ActionStep

//one node in an action search tree.
class ActionStep{
public:
   typedef std::vector<ActionStep *> children_t;

private:

   Action action_;

   timer_t totalTime_; //including this step, and all previous steps

   //updated state
   std::map<Person *, Person> changedPersons_;
   std::map<Object *, Object> changedObjects_;

   //children
   children_t children_;


public:

   ActionStep(const Action &action, timer_t totalTime = 0);

   //recursively add actions, until the goal requirements are met
   void addActions(const Goal &goal);
};