Planner.h

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#pragma once
 
#include "Action.h"
#include "Node.h"
#include "WorldState.h"
 
namespace Divide {
namespace goap {
    class Planner {
    private:
        hashMap<I32, Node> known_nodes_;
 
        vector<Node> open_;   // The A* open list
        vector<Node> closed_; // The A* closed list
 
        bool memberOfClosed(const WorldState& ws) const;
 
        vector<goap::Node>::iterator memberOfOpen(const WorldState& ws);
 
        Node& popAndClose();
 
        void addToOpenList(Node&& node);
 
        int calculateHeuristic(const WorldState& now, const WorldState& goal) const;
 
    public:
        Planner() noexcept = default;
 
        void printOpenList(Divide::string& output) const;
 
        void printClosedList(Divide::string& output) const;
 
        vector<const Action*> plan(const WorldState& start, const WorldState& goal, const vector<const Action*>& actions);
    };
 
} //namespace goap
} //namespace Divide