]> ruin.nu Git - popboot.git/blob - planner.cpp
Might be good to have a destructor too
[popboot.git] / 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                 const literals& effects = action->effects();
15                 for (literals::const_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 Planner::~Planner(){
24         for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
25                 cerr << "Deleting node " << node->second->action().executable() << endl;
26                 delete node->second;
27         }
28 }
29
30
31 void Planner::makePlan(Node* node){
32         cerr << "Fetching preconditions for action: " << node->action().executable() << ".. ";
33         const literals& preconds = node->action().preconditions();
34         cerr << "done" << endl;
35
36         if (preconds.size() == 0){
37                 cerr << "Found no preconds" << endl;
38                 _start->addChild(node);
39         }else{
40                 for (literals::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
41                         cerr << "Looking for: " << *precond << endl;
42                         hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
43                         if(addedNode != _addedNodes.end()){
44                                 cerr << "Using already added node" << endl;
45                                 addedNode->second->addChild(node);
46                         }else {
47                                 hash_map<string, Action>::iterator action = _actions.find(*precond);
48                                 if (action != _actions.end()){
49                                         cerr << "Adding new node" << endl;
50                                         Node* newnode = new Node(action->second);
51                                         newnode->addChild(node);
52                                         addNode(newnode);
53                                         makePlan(newnode);
54                                 }else{
55                                         cerr << "Action with effect: " << *precond << " not found!" << endl;
56                                 }
57                         }
58                 }
59         }
60 }
61
62 void Planner::addNode(Node* node){
63         const literals& effects = node->action().effects();
64
65         for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
66                 cout << "Adding node for effect: " << *effect << endl;
67                 _addedNodes[*effect] = node;
68         }
69 }
70
71
72 void Planner::execute(){
73         _start->execute(literals());
74 }