+ //! The, so far, unsatisfied preconditions.
+ Preconditions _preconditions;
+ //! Will be true if this node has been executed.
+ bool _executed;
+ //! The effects which were achieved by the execution.
+ Literals _effects;
+};
+
+/**
+ * Class which is used as the start node in the plan graph.
+ */
+class StartNode :public Node {
+ public:
+ StartNode(const Literals& init);
+ ~StartNode(){delete _action;}
+};
+
+/**
+ * Class which is used as the end node in the plan graph.
+ */
+class EndNode :public Node {
+ public:
+ EndNode(const Literals& goal);
+ ~EndNode(){delete _action;}