Planner::Planner(std::vector<Action> actions, literals init, literals goal){
_start = new Node(Action("start",literals(), init));
- addNode(_start);
Node* finish = new Node(Action("finish",goal,literals()));
for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
- literals effects = action->effects();
- for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ const literals& effects = action->effects();
+ for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
cerr << "Adding effect: " << *effect << endl;
_actions[*effect] = *action;
}
makePlan(finish);
}
+Planner::~Planner(){
+ for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+ cerr << "Deleting node " << node->second->action().executable() << endl;
+ delete node->second;
+ }
+}
+
void Planner::makePlan(Node* node){
- literals preconds = node->action().preconditions();
+ cerr << "Fetching preconditions for action: " << node->action().executable() << ".. ";
+ const literals& preconds = node->action().preconditions();
+ cerr << "done" << endl;
+
+ addNode(node);
if (preconds.size() == 0){
cerr << "Found no preconds" << endl;
_start->addChild(node);
}else{
- for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+ for (literals::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
cerr << "Looking for: " << *precond << endl;
hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
if(addedNode != _addedNodes.end()){
cerr << "Adding new node" << endl;
Node* newnode = new Node(action->second);
newnode->addChild(node);
- addNode(newnode);
makePlan(newnode);
}else{
cerr << "Action with effect: " << *precond << " not found!" << endl;
}
void Planner::addNode(Node* node){
- literals effects = node->action().effects();
+ const literals& effects = node->action().effects();
- for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
cout << "Adding node for effect: " << *effect << endl;
_addedNodes[*effect] = node;
}