X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.cpp;h=10f5e57f2970f1cd7a111d497de7d75c81dc848b;hp=15fc248372361b188b63f3e67dce49f628dc3fa5;hb=fdcf46671ca1dab0dadb490bb4375dc3dd2fc9a4;hpb=716fc4e282ce52fe953867171c046acd3b614d3b

diff --git a/planner.cpp b/planner.cpp
index 15fc248..10f5e57 100644
--- 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());
 }