X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.cpp;h=324c2dd73a3c0754d3a4899edbbf739473465d80;hp=1210d0479309df2ed3af1a2fe0b8f783fa5d1a33;hb=3dadaa088d9fff7ca05cbb297f3d7e88179faccb;hpb=13441470b3b895e08b4165e2154665863f1c3b33

diff --git a/planner.cpp b/planner.cpp
index 1210d04..324c2dd 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,19 +1,22 @@
 #include "planner.h"
 #include "node.h"
 #include <iostream>
+#include <vector>
 using namespace std;
 using namespace __gnu_cxx;
 
 Planner::Planner(std::vector<Action> actions, literals init, literals goal){
-
-	_start = new Node(Action("start",literals(), init));
-	Node* finish = new Node(Action("finish",goal,literals()));
+	_init = init;
+	_goal = goal;
+	_start = new StartNode(_init);
+	Node* finish = new EndNode(_goal);
 
 	for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
-		const literals& effects = action->effects();
+		Action* act = new Action(*action);
+		const literals& effects = act->effects(0);
 		for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 			cerr << "Adding effect: " << *effect << endl;
-			_actions[*effect] = *action;
+			_actions[*effect] = act;
 		}
 	}
 	makePlan(finish);
@@ -21,18 +24,19 @@ Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 
 Planner::~Planner(){
 	for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
-		cerr << "Deleting node " << node->second->action().executable() << endl;
+		cerr << "Deleting node " << node->second->action().name() << endl;
 		delete node->second;
 	}
 }
 
 
 void Planner::makePlan(Node* node){
-	cerr << "Fetching preconditions for action: " << node->action().executable() << ".. ";
+	addNode(node);
+
+	cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
 	const literals& preconds = node->action().preconditions();
 	cerr << "done" << endl;
 
-	addNode(node);
 
 	if (preconds.size() == 0){
 		cerr << "Found no preconds" << endl;
@@ -45,10 +49,10 @@ void Planner::makePlan(Node* node){
 				cerr << "Using already added node" << endl;
 				addedNode->second->addChild(node);
 			}else {
-				hash_map<string, Action>::iterator action = _actions.find(*precond);
+				hash_map<string, Action*>::iterator action = _actions.find(*precond);
 				if (action != _actions.end()){
 					cerr << "Adding new node" << endl;
-					Node* newnode = new Node(action->second);
+					Node* newnode = new Node(*action->second);
 					newnode->addChild(node);
 					makePlan(newnode);
 				}else{
@@ -60,7 +64,7 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
-	const literals& effects = node->action().effects();
+	const literals& effects = node->action().effects(0);
 
 	for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 		cout << "Adding node for effect: " << *effect << endl;
@@ -71,4 +75,5 @@ void Planner::addNode(Node* node){
 
 void Planner::execute(){
 	_start->execute(literals());
+	for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
 }