5 Planner::Planner(std::vector<Action> actions, literals init, literals goal){
7 _start = new Node(Action("",init, literals()));
8 Node* finish = new Node(Action("",literals(),goal));
10 for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
11 literals preconds = action->preconditions();
12 for (literals::iterator effect = preconds.begin(); effect != preconds.end(); ++effect){
13 _actions[*effect] = *action;
19 void Planner::makePlan(Node* node){