-Planner::Planner(std::vector<Action> actions, literals init, literals goal){
-
- _start = new Node(Action("",init, literals()));
- Node* finish = new Node(Action("",literals(),goal));
+Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
+ _init = init;
+ _goal = goal;
+ _start = new StartNode(_init);
+ _finish = new EndNode(_goal);
+ addNode(_start);