X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.cpp;h=46cf230d1421c25d4aa28574a79a53987fc8cbba;hb=500180d0755f2c6196f339f6397b9af578e8ab74;hp=10f5e57f2970f1cd7a111d497de7d75c81dc848b;hpb=fdcf46671ca1dab0dadb490bb4375dc3dd2fc9a4;p=popboot.git

diff --git a/planner.cpp b/planner.cpp
index 10f5e57..46cf230 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -24,6 +24,7 @@ Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
 }
 
 Planner::~Planner(){
+	cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
 	for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
 		cerr << "Deleting node " << (*node)->action().name() << endl;
 		delete *node;
@@ -63,6 +64,7 @@ void Planner::makePlan(Node* node){
 				}else{
 					cerr << "Action with effect: " << precond->first << " not found!" << endl;
 					cerr << "This is a soft precondition, so we will continue" << endl;
+					node->satisfyCondition(precond->first);
 				}
 			}
 		}
@@ -84,8 +86,13 @@ void Planner::addNode(Node* node){
 
 void Planner::execute(){
 	_start->execute(Literals());
-	/*for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
-		if (node->second->executed()){
-	}*/
-	_start->execute(Literals());
+	cerr << "Number of nodes: " << _addedNodes.size() << endl;
+	for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		if ((*node)->executed()){
+			//remove stuff
+		}
+		delete *node;
+	}
+	_addedNodes.clear();
+	cerr << "Number of nodes left: " << _addedNodes.size() << endl;
 }