X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.cpp;h=324c2dd73a3c0754d3a4899edbbf739473465d80;hb=3dadaa088d9fff7ca05cbb297f3d7e88179faccb;hp=a15028e29a3175e8fa316e2e6e6a37e2dc41194f;hpb=09f6dfa65b66103c27dc831271d961de9ab0109e;p=popboot.git

diff --git a/planner.cpp b/planner.cpp
index a15028e..324c2dd 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,46 +1,59 @@
 #include "planner.h"
 #include "node.h"
 #include <iostream>
+#include <vector>
 using namespace std;
 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()));
+	_init = init;
+	_goal = goal;
+	_start = new StartNode(_init);
+	Node* finish = new EndNode(_goal);
 
 	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){
+		Action* act = new Action(*action);
+		const literals& effects = act->effects(0);
+		for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 			cerr << "Adding effect: " << *effect << endl;
-			_actions[*effect] = *action;
+			_actions[*effect] = act;
 		}
 	}
 	makePlan(finish);
 }
 
+Planner::~Planner(){
+	for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		cerr << "Deleting node " << node->second->action().name() << endl;
+		delete node->second;
+	}
+}
+
 
 void Planner::makePlan(Node* node){
-	literals preconds = node->action().preconditions();
+	addNode(node);
+
+	cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
+	const literals& preconds = node->action().preconditions();
+	cerr << "done" << endl;
+
 
 	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 << "Using already added node" << endl;
 				addedNode->second->addChild(node);
 			}else {
-				hash_map<string, Action>::iterator action = _actions.find(*precond);
+				hash_map<string, Action*>::iterator action = _actions.find(*precond);
 				if (action != _actions.end()){
 					cerr << "Adding new node" << endl;
-					Node* newnode = new Node(action->second);
+					Node* newnode = new Node(*action->second);
 					newnode->addChild(node);
-					addNode(newnode);
 					makePlan(newnode);
 				}else{
 					cerr << "Action with effect: " << *precond << " not found!" << endl;
@@ -51,9 +64,9 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
-	literals effects = node->action().effects();
+	const literals& effects = node->action().effects(0);
 
-	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;
 	}
@@ -62,4 +75,5 @@ void Planner::addNode(Node* node){
 
 void Planner::execute(){
 	_start->execute(literals());
+	for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
 }