void
brtdp_t::trial( hashEntry_t *node )
{
  double value;
  double b = node->upper()-node->value();
  //std::cout<<b<<std::endl;
  //xxxxx static atomList_t appliedActions;
  std::deque<hashEntry_t*> closed;
  std::deque<hashEntry_t*> Stack;

  //if( gpt::verbosity >= 450 )
    std::cout << "<brtdp>: trial begin:" << std::endl;

  state_t *current = new state_t( *node->state() );
  while( true )
    {
      gpt::visitCount++;
      if( gpt::verbosity >= 450 )
	{
	  std::cout << "<brtdp>:   node ";
	  node->state()->print( std::cout );
	  std::cout << " = " << node->value() << std::endl;
	}

      if( (node->value() >= gpt::dead_end_value)){
	std::cout<<node->value()<<"saindo do trial\n\n";
	break;
      }

      if( problem_->goal().holds( *current ) ){
	std::cout<<"saindo do trial 2 \n\n";
	break;
      }


      Stack.push_front( node );
      //xxxxxx int action = hash_table_->bestAction( *current, *problem_, value, &appliedActions );

      int action = hash_table_->bestAction( *current, *problem_, value );
      if( action == -1 )
	{
	  node->updateWODif( gpt::dead_end_value );
	  node->updateUpper( gpt::dead_end_value );
	  break;
	}

      node->updateWODif( value );
      std::cout<<"L: "<<value<<std::endl;
      value = hash_table_->minUpperQ( *node->state(), *problem_);
      node->updateUpper( value );
      std::cout<<"U: "<<value<<std::endl;

      std::cout<<"AAAA\n"<<b;
      //current->print(std::cout);
      int temp = hash_table_->nextStateB( *current, *problem_, action, b); //Escolhe o proximo estado usando dif das heur
      std::cout<<"BBBBBB\n";
      if(temp==2){
	problem_->actionsT()[action]->affect( *current );
	std::cout<<"BBB\n";
      }
      else if (temp){
	std::cout<<"B<b\n";
	break;
      }

      problem_->complete_state( *current );
      node = hash_table_->get( *current );
      assert( current->make_check() );
      //current->print(std::cout);

      if( gpt::verbosity >= 450 )
	{
	  std::cout << "<brtdp>:   action = ";
	  problem_->actionsT()[action]->print( std::cout );
	  std::cout << std::endl;
	}
    }
  delete current;
  //xxxxxxx appliedActions.clear();

  //if( gpt::verbosity >= 450 )
    std::cout << "<brtdp>: trial end." << std::endl;

  while( !Stack.empty() )
    {
      node = Stack.front();
      Stack.pop_front();

      value = hash_table_->bestQValue( *node->state(), *problem_ );
      node->updateWODif( value );
      std::cout<<"L: "<<value<<std::endl;
      value = hash_table_->minUpperQ( *node->state(), *problem_);
      node->updateUpper( value );
      std::cout<<"U: "<<value<<std::endl<<"unstack\n";

    }
  std::cout<<"fim\n\n";

}