From b177aeec472c3941b39b874a83883ff87a41919c Mon Sep 17 00:00:00 2001
From: Michael Andreen <harv@ruin.nu>
Date: Fri, 6 May 2005 19:27:57 +0000
Subject: [PATCH] compiles again

---
 node.cpp    | 10 ++++++++++
 node.h      |  1 +
 planner.cpp | 32 ++++++++++++++++++++++++++++++++
 planner.h   |  1 +
 4 files changed, 44 insertions(+)

diff --git a/node.cpp b/node.cpp
index 11fed08..4f81069 100644
--- a/node.cpp
+++ b/node.cpp
@@ -3,3 +3,13 @@
 Node::Node(Action action){
 	_action = action;
 }
+
+Action Node::action(){
+	return _action;
+}
+
+
+void Node::addChild(Node* node){
+	_children.push_back(node);
+}
+
diff --git a/node.h b/node.h
index 55e34e6..31568fc 100644
--- a/node.h
+++ b/node.h
@@ -9,6 +9,7 @@ class Node {
 	public:
 		Node(Action action);
 		void addChild(Node* node);
+		Action action();
 
 	protected:
 		Action _action;
diff --git a/planner.cpp b/planner.cpp
index c5016a1..3e8d5de 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,6 +1,8 @@
 #include "planner.h"
 #include "node.h"
+#include <iostream>
 using namespace std;
+using namespace __gnu_cxx;
 
 Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 
@@ -13,8 +15,38 @@ Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 			_actions[*effect] = *action;
 		}
 	}
+	makePlan(finish);
 }
 
 
 void Planner::makePlan(Node* node){
+	literals preconds = node->action().preconditions();
+
+	if (preconds.size() == 0){
+		_start->addChild(node);
+	}else{
+		for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+			hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
+			if(addedNode != _addedNodes.end()){
+				addedNode->second->addChild(node);
+			}else {
+				hash_map<string, Action>::iterator action = _actions.find(*precond);
+				if (action != _actions.end()){
+					Node* newnode = new Node(action->second);
+					newnode->addChild(node);
+					makePlan(newnode);
+				}else{
+					cerr << "Action with effect: " << *precond << " not found!";
+				}
+			}
+		}
+	}
+}
+
+void Planner::addNode(Node* node){
+	literals effects = node->action().effects();
+
+	for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		_addedNodes[*effect] = node;
+	}
 }
diff --git a/planner.h b/planner.h
index 7932eb9..c74d536 100644
--- a/planner.h
+++ b/planner.h
@@ -43,6 +43,7 @@ class Planner {
 	protected:
 
 		void makePlan(Node* node);
+		void addNode(Node* node);
 		
 		Node* _start;
 		__gnu_cxx::hash_map<std::string,Node*> _addedNodes;
-- 
2.39.2