planner.h

   1 #ifndef __PLANNER_H__
   2 #define __PLANNER_H__
   3
   4 #include <ext/hash_map>
   5 #include <vector>
   6 #include <queue>
   7 #include <pthread.h>
   8 #include <semaphore.h>
   9 #include "action.h"
  10
  11 class Node;
  12
  13 class Planner {
  14         public:
  15                 Planner(std::vector<Action> actions, Literals init, Literals goal);
  16                 ~Planner();
  17
  18                 void execute();
  19
  20
  21         protected:
  22
  23                 void makePlan(Node* node);
  24                 void addNode(Node* node);
  25                 void executePlan();
  26                 void replan();
  27                 int cleanupExecution();
  28                 int executeChildren(Node* node);
  29
  30                 sem_t _nodes;
  31                 sem_t _list;
  32                 std::queue<Node*> _executedNodes;
  33
  34                 Node* _start;
  35                 Node* _finish;
  36                 __gnu_cxx::hash_map<std::string,Node*> _addedEffects;
  37                 __gnu_cxx::hash_map<std::string,Action*> _actionEffects;
  38                 Literals _init;
  39                 Literals _goal;
  40                 std::vector<Node*> _addedNodes;
  41                 std::vector<Action*> _actions;
  42 };
  43 #endif