From 76a6e62c0a20bebba4c828f528f118a1f789b593 Mon Sep 17 00:00:00 2001 From: Michael Andreen Date: Thu, 19 May 2005 13:36:34 +0000 Subject: [PATCH] replanning started --- node.cpp | 18 +++++++++--------- node.h | 8 +++++--- planner.cpp | 40 ++++++++++++++++++++++++++++++---------- planner.h | 3 ++- 4 files changed, 46 insertions(+), 23 deletions(-) diff --git a/node.cpp b/node.cpp index fb1c314..b4d22fb 100644 --- a/node.cpp +++ b/node.cpp @@ -3,9 +3,9 @@ #include using namespace std; -Node::Node(const Action& action){ +Node::Node(const Action* action){ _action = action; - _preconditions = _action.preconditions(); + _preconditions = _action->preconditions(); _executed = false; } Node::Node(){ @@ -18,7 +18,7 @@ Node::Node(const Node& node){ _executed = node._executed; } -const Action& Node::action() const{ +const Action* Node::action() const{ return _action; } @@ -39,7 +39,7 @@ void Node::satisfyCondition(std::string effect){ } void Node::execute(const Literals& effects){ - cerr << "Executing: " << _action.name() << endl; + cerr << "Executing: " << _action->name() << endl; for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){ cerr << "Satisfied effect: " << *effect << endl; _preconditions.erase(_preconditions.find(*effect)); @@ -51,8 +51,8 @@ void Node::execute(const Literals& effects){ return; _executed = true; - int value = _action.execute(); - _effects = _action.effects(value); + int value = _action->execute(); + _effects = _action->effects(value); cerr << "Got returnvalue: " << value << ", number of effects: " << _effects.size() << endl; @@ -64,14 +64,14 @@ void Node::execute(const Literals& effects){ StartNode::StartNode(const Literals& init){ EffectsMap initial; initial[0] = init; - _action = Action("start",Preconditions(),"", initial); + _action = new Action("start",Preconditions(),"", initial); } EndNode::EndNode(const Literals& goal){ Preconditions goalState; for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g) goalState[*g] = true; - _action = Action("finish",goalState,"",EffectsMap()); - _preconditions = _action.preconditions(); + _action = new Action("finish",goalState,"",EffectsMap()); + _preconditions = _action->preconditions(); } diff --git a/node.h b/node.h index 77a9d7b..272bee9 100644 --- a/node.h +++ b/node.h @@ -8,19 +8,19 @@ class Node { public: - Node(const Action& action); + Node(const Action* action); Node(); Node(const Node& node); virtual ~Node(){} void addChild(Node* node); - const Action& action() const; + const Action* action() const; void execute(const Literals& effects); bool executed() const; const Literals& effects() const; void satisfyCondition(std::string effect); protected: - Action _action; + const Action* _action; std::vector _children; Preconditions _preconditions; bool _executed; @@ -30,11 +30,13 @@ class Node { class StartNode :public Node { public: StartNode(const Literals& init); + ~StartNode(){delete _action;} }; class EndNode :public Node { public: EndNode(const Literals& goal); + ~EndNode(){delete _action;} }; #endif diff --git a/planner.cpp b/planner.cpp index 46cf230..d29691f 100644 --- a/planner.cpp +++ b/planner.cpp @@ -13,10 +13,12 @@ Planner::Planner(std::vector actions, Literals init, Literals goal){ addNode(_start); for(vector::iterator action = actions.begin(); action != actions.end(); ++action){ - const Literals& effects = action->effects(0); + Action* act = new Action(*action); + _actions.push_back(act); + const Literals& effects = act->effects(0); for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){ cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl; - _actions[*effect] = *action; + _actionEffects[*effect] = act; } } cerr << "Number of actions: " << _actions.size() << endl; @@ -26,7 +28,7 @@ Planner::Planner(std::vector actions, Literals init, Literals goal){ Planner::~Planner(){ cerr << "Deleting " << _addedNodes.size() << " nodes" << endl; for (vector::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){ - cerr << "Deleting node " << (*node)->action().name() << endl; + cerr << "Deleting node " << (*node)->action()->name() << endl; delete *node; } } @@ -35,8 +37,8 @@ Planner::~Planner(){ void Planner::makePlan(Node* node){ addNode(node); - cerr << "Fetching preconditions for action: " << node->action().name() << ".. "; - const Preconditions& preconds = node->action().preconditions(); + cerr << "Fetching preconditions for action: " << node->action()->name() << ".. "; + const Preconditions& preconds = node->action()->preconditions(); cerr << "done" << endl; @@ -51,8 +53,8 @@ void Planner::makePlan(Node* node){ cerr << "Using already added node" << endl; addedNode->second->addChild(node); }else { - hash_map::iterator action = _actions.find(precond->first); - if (action != _actions.end()){ + hash_map::iterator action = _actionEffects.find(precond->first); + if (action != _actionEffects.end()){ cerr << "Adding new node" << endl; Node* newnode = new Node(action->second); newnode->addChild(node); @@ -65,6 +67,7 @@ void Planner::makePlan(Node* node){ cerr << "Action with effect: " << precond->first << " not found!" << endl; cerr << "This is a soft precondition, so we will continue" << endl; node->satisfyCondition(precond->first); + _start->addChild(node); } } } @@ -72,8 +75,8 @@ void Planner::makePlan(Node* node){ } void Planner::addNode(Node* node){ - cerr << "Adding node for action: " << node->action().name() << endl; - const Literals& effects = node->action().effects(0); + cerr << "Adding node for action: " << node->action()->name() << endl; + const Literals& effects = node->action()->effects(0); cerr << "Number of effects: " << effects.size() << endl; _addedNodes.push_back(node); @@ -87,12 +90,29 @@ void Planner::addNode(Node* node){ void Planner::execute(){ _start->execute(Literals()); cerr << "Number of nodes: " << _addedNodes.size() << endl; + back_insert_iterator ii(_init); + copy(_init.begin(), _init.end(), ostream_iterator(cout, " ")); + cout << endl; + _init.clear(); for (vector::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){ + cerr << "Deleting node " << (*node)->action()->name() << endl; if ((*node)->executed()){ - //remove stuff + const Literals& effects = (*node)->effects(); + copy(effects.begin(),effects.end(),ii); + cerr << "Finding action" << endl; + vector::iterator action = find(_actions.begin(), _actions.end(), (*node)->action()); + if (action != _actions.end()){ + cerr << "Removing executed action: " << (*action)->name() << endl; + _actions.erase(action); + //BUG: Sometimes finds the wrong action. + //delete *action; + } } delete *node; } _addedNodes.clear(); + _actionEffects.clear(); + copy(_init.begin(), _init.end(), ostream_iterator(cout, " ")); cerr << "Number of nodes left: " << _addedNodes.size() << endl; + //TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan. } diff --git a/planner.h b/planner.h index 79db542..f00c614 100644 --- a/planner.h +++ b/planner.h @@ -22,9 +22,10 @@ class Planner { Node* _start; Node* _finish; __gnu_cxx::hash_map _addedEffects; - __gnu_cxx::hash_map _actions; + __gnu_cxx::hash_map _actionEffects; Literals _init; Literals _goal; std::vector _addedNodes; + std::vector _actions; }; #endif -- 2.39.2