+ /**
+ * This method goes through the executed nodes and then calls
+ * 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.