X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.h;h=c6f23b2334895bb91a09562ba465017be18a74ff;hp=fc49df9d5659e42646fa307e034c4c59b6ec58b4;hb=8282bdb08791f2631a9d51e75b988077d903f3d1;hpb=44054bc3e498f77571a9448d0cea201fcca6bb0f

diff --git a/planner.h b/planner.h
index fc49df9..c6f23b2 100644
--- a/planner.h
+++ b/planner.h
@@ -10,6 +10,9 @@
 
 class Node;
 
+/**
+ * This class creates, holds and executes a plan.
+ */
 class Planner {
 	public:
 		/**
@@ -59,21 +62,47 @@ class Planner {
 		 * executeChildren for these nodes.
 		 */
 		void executePlan();
+
+		/**
+		 * Iterates through the children of the input node and satisfies all
+		 * preconditions possible with this node. The children will be executed
+		 * if all preconditions have been satisfied.
+		 */
 		int executeChildren(Node* node);
+
+		/**
+		 * Addes the remaining actions to the actions map, creates new start and
+		 * finish nodes and runs makePlan.
+		 */
 		void replan();
+		
+		/**
+		 * Deletes all nodes, updates _init and _goal, and clears the internal maps and vector.
+		 */
 		int cleanupExecution();
 
+		//! Semaphore which is used to signal if a new node has been executed and added to _executedNodes.
 		sem_t _nodes;
+		//! Mutex for access to _executedNodes.
 		sem_t _list;
+		//! Holds the nodes which have been executed, but the children haven't been taken care of yet.
 		std::queue<Node*> _executedNodes;
 
+		//! The start node in the plan graph.
 		Node* _start;
+		//! The end node in the plan graph.
 		Node* _finish;
+		//! Map from all the effects which can be achieved with the already added nodes.
 		__gnu_cxx::hash_map<std::string,Node*> _addedEffects;
+		//! Map with all effects available and their corresponding actions.
 		__gnu_cxx::hash_map<std::string,Action*> _actionEffects;
+		//! The initial state.
 		Literals _init;
+		//! The goal state
 		Literals _goal;
+		//! All the nodes added to the current plan.
 		std::vector<Node*> _addedNodes;
+		//! All the non-executed actions available in the current plan.
 		std::vector<Action*> _actions;
 };
 #endif