planning and execution seems to work now

[popboot.git] / planner.cpp

diff --git a/planner.cpp b/planner.cpp
index 884567dea5c4329e43b6d0020bd05bd5c12af1fc..46cf230d1421c25d4aa28574a79a53987fc8cbba 100644 (file)
--- a/planner.cpp
+++ b/planner.cpp
@@ -19,14 +19,15 @@ Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
                        _actions[*effect] = *action;
                }
        }
-       cout << "Number of actions: " << _actions.size() << endl;
+       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;
+       cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
+       for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+               cerr << "Deleting node " << (*node)->action().name() << endl;
+               delete *node;
        }
 }
 
@@ -45,8 +46,8 @@ void Planner::makePlan(Node* 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()){
+                       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 {
@@ -63,6 +64,7 @@ void Planner::makePlan(Node* node){
                                }else{
                                        cerr << "Action with effect: " << precond->first << " not found!" << endl;
                                        cerr << "This is a soft precondition, so we will continue" << endl;
+                                       node->satisfyCondition(precond->first);
                                }
                        }
                }
@@ -73,18 +75,24 @@ 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()){
-       }*/
-       _start->execute(false,Literals());
+       _start->execute(Literals());
+       cerr << "Number of nodes: " << _addedNodes.size() << endl;
+       for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+               if ((*node)->executed()){
+                       //remove stuff
+               }
+               delete *node;
+       }
+       _addedNodes.clear();
+       cerr << "Number of nodes left: " << _addedNodes.size() << endl;
 }