+
+ /**
+ * Iterates through the children of the input node and satisfies all
+ * preconditions possible with this node. The children will be executed
+ * if all preconditions have been satisfied.
+ */
+ int executeChildren(Node* node);
+
+ /**
+ * Addes the remaining actions to the actions map, creates new start and
+ * finish nodes and runs makePlan.
+ */