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
  24 void Planner::makePlan(Node* node){
  25         cerr << "Fetching preconditions for action: " << node->action().executable() << ".. ";
  26         const literals& preconds = node->action().preconditions();
  27         cerr << "done" << endl;
  28
  29         if (preconds.size() == 0){
  30                 cerr << "Found no preconds" << endl;
  31                 _start->addChild(node);
  32         }else{
  33                 for (literals::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  34                         cerr << "Looking for: " << *precond << endl;
  35                         hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
  36                         if(addedNode != _addedNodes.end()){
  37                                 cerr << "Using already added node" << endl;
  38                                 addedNode->second->addChild(node);
  39                         }else {
  40                                 hash_map<string, Action>::iterator action = _actions.find(*precond);
  41                                 if (action != _actions.end()){
  42                                         cerr << "Adding new node" << endl;
  43                                         Node* newnode = new Node(action->second);
  44                                         newnode->addChild(node);
  45                                         addNode(newnode);
  46                                         makePlan(newnode);
  47                                 }else{
  48                                         cerr << "Action with effect: " << *precond << " not found!" << endl;
  49                                 }
  50                         }
  51                 }
  52         }
  53 }
  54
  55 void Planner::addNode(Node* node){
  56         const literals& effects = node->action().effects();
  57
  58         for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  59                 cout << "Adding node for effect: " << *effect << endl;
  60                 _addedNodes[*effect] = node;
  61         }
  62 }
  63
  64
  65 void Planner::execute(){
  66         _start->execute(literals());
  67 }