X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.cpp;h=1210d0479309df2ed3af1a2fe0b8f783fa5d1a33;hb=895d43297511597e9d8734c0fd5ba534f551de5f;hp=cf7801520883ac9e94cf62b958884fc8d95f369b;hpb=e26fd7b3195576b25ffe51253a391b53f412a650;p=popboot.git

diff --git a/planner.cpp b/planner.cpp
index cf78015..1210d04 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -7,7 +7,6 @@ using namespace __gnu_cxx;
 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){
@@ -20,12 +19,21 @@ Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 	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){
 	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);
@@ -42,7 +50,6 @@ void Planner::makePlan(Node* node){
 					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;