X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.cpp;h=cf7801520883ac9e94cf62b958884fc8d95f369b;hb=e26fd7b3195576b25ffe51253a391b53f412a650;hp=463049473fe16ce62ac9207bce287f270867da0b;hpb=498b277372ebab0008b97399d387285b36d88826;p=popboot.git

diff --git a/planner.cpp b/planner.cpp
index 4630494..cf78015 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -11,8 +11,8 @@ Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 	Node* finish = new Node(Action("finish",goal,literals()));
 
 	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){
+		const literals& effects = action->effects();
+		for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 			cerr << "Adding effect: " << *effect << endl;
 			_actions[*effect] = *action;
 		}
@@ -22,13 +22,15 @@ Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 
 
 void Planner::makePlan(Node* node){
-	literals preconds = node->action().preconditions();
+	cerr << "Fetching preconditions for action: " << node->action().executable() << ".. ";
+	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()){
@@ -51,9 +53,9 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
-	literals effects = node->action().effects();
+	const literals& effects = node->action().effects();
 
-	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;
 	}
@@ -61,5 +63,5 @@ void Planner::addNode(Node* node){
 
 
 void Planner::execute(){
-	_start->execute();
+	_start->execute(literals());
 }