- __gnu_cxx::hash_map<std::string,Node*> _addedNodes;
- __gnu_cxx::hash_map<std::string,Action> _actions;
+ //! The end node in the plan graph.
+ Node* _finish;
+ //! Map from all the effects which can be achieved with the already added nodes.
+ __gnu_cxx::hash_map<std::string,Node*> _addedEffects;
+ //! Map with all effects available and their corresponding actions.
+ __gnu_cxx::hash_map<std::string,Action*> _actionEffects;
+ //! The initial state.
+ Literals _init;
+ //! The goal state
+ Literals _goal;
+ //! All the nodes added to the current plan.
+ std::vector<Node*> _addedNodes;
+ //! All the non-executed actions available in the current plan.
+ std::vector<Action*> _actions;