/**
* Executes this action.
*
* @param module the module to execute this action for.
* @return true if the action succeeds, false otherwise.
*/
public PlanResult execute(APLModule module) {
Beliefbase beliefs = module.getBeliefbase();
PCrulebase pcrules = module.getPCrulebase();
plan.evaluateArguments();
SubstList<Term> theta = new SubstList<Term>();
PCrule rule;
try {
rule = pcrules.selectRule(beliefs, plan, getTopParent().getVariables(), theta, module);
} catch (NoRuleException e) {
return new PlanResult(this, PlanResult.FAILED);
}
if (rule != null) {
PlanSeq p = rule.getBody().clone();
p.applySubstitution(theta);
parent.removeFirst();
parent.addFirst(p);
return new PlanResult(this, PlanResult.SUCCEEDED);
} else return new PlanResult(this, PlanResult.FAILED);
}
/** @return clone of the PC rulebase */
public PCrulebase clone() {
PCrulebase b = new PCrulebase();
b.setRules(getRules());
return b;
}