requested to obtain an action, it just requests the action from the actions container with the same ID as the A* node ID.
The A* planner map also maintains an action effects table. This idea is described by Orkin (Orkin, 2004) where he recommends the hashing of actions according to their effects to allow the planner to quickly find neighbouring actions. An array of vectors was setup where each entry in the array corresponds to one of the world state symbols (e.g. the first array entry is for the weaponLoaded symbol, the second targetIsDead symbol etc.). Each world state symbol of an action’s effect world state that is set is examined and the action is added to appropriate vector for that world state symbol in the action-effect table. See figure 8 below for an illustration of the action-effect table being created.