seems to be working now

[popboot.git] / planner.cpp

diff --git a/planner.cpp b/planner.cpp
index 15fc248372361b188b63f3e67dce49f628dc3fa5..10f5e57f2970f1cd7a111d497de7d75c81dc848b 100644 (file)
--- a/planner.cpp
+++ b/planner.cpp
@@ -10,21 +10,23 @@ Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
        _goal = goal;
        _start = new StartNode(_init);
        _finish = new EndNode(_goal);
+       addNode(_start);
 
        for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
                const Literals& effects = action->effects(0);
                for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
-                       cerr << "Adding effect: " << *effect << endl;
+                       cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
                        _actions[*effect] = *action;
                }
        }
+       cerr << "Number of actions: " << _actions.size() << endl;
        makePlan(_finish);
 }
 
 Planner::~Planner(){
-       for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
-               cerr << "Deleting node " << node->second->action().name() << endl;
-               delete node->second;
+       for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+               cerr << "Deleting node " << (*node)->action().name() << endl;
+               delete *node;
        }
 }
 
@@ -42,9 +44,9 @@ void Planner::makePlan(Node* node){
                _start->addChild(node);
        }else{
                for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
-                       cerr << "Looking for: " << precond->first << endl;
-                       hash_map<string,Node*>::iterator addedNode = _addedNodes.find(precond->first);
-                       if(addedNode != _addedNodes.end()){
+                       cerr << "Looking for: '" << precond->first << "'" <<  endl;
+                       hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
+                       if(addedNode != _addedEffects.end()){
                                cerr << "Using already added node" << endl;
                                addedNode->second->addChild(node);
                        }else {
@@ -68,19 +70,22 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
+       cerr << "Adding node for action: " << node->action().name() << endl;
        const Literals& effects = node->action().effects(0);
+       cerr << "Number of effects: " << effects.size() << endl;
+       _addedNodes.push_back(node);
 
        for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
-               cout << "Adding node for effect: " << *effect << endl;
-               _addedNodes[*effect] = node;
+               cerr << "Adding node for effect: " << *effect << endl;
+               _addedEffects[*effect] = node;
        }
 }
 
 
 void Planner::execute(){
-       _start->execute(true,Literals());
-       for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
-               if (!node->second->executed())
-                       node->second->execute(false,Literals());
-       }
+       _start->execute(Literals());
+       /*for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+               if (node->second->executed()){
+       }*/
+       _start->execute(Literals());
 }