+ _start = new Node(Action("start",literals(), init));
+ addNode(_start);
+ Node* finish = new Node(Action("finish",goal,literals()));
+
+ for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
+ literals effects = action->effects();
+ for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ cerr << "Adding effect: " << *effect << endl;
+ _actions[*effect] = *action;
+ }
+ }
+ makePlan(finish);
+}
+
+
+void Planner::makePlan(Node* node){
+ literals preconds = node->action().preconditions();
+
+ if (preconds.size() == 0){
+ cerr << "Found no preconds" << endl;
+ _start->addChild(node);
+ }else{
+ for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+ cerr << "Looking for: " << *precond << endl;
+ hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
+ if(addedNode != _addedNodes.end()){
+ cerr << "Using already added node" << endl;
+ addedNode->second->addChild(node);
+ }else {
+ hash_map<string, Action>::iterator action = _actions.find(*precond);
+ if (action != _actions.end()){
+ cerr << "Adding new node" << endl;
+ Node* newnode = new Node(action->second);
+ newnode->addChild(node);
+ addNode(newnode);
+ makePlan(newnode);
+ }else{
+ cerr << "Action with effect: " << *precond << " not found!" << endl;
+ }
+ }
+ }
+ }
+}
+
+void Planner::addNode(Node* node){
+ literals effects = node->action().effects();
+
+ for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ cout << "Adding node for effect: " << *effect << endl;
+ _addedNodes[*effect] = node;
+ }
+}
+
+
+void Planner::execute(){
+ _start->execute();
+}