- for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
- _addedNodes[*effect] = node;
+ for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ cerr << "Adding node for effect: " << *effect << endl;
+ _addedEffects[*effect] = node;
+ }
+}
+
+
+void Planner::execute(){
+ _start->execute(Literals());
+ cerr << "Number of nodes: " << _addedNodes.size() << endl;
+ for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+ if ((*node)->executed()){
+ //remove stuff
+ }
+ delete *node;