From: Michael Andreen <harv@ruin.nu>
Date: Sun, 8 May 2005 10:20:37 +0000 (+0000)
Subject: references instead of copies
X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=commitdiff_plain;h=e26fd7b3195576b25ffe51253a391b53f412a650

references instead of copies
---

diff --git a/action.cpp b/action.cpp
index 427440b..626eb37 100644
--- a/action.cpp
+++ b/action.cpp
@@ -14,11 +14,11 @@ Action::Action(const Action& action){
 	_effects = action._effects;
 }
 
-literals Action::effects() const{
+const literals& Action::effects() const{
 	return _effects;
 }
 
-literals Action::preconditions() const{
+const literals& Action::preconditions() const{
 	return _preconditions;
 }
 
@@ -26,3 +26,7 @@ int Action::execute() const{
 	cout << "Executing: " << _executable << endl;
 	return 0;
 }
+
+const string& Action::executable() const{
+	return _executable;
+}
diff --git a/action.h b/action.h
index 35119c3..9b3c927 100644
--- a/action.h
+++ b/action.h
@@ -11,8 +11,9 @@ class Action {
 		Action(std::string executable, literals preconditions, literals effects);
 		Action(const Action& action);
 		Action(){};
-		literals effects() const;
-		literals preconditions() const;
+		const literals& effects() const;
+		const literals& preconditions() const;
+		const std::string& executable() const;
 		int execute() const;
 
 	protected:
diff --git a/main.cpp b/main.cpp
index 2affab5..4463ff2 100644
--- a/main.cpp
+++ b/main.cpp
@@ -39,6 +39,7 @@ int main(int argc, char** argv){
 		getline(file,effects);
 		getline(file,precond);
 		cout << exec << ":" << effects << ":" << precond << endl;
+		if (effects == "") continue;
 		actions.push_back(Action(exec, stringToVector(precond), stringToVector(effects)));
 	}
 	Planner p(actions, stringToVector(argv[2]), stringToVector(argv[3]));
diff --git a/node.cpp b/node.cpp
index dbb099c..1fb2b2e 100644
--- a/node.cpp
+++ b/node.cpp
@@ -7,7 +7,7 @@ Node::Node(Action action){
 	_preconditions = _action.preconditions();
 }
 
-Action Node::action(){
+const Action& Node::action() const{
 	return _action;
 }
 
@@ -17,8 +17,8 @@ void Node::addChild(Node* node){
 }
 
 
-void Node::execute(literals effects){
-	for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+void Node::execute(const literals& effects){
+	for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 		_preconditions.erase(find(_preconditions.begin(),_preconditions.end(), *effect));
 	}
 	if (_preconditions.size() != 0)
diff --git a/node.h b/node.h
index 0d9cae6..7bcf3a8 100644
--- a/node.h
+++ b/node.h
@@ -9,8 +9,8 @@ class Node {
 	public:
 		Node(Action action);
 		void addChild(Node* node);
-		Action action();
-		void execute(literals effects);
+		const Action& action() const;
+		void execute(const literals& effects);
 
 	protected:
 		Action _action;
diff --git a/planner.cpp b/planner.cpp
index a15028e..cf78015 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -11,8 +11,8 @@ Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 	Node* finish = new Node(Action("finish",goal,literals()));
 
 	for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
-		literals effects = action->effects();
-		for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		const literals& effects = action->effects();
+		for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 			cerr << "Adding effect: " << *effect << endl;
 			_actions[*effect] = *action;
 		}
@@ -22,13 +22,15 @@ Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 
 
 void Planner::makePlan(Node* node){
-	literals preconds = node->action().preconditions();
+	cerr << "Fetching preconditions for action: " << node->action().executable() << ".. ";
+	const literals& preconds = node->action().preconditions();
+	cerr << "done" << endl;
 
 	if (preconds.size() == 0){
 		cerr << "Found no preconds" << endl;
 		_start->addChild(node);
 	}else{
-		for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+		for (literals::const_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()){
@@ -51,9 +53,9 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
-	literals effects = node->action().effects();
+	const literals& effects = node->action().effects();
 
-	for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+	for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 		cout << "Adding node for effect: " << *effect << endl;
 		_addedNodes[*effect] = node;
 	}
diff --git a/src.pro b/src.pro
index d0c6da8..e8c02b9 100644
--- a/src.pro
+++ b/src.pro
@@ -7,6 +7,7 @@ CONFIG -= qt
 CONFIG += debug
 INCLUDEPATH += .
 TARGET = planner
+#LIBS += -lpthread
 
 # Input
 HEADERS += action.h node.h planner.h