Planner::Planner(std::vector<Action> actions, literals init, literals goal){
- _start = new Node(Action("",init, literals()));
- Node* finish = new Node(Action("",literals(),goal));
+ _start = new Node(Action("start",literals(), init));
+ addNode(_start);
+ Node* finish = new Node(Action("finish",goal,literals()));
for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
- literals preconds = action->preconditions();
- for (literals::iterator effect = preconds.begin(); effect != preconds.end(); ++effect){
+ literals effects = action->effects();
+ for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ cerr << "Adding effect: " << *effect << endl;
_actions[*effect] = *action;
}
}
literals preconds = node->action().preconditions();
if (preconds.size() == 0){
+ cerr << "Found no preconds" << endl;
_start->addChild(node);
}else{
for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+ cerr << "Looking for: " << *precond << endl;
hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
if(addedNode != _addedNodes.end()){
+ cerr << "Using already added node" << endl;
addedNode->second->addChild(node);
}else {
hash_map<string, Action>::iterator action = _actions.find(*precond);
if (action != _actions.end()){
+ cerr << "Adding new node" << endl;
Node* newnode = new Node(action->second);
newnode->addChild(node);
+ addNode(newnode);
makePlan(newnode);
}else{
- cerr << "Action with effect: " << *precond << " not found!";
+ cerr << "Action with effect: " << *precond << " not found!" << endl;
}
}
}
literals effects = node->action().effects();
for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ cout << "Adding node for effect: " << *effect << endl;
_addedNodes[*effect] = node;
}
}
+
+
+void Planner::execute(){
+ _start->execute(literals());
+}