documentation

diff --git a/planner.h b/planner.h
index 55d572877e61641cbdce15d0186bee9b4da9c235..fc49df9d5659e42646fa307e034c4c59b6ec58b4 100644 (file)
--- a/planner.h
+++ b/planner.h
@@ -12,20 +12,56 @@ class Node;
 
 class Planner {
        public:
 
 class Planner {
        public:

+               /**
+                * Creates a plan given the input actions, initial state and goal.
+                *
+                * @param actions A list of actions which will be used to reach the goal.
+                * @param init The initial state which the plan will start from.
+                * @param goal The goal state which the plan will try to reach.
+                */

                Planner(std::vector<Action> actions, Literals init, Literals goal);
                Planner(std::vector<Action> actions, Literals init, Literals goal);

+
+               /**
+                * Deletes all the remaining nodes and actions.
+                */

                ~Planner();
 
                ~Planner();
 

+               /**
+                * Executes the plan.
+                * Creates new threads for execution of each action.
+                *
+                * If any action fail in some way, this method will try to replan and
+                * recursively call itself.
+                */

                void execute();
 
 
        protected:
 
                void execute();
 
 
        protected:
 

+               /**
+                * This method does the actual planning. Given the input node it will
+                * try to find all preconditions and create links from parent nodes
+                * to this node and, if the precondition did not have a node associated
+                * with it, create a new and recursively call this method for the newly
+                * created node.
+                *
+                * @param node The node which this method will find parent nodes for.
+                */

                void makePlan(Node* node);
                void makePlan(Node* node);

+
+               /**
+                * Adds this node to the internal map and vector.
+                */

                void addNode(Node* node);
                void addNode(Node* node);

+
+               /**
+                * This method goes through the executed nodes and then calls 
+                * executeChildren for these nodes.
+                */

                void executePlan();
                void executePlan();

+               int executeChildren(Node* node);

                void replan();
                int cleanupExecution();
                void replan();
                int cleanupExecution();

-               int executeChildren(Node* node);

 
                sem_t _nodes;
                sem_t _list;
 
                sem_t _nodes;
                sem_t _list;