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("start",literals(), init));
  10         addNode(_start);
  11         Node* finish = new Node(Action("finish",goal,literals()));
  12
  13         for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
  14                 literals effects = action->effects();
  15                 for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
  16                         cerr << "Adding effect: " << *effect << endl;
  17                         _actions[*effect] = *action;
  18                 }
  19         }
  20         makePlan(finish);
  21 }
  22
  23
  24 void Planner::makePlan(Node* node){
  25         literals preconds = node->action().preconditions();
  26
  27         if (preconds.size() == 0){
  28                 cerr << "Found no preconds" << endl;
  29                 _start->addChild(node);
  30         }else{
  31                 for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  32                         cerr << "Looking for: " << *precond << endl;
  33                         hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
  34                         if(addedNode != _addedNodes.end()){
  35                                 cerr << "Using already added node" << endl;
  36                                 addedNode->second->addChild(node);
  37                         }else {
  38                                 hash_map<string, Action>::iterator action = _actions.find(*precond);
  39                                 if (action != _actions.end()){
  40                                         cerr << "Adding new node" << endl;
  41                                         Node* newnode = new Node(action->second);
  42                                         newnode->addChild(node);
  43                                         addNode(newnode);
  44                                         makePlan(newnode);
  45                                 }else{
  46                                         cerr << "Action with effect: " << *precond << " not found!" << endl;
  47                                 }
  48                         }
  49                 }
  50         }
  51 }
  52
  53 void Planner::addNode(Node* node){
  54         literals effects = node->action().effects();
  55
  56         for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
  57                 cout << "Adding node for effect: " << *effect << endl;
  58                 _addedNodes[*effect] = node;
  59         }
  60 }
  61
  62
  63 void Planner::execute(){
  64         _start->execute(literals());
  65 }