self.delta = Blackboard()
#self.cost = action.calc_cost()
self.cost = 1
self.g = calcG(self)
self.h = 1
if not parent == None:
self.bb.update(parent.bb)
elif not bb == None:
self.bb.update(bb)
action.touch(self.delta)
self.bb.update(self.delta)
def __eq__(self, other):
if isinstance(other, PlanningNode):
#if DEBUG: print "[cmp] {} {}".format(self.delta.memory, other.delta.memory)
return self.delta == other.delta
else:
return False
def __repr__(self):
try:
return "<PlanNode: '%s', cost: %s, p: %s>" % \
(self.action.__name__,
self.cost,
self.parent.action.__class__.__name__)
except AttributeError:
return "<PlanNode: '%s', cost: %s, p: None>" % \
(self.action.__class__.__name__,
self.cost)
