+
+ void makePlan(Node* node);
+ void addNode(Node* node);
+ void executePlan();
+ void replan();
+ int cleanupExecution();
+ int executeChildren(Node* node);
+
+ sem_t _nodes;
+ sem_t _list;
+ std::queue<Node*> _executedNodes;
+
+ Node* _start;
+ Node* _finish;
+ __gnu_cxx::hash_map<std::string,Node*> _addedEffects;
+ __gnu_cxx::hash_map<std::string,Action*> _actionEffects;
+ Literals _init;
+ Literals _goal;
+ std::vector<Node*> _addedNodes;
+ std::vector<Action*> _actions;