X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.cpp;h=46cf230d1421c25d4aa28574a79a53987fc8cbba;hb=52feef3369ad80d5b7207620f37ae341ccd11b95;hp=d49fb911beb267aa1b7005a8bdd9a729b84f2e22;hpb=c9c72023d15decebe700ad0bfe3e8cbac9a85248;p=popboot.git

diff --git a/planner.cpp b/planner.cpp
index d49fb91..46cf230 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -19,14 +19,15 @@ Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
 			_actions[*effect] = *action;
 		}
 	}
-	cout << "Number of actions: " << _actions.size() << endl;
+	cerr << "Number of actions: " << _actions.size() << endl;
 	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;
+	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;
 	}
 }
 
@@ -45,8 +46,8 @@ void Planner::makePlan(Node* node){
 	}else{
 		for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
 			cerr << "Looking for: '" << precond->first << "'" <<  endl;
-			hash_map<string,Node*>::iterator addedNode = _addedNodes.find(precond->first);
-			if(addedNode != _addedNodes.end()){
+			hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
+			if(addedNode != _addedEffects.end()){
 				cerr << "Using already added node" << endl;
 				addedNode->second->addChild(node);
 			}else {
@@ -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);
 				}
 			}
 		}
@@ -73,18 +75,24 @@ void Planner::addNode(Node* node){
 	cerr << "Adding node for action: " << node->action().name() << endl;
 	const Literals& effects = node->action().effects(0);
 	cerr << "Number of effects: " << effects.size() << endl;
+	_addedNodes.push_back(node);
 
 	for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
-		cout << "Adding node for effect: " << *effect << endl;
-		_addedNodes[*effect] = node;
+		cerr << "Adding node for effect: " << *effect << endl;
+		_addedEffects[*effect] = 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;
 }