From 6bd1a42edf34d021fb0b596ebfed2af4b3f77897 Mon Sep 17 00:00:00 2001
From: Michael Andreen <harv@ruin.nu>
Date: Thu, 19 May 2005 18:37:29 +0000
Subject: [PATCH] replanning seems to work

---
 planner.cpp | 38 ++++++++++++++++++++++++++++++++------
 1 file changed, 32 insertions(+), 6 deletions(-)

diff --git a/planner.cpp b/planner.cpp
index d29691f..a4b5e5d 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -91,28 +91,54 @@ void Planner::execute(){
 	_start->execute(Literals());
 	cerr << "Number of nodes: " << _addedNodes.size() << endl;
 	back_insert_iterator<Literals> ii(_init);
-	copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
-	cout << endl;
 	_init.clear();
+	int executions = 0;
 	for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
 		cerr << "Deleting node " << (*node)->action()->name() << endl;
 		if ((*node)->executed()){
+			executions++;
 			const Literals& effects = (*node)->effects();
 			copy(effects.begin(),effects.end(),ii);
 			cerr << "Finding action" << endl;
 			vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
 			if (action != _actions.end()){
 				cerr << "Removing executed action: " << (*action)->name() << endl;
+				delete *action;
 				_actions.erase(action);
-				//BUG: Sometimes finds the wrong action.
-				//delete *action;
 			}
 		}
 		delete *node;
 	}
 	_addedNodes.clear();
+	_addedEffects.clear();
 	_actionEffects.clear();
-	copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
-	cerr << "Number of nodes left: " << _addedNodes.size() << endl;
+	copy(_init.begin(), _init.end(), ostream_iterator<string>(cerr, " "));
+	cerr << endl;
+	cerr << "Number of actions left: " << _actions.size() << endl;
 	//TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan.
+	if (executions <= 1){
+		cerr << "Non of the remaining actions could be executed, quiting." << endl;
+		return;
+	}
+	if (_actions.size() == 0){
+		cerr << "No remaining actions, quiting." << endl;
+		return;
+	}
+	for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
+		const Literals& effects = (*action)->effects(0);
+		for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+			cerr << "Adding effect: '" << *effect << "', action: " << (*action)->name() << endl;
+			_actionEffects[*effect] = *action;
+		}
+	}
+	_start = new StartNode(_init);
+	_finish = new EndNode(_goal);
+	addNode(_start);
+	makePlan(_finish);
+	if (_addedNodes.size() <= 2){
+		cerr << "No actions to execute, quiting." << endl;
+		return;
+	}
+	execute();
+	
 }
-- 
2.39.2