#include <iostream>
using namespace std;
-Node::Node(const Action& action){
+Node::Node(const Action* action){
_action = action;
- _preconditions = _action.preconditions();
+ _preconditions = _action->preconditions();
_executed = false;
}
Node::Node(){
_executed = node._executed;
}
-const Action& Node::action() const{
+const Action* Node::action() const{
return _action;
}
}
void Node::execute(const Literals& effects){
- cerr << "Executing: " << _action.name() << endl;
+ cerr << "Executing: " << _action->name() << endl;
for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
cerr << "Satisfied effect: " << *effect << endl;
_preconditions.erase(_preconditions.find(*effect));
return;
_executed = true;
- int value = _action.execute();
- _effects = _action.effects(value);
+ int value = _action->execute();
+ _effects = _action->effects(value);
cerr << "Got returnvalue: " << value << ", number of effects: " << _effects.size() << endl;
StartNode::StartNode(const Literals& init){
EffectsMap initial;
initial[0] = init;
- _action = Action("start",Preconditions(),"", initial);
+ _action = new Action("start",Preconditions(),"", initial);
}
EndNode::EndNode(const Literals& goal){
Preconditions goalState;
for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
goalState[*g] = true;
- _action = Action("finish",goalState,"",EffectsMap());
- _preconditions = _action.preconditions();
+ _action = new Action("finish",goalState,"",EffectsMap());
+ _preconditions = _action->preconditions();
}
class Node {
public:
- Node(const Action& action);
+ Node(const Action* action);
Node();
Node(const Node& node);
virtual ~Node(){}
void addChild(Node* node);
- const Action& action() const;
+ const Action* action() const;
void execute(const Literals& effects);
bool executed() const;
const Literals& effects() const;
void satisfyCondition(std::string effect);
protected:
- Action _action;
+ const Action* _action;
std::vector<Node*> _children;
Preconditions _preconditions;
bool _executed;
class StartNode :public Node {
public:
StartNode(const Literals& init);
+ ~StartNode(){delete _action;}
};
class EndNode :public Node {
public:
EndNode(const Literals& goal);
+ ~EndNode(){delete _action;}
};
#endif
addNode(_start);
for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
- const Literals& effects = action->effects(0);
+ Action* act = new Action(*action);
+ _actions.push_back(act);
+ const Literals& effects = act->effects(0);
for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
- _actions[*effect] = *action;
+ _actionEffects[*effect] = act;
}
}
cerr << "Number of actions: " << _actions.size() << endl;
Planner::~Planner(){
cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
- cerr << "Deleting node " << (*node)->action().name() << endl;
+ cerr << "Deleting node " << (*node)->action()->name() << endl;
delete *node;
}
}
void Planner::makePlan(Node* node){
addNode(node);
- cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
- const Preconditions& preconds = node->action().preconditions();
+ cerr << "Fetching preconditions for action: " << node->action()->name() << ".. ";
+ const Preconditions& preconds = node->action()->preconditions();
cerr << "done" << endl;
cerr << "Using already added node" << endl;
addedNode->second->addChild(node);
}else {
- hash_map<string, Action>::iterator action = _actions.find(precond->first);
- if (action != _actions.end()){
+ hash_map<string, Action*>::iterator action = _actionEffects.find(precond->first);
+ if (action != _actionEffects.end()){
cerr << "Adding new node" << endl;
Node* newnode = new Node(action->second);
newnode->addChild(node);
cerr << "Action with effect: " << precond->first << " not found!" << endl;
cerr << "This is a soft precondition, so we will continue" << endl;
node->satisfyCondition(precond->first);
+ _start->addChild(node);
}
}
}
}
void Planner::addNode(Node* node){
- cerr << "Adding node for action: " << node->action().name() << endl;
- const Literals& effects = node->action().effects(0);
+ cerr << "Adding node for action: " << node->action()->name() << endl;
+ const Literals& effects = node->action()->effects(0);
cerr << "Number of effects: " << effects.size() << endl;
_addedNodes.push_back(node);
void Planner::execute(){
_start->execute(Literals());
cerr << "Number of nodes: " << _addedNodes.size() << endl;
+ back_insert_iterator<Literals> ii(_init);
+ copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
+ cout << endl;
+ _init.clear();
for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+ cerr << "Deleting node " << (*node)->action()->name() << endl;
if ((*node)->executed()){
- //remove stuff
+ const Literals& effects = (*node)->effects();
+ copy(effects.begin(),effects.end(),ii);
+ cerr << "Finding action" << endl;
+ vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
+ if (action != _actions.end()){
+ cerr << "Removing executed action: " << (*action)->name() << endl;
+ _actions.erase(action);
+ //BUG: Sometimes finds the wrong action.
+ //delete *action;
+ }
}
delete *node;
}
_addedNodes.clear();
+ _actionEffects.clear();
+ copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
cerr << "Number of nodes left: " << _addedNodes.size() << endl;
+ //TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan.
}