#include "planner.h"
#include "node.h"
#include <iostream>
+#include <vector>
using namespace std;
using namespace __gnu_cxx;
Planner::Planner(std::vector<Action> actions, literals init, literals goal){
-
- _start = new Node(Action("start",literals(), init));
- Node* finish = new Node(Action("finish",goal,literals()));
+ _init = init;
+ _goal = goal;
+ _start = new StartNode(_init);
+ Node* finish = new EndNode(_goal);
for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
- const literals& effects = action->effects();
+ Action* act = new Action(*action);
+ const literals& effects = act->effects(0);
for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
cerr << "Adding effect: " << *effect << endl;
- _actions[*effect] = *action;
+ _actions[*effect] = act;
}
}
makePlan(finish);
Planner::~Planner(){
for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
- cerr << "Deleting node " << node->second->action().executable() << endl;
+ cerr << "Deleting node " << node->second->action().name() << endl;
delete node->second;
}
}
void Planner::makePlan(Node* node){
- cerr << "Fetching preconditions for action: " << node->action().executable() << ".. ";
+ addNode(node);
+
+ cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
const literals& preconds = node->action().preconditions();
cerr << "done" << endl;
- addNode(node);
if (preconds.size() == 0){
cerr << "Found no preconds" << endl;
cerr << "Using already added node" << endl;
addedNode->second->addChild(node);
}else {
- hash_map<string, Action>::iterator action = _actions.find(*precond);
+ hash_map<string, Action*>::iterator action = _actions.find(*precond);
if (action != _actions.end()){
cerr << "Adding new node" << endl;
- Node* newnode = new Node(action->second);
+ Node* newnode = new Node(*action->second);
newnode->addChild(node);
makePlan(newnode);
}else{
}
void Planner::addNode(Node* node){
- const literals& effects = node->action().effects();
+ const literals& effects = node->action().effects(0);
for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
cout << "Adding node for effect: " << *effect << endl;
void Planner::execute(){
_start->execute(literals());
+ for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
}