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;
+ }
}
_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();
+ 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);
- //BUG: Sometimes finds the wrong action.
- //delete *action;
}
}
delete *node;
}
_addedNodes.clear();
+ _addedEffects.clear();
_actionEffects.clear();
- copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
- cerr << "Number of nodes left: " << _addedNodes.size() << endl;
+ 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();
+
}