planner.cpp

   1 #include "planner.h"
   2 #include "node.h"
   3 #include <iostream>
   4 using namespace std;
   5 using namespace __gnu_cxx;
   6
   7 Planner::Planner(std::vector<Action> actions, literals init, literals goal){
   8
   9         _start = new Node(Action("",literals(), init));
  10         Node* finish = new Node(Action("",goal,literals()));
  11
  12         for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
  13                 literals effects = action->effects();
  14                 for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
  15                         cerr << "Adding effect: " << *effect << endl;
  16                         _actions[*effect] = *action;
  17                 }
  18         }
  19         makePlan(finish);
  20 }
  21
  22
  23 void Planner::makePlan(Node* node){
  24         literals preconds = node->action().preconditions();
  25
  26         if (preconds.size() == 0){
  27                 cerr << "Found no preconds" << endl;
  28                 _start->addChild(node);
  29         }else{
  30                 for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  31                         cerr << "Looking for: " << *precond << endl;
  32                         hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
  33                         if(addedNode != _addedNodes.end()){
  34                                 cerr << "Using already added node" << endl;
  35                                 addedNode->second->addChild(node);
  36                         }else {
  37                                 hash_map<string, Action>::iterator action = _actions.find(*precond);
  38                                 if (action != _actions.end()){
  39                                         cerr << "Adding new node" << endl;
  40                                         Node* newnode = new Node(action->second);
  41                                         newnode->addChild(node);
  42                                         addNode(newnode);
  43                                         makePlan(newnode);
  44                                 }else{
  45                                         cerr << "Action with effect: " << *precond << " not found!" << endl;
  46                                 }
  47                         }
  48                 }
  49         }
  50 }
  51
  52 void Planner::addNode(Node* node){
  53         literals effects = node->action().effects();
  54
  55         for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
  56                 cout << "Adding node for effect: " << *effect << endl;
  57                 _addedNodes[*effect] = node;
  58         }
  59 }