class Node;
+/**
+ * This class creates, holds and executes a plan.
+ */
class Planner {
public:
/**
* executeChildren for these nodes.
*/
void executePlan();
+
+ /**
+ * 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.
+ */
void replan();
+
+ /**
+ * Deletes all nodes, updates _init and _goal, and clears the internal maps and vector.
+ */
int cleanupExecution();
+ //! Semaphore which is used to signal if a new node has been executed and added to _executedNodes.
sem_t _nodes;
+ //! Mutex for access to _executedNodes.
sem_t _list;
+ //! Holds the nodes which have been executed, but the children haven't been taken care of yet.
std::queue<Node*> _executedNodes;
+ //! The start node in the plan graph.
Node* _start;
+ //! 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;
};
#endif