planner.cpp

   1 #include "planner.h"
   2 #include "node.h"
   3 #include <iostream>
   4 #include <vector>
   5 using namespace std;
   6 using namespace __gnu_cxx;
   7
   8 Planner::Planner(std::vector<Action> actions, literals init, literals goal){
   9         _init = init;
  10         _goal = goal;
  11         _start = new StartNode(_init);
  12         Node* finish = new EndNode(_goal);
  13
  14         for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
  15                 Action* act = new Action(*action);
  16                 const literals& effects = act->effects(0);
  17                 for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  18                         cerr << "Adding effect: " << *effect << endl;
  19                         _actions[*effect] = act;
  20                 }
  21         }
  22         makePlan(finish);
  23 }
  24
  25 Planner::~Planner(){
  26         for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  27                 cerr << "Deleting node " << node->second->action().name() << endl;
  28                 delete node->second;
  29         }
  30 }
  31
  32
  33 void Planner::makePlan(Node* node){
  34         addNode(node);
  35
  36         cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
  37         const literals& preconds = node->action().preconditions();
  38         cerr << "done" << endl;
  39
  40
  41         if (preconds.size() == 0){
  42                 cerr << "Found no preconds" << endl;
  43                 _start->addChild(node);
  44         }else{
  45                 for (literals::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  46                         cerr << "Looking for: " << *precond << endl;
  47                         hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
  48                         if(addedNode != _addedNodes.end()){
  49                                 cerr << "Using already added node" << endl;
  50                                 addedNode->second->addChild(node);
  51                         }else {
  52                                 hash_map<string, Action*>::iterator action = _actions.find(*precond);
  53                                 if (action != _actions.end()){
  54                                         cerr << "Adding new node" << endl;
  55                                         Node* newnode = new Node(*action->second);
  56                                         newnode->addChild(node);
  57                                         makePlan(newnode);
  58                                 }else{
  59                                         cerr << "Action with effect: " << *precond << " not found!" << endl;
  60                                 }
  61                         }
  62                 }
  63         }
  64 }
  65
  66 void Planner::addNode(Node* node){
  67         const literals& effects = node->action().effects(0);
  68
  69         for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  70                 cout << "Adding node for effect: " << *effect << endl;
  71                 _addedNodes[*effect] = node;
  72         }
  73 }
  74
  75
  76 void Planner::execute(){
  77         _start->execute(literals());
  78         for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  79 }