X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.cpp;h=3e8d5de60af18b35416301943000b20d1768094c;hb=b177aeec472c3941b39b874a83883ff87a41919c;hp=159cb528d68f15e5e0d5667facef30455042867d;hpb=c0744e66fecd39c1606727858e7fa05990e84402;p=popboot.git

diff --git a/planner.cpp b/planner.cpp
index 159cb52..3e8d5de 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,3 +1,52 @@
 #include "planner.h"
+#include "node.h"
+#include <iostream>
+using namespace std;
+using namespace __gnu_cxx;
 
+Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 
+	_start = new Node(Action("",init, literals()));
+	Node* finish = new Node(Action("",literals(),goal));
+
+	for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
+		literals preconds = action->preconditions();
+		for (literals::iterator effect = preconds.begin(); effect != preconds.end(); ++effect){
+			_actions[*effect] = *action;
+		}
+	}
+	makePlan(finish);
+}
+
+
+void Planner::makePlan(Node* node){
+	literals preconds = node->action().preconditions();
+
+	if (preconds.size() == 0){
+		_start->addChild(node);
+	}else{
+		for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+			hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
+			if(addedNode != _addedNodes.end()){
+				addedNode->second->addChild(node);
+			}else {
+				hash_map<string, Action>::iterator action = _actions.find(*precond);
+				if (action != _actions.end()){
+					Node* newnode = new Node(action->second);
+					newnode->addChild(node);
+					makePlan(newnode);
+				}else{
+					cerr << "Action with effect: " << *precond << " not found!";
+				}
+			}
+		}
+	}
+}
+
+void Planner::addNode(Node* node){
+	literals effects = node->action().effects();
+
+	for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		_addedNodes[*effect] = node;
+	}
+}