references instead of copies

[popboot.git] / planner.cpp

diff --git a/planner.cpp b/planner.cpp
index 3e8d5de60af18b35416301943000b20d1768094c..cf7801520883ac9e94cf62b958884fc8d95f369b 100644 (file)
--- a/planner.cpp
+++ b/planner.cpp
@@ -6,12 +6,14 @@ using namespace __gnu_cxx;
 
 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){
+               const literals& effects = action->effects();
+               for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+                       cerr << "Adding effect: " << *effect << endl;
                        _actions[*effect] = *action;
                }
        }
@@ -20,23 +22,30 @@ Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 
 
 void Planner::makePlan(Node* node){
-       literals preconds = node->action().preconditions();
+       cerr << "Fetching preconditions for action: " << node->action().executable() << ".. ";
+       const literals& preconds = node->action().preconditions();
+       cerr << "done" << endl;
 
        if (preconds.size() == 0){
+               cerr << "Found no preconds" << endl;
                _start->addChild(node);
        }else{
-               for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+               for (literals::const_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;
                                }
                        }
                }
@@ -44,9 +53,15 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
-       literals effects = node->action().effects();
+       const literals& effects = node->action().effects();
 
-       for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+       for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+               cout << "Adding node for effect: " << *effect << endl;
                _addedNodes[*effect] = node;
        }
 }
+
+
+void Planner::execute(){
+       _start->execute(literals());
+}