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;
}
+ for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
+ cerr << "Deleting action " << (*action)->name() << endl;
+ delete *action;
+ }
}
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());
- /*for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
- if (node->second->executed()){
- }*/
- _start->execute(Literals());
+ cerr << "Number of nodes: " << _addedNodes.size() << endl;
+ back_insert_iterator<Literals> ii(_init);
+ _init.clear();
+ int executions = 0;
+ for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+ cerr << "Deleting node " << (*node)->action()->name() << endl;
+ if ((*node)->executed()){
+ executions++;
+ 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;
+ delete *action;
+ _actions.erase(action);
+ }
+ }
+ delete *node;
+ }
+ _addedNodes.clear();
+ _addedEffects.clear();
+ _actionEffects.clear();
+ copy(_init.begin(), _init.end(), ostream_iterator<string>(cerr, " "));
+ cerr << endl;
+ cerr << "Number of actions left: " << _actions.size() << endl;
+ //TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan.
+ if (executions <= 1){
+ cerr << "Non of the remaining actions could be executed, quiting." << endl;
+ return;
+ }
+ if (_actions.size() == 0){
+ cerr << "No remaining actions, quiting." << endl;
+ return;
+ }
+ for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
+ const Literals& effects = (*action)->effects(0);
+ for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ cerr << "Adding effect: '" << *effect << "', action: " << (*action)->name() << endl;
+ _actionEffects[*effect] = *action;
+ }
+ }
+ _start = new StartNode(_init);
+ _finish = new EndNode(_goal);
+ addNode(_start);
+ makePlan(_finish);
+ if (_addedNodes.size() <= 2){
+ cerr << "No actions to execute, quiting." << endl;
+ return;
+ }
+ execute();
+
}