Action
An Action is a step that does something, and hence may have a cost as well as a value.
Inheritors
Properties
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Cost of performing this action Must be between 0 and 1 1 is the most expensive imaginable.
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Function to compute the value of completing this step. From 0 (least valuable) to 1 (most valuable) Steps with 0 value will still be planned if necessary to achieve a result