X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.cpp;h=5e1719e11b48619a3a805801893e4bb0fa46408f;hp=3e8d5de60af18b35416301943000b20d1768094c;hb=9811871585fa6028362c8910bfac18159c286323;hpb=b177aeec472c3941b39b874a83883ff87a41919c

diff --git a/planner.cpp b/planner.cpp
index 3e8d5de..5e1719e 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -6,12 +6,13 @@ 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("",literals(), init));
+	Node* finish = new Node(Action("",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;
 		}
 	}
@@ -23,20 +24,25 @@ void Planner::makePlan(Node* node){
 	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;
 				}
 			}
 		}
@@ -47,6 +53,7 @@ void Planner::addNode(Node* node){
 	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;
 	}
 }