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("",init, literals()));
  10         Node* finish = new Node(Action("",literals(),goal));
  11
  12         for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
  13                 literals preconds = action->preconditions();
  14                 for (literals::iterator effect = preconds.begin(); effect != preconds.end(); ++effect){
  15                         _actions[*effect] = *action;
  16                 }
  17         }
  18         makePlan(finish);
  19 }
  20
  21
  22 void Planner::makePlan(Node* node){
  23         literals preconds = node->action().preconditions();
  24
  25         if (preconds.size() == 0){
  26                 _start->addChild(node);
  27         }else{
  28                 for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  29                         hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
  30                         if(addedNode != _addedNodes.end()){
  31                                 addedNode->second->addChild(node);
  32                         }else {
  33                                 hash_map<string, Action>::iterator action = _actions.find(*precond);
  34                                 if (action != _actions.end()){
  35                                         Node* newnode = new Node(action->second);
  36                                         newnode->addChild(node);
  37                                         makePlan(newnode);
  38                                 }else{
  39                                         cerr << "Action with effect: " << *precond << " not found!";
  40                                 }
  41                         }
  42                 }
  43         }
  44 }
  45
  46 void Planner::addNode(Node* node){
  47         literals effects = node->action().effects();
  48
  49         for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
  50                 _addedNodes[*effect] = node;
  51         }
  52 }