5 using namespace __gnu_cxx;
7 Planner::Planner(std::vector<Action> actions, literals init, literals goal){
9 _start = new Node(Action("start",literals(), init));
11 Node* finish = new Node(Action("finish",goal,literals()));
13 for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
14 literals effects = action->effects();
15 for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
16 cerr << "Adding effect: " << *effect << endl;
17 _actions[*effect] = *action;
24 void Planner::makePlan(Node* node){
25 literals preconds = node->action().preconditions();
27 if (preconds.size() == 0){
28 cerr << "Found no preconds" << endl;
29 _start->addChild(node);
31 for (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
32 cerr << "Looking for: " << *precond << endl;
33 hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
34 if(addedNode != _addedNodes.end()){
35 cerr << "Using already added node" << endl;
36 addedNode->second->addChild(node);
38 hash_map<string, Action>::iterator action = _actions.find(*precond);
39 if (action != _actions.end()){
40 cerr << "Adding new node" << endl;
41 Node* newnode = new Node(action->second);
42 newnode->addChild(node);
46 cerr << "Action with effect: " << *precond << " not found!" << endl;
53 void Planner::addNode(Node* node){
54 literals effects = node->action().effects();
56 for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
57 cout << "Adding node for effect: " << *effect << endl;
58 _addedNodes[*effect] = node;
63 void Planner::execute(){