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NonLinearPlanC::NonLinearPlanC(void) NonLinearPlanC::NonLinearPlanC(const MinTermC &,const MinTermC &,const CallFunc2C> &) NonLinearPlanC::IsValid(void) const NonLinearPlanC::Copy(void) const NonLinearPlanC::Init(const MinTermC &,const MinTermC &) NonLinearPlanC::InsStep(const NLPStepC &,const MinTermC &) NonLinearPlanC::InsStep(const NLPStepC &) NonLinearPlanC::InsCausalLink(NLPStepNodeT,NLPStepNodeT,MinTermC &) NonLinearPlanC::InsOrderLink(NLPStepNodeT,NLPStepNodeT) NonLinearPlanC::IsUsefullNewStep(const NLPStepC &,const NLPStepNodeT &) const NonLinearPlanC::IsComplete(void) const NonLinearPlanC::GetLinear(void) const NonLinearPlanC::Dump(void) const NonLinearPlanC::Score(void) const NonLinearPlanC::StartNode(void) const NonLinearPlanC::GoalNode(void) const NonLinearPlanC::PreConds(void) NonLinearPlanC::PostConds(void) NonLinearPlanC::PlanID(void) const NonLinearPlanC::NodeObjH(BGraphTypesC::NodeHandleT) NonLinearPlanC::IsValid(const NLPStepNodeT &) const NonLinearPlanC::DoDBCheck(void) NonLinearPlanC::Steps(void) const NonLinearPlanC::ListSteps(const MinTermC &,const MinTermC &) NonLinearPlanC::ListSteps(void) NonLinearPlanC::GetTopOfAgenda(void) RCHandleC::operator =(const RCHandleC &) RCHandleC::DeepCopy(UIntT) const RCHandleC::operator ==(const RCHandleC &) const RCHandleC::operator !=(const RCHandleC &) const RCHandleC::Hash(void) const RCHandleC::IsValid(void) const RCHandleC::Invalidate(void) RCHandleC::IsHandleType(const DT &) const RCHandleC::CheckHandleType(const DT &) const RCHandleC::References(void) const RCHandleC::operator <<(ostream &,const RCHandleC &) RCHandleC::operator >>(istream &,RCHandleC &)

public RCHandleC<NonLinearPlanBodyC>

NonLinearPlanC()

Default constructor.

NonLinearPlanC(const MinTermC & initalCond,const MinTermC & goalCond,const CallFunc2C<MinTermC,MinTermC,DListC<NLPStepC>> & listSteps)

Create a new plan with the given inital and goal condition.
initalCond - Initial condition. goalCond - Goal condition listSteps - Method for finding new steps for plan.

bool IsValid() const

Is valid handle ?

NonLinearPlanC Copy() const

Copy operator.

bool Init(const MinTermC & Start,const MinTermC & Goal)

Initalise plan.

NLPStepNodeT InsStep(const NLPStepC & Step,const MinTermC & Goal)

Insert a step into the plan

NLPStepNodeT InsStep(const NLPStepC & Step)

Insert a step into the plan.
inline NLPStepNodeT InsStep(DPModelStepC &Step) { VLBindLst Tmp; return InsStep(Step,Tmp); } Insert a step into the plan.

NLPCausalLinkT InsCausalLink(NLPStepNodeT from,NLPStepNodeT to,MinTermC & Cond)

Insert a causal link into the plan. Used to resolve open goals.

NLPOrderLinkT InsOrderLink(NLPStepNodeT from,NLPStepNodeT to)

Insert an order link into the plan. Used to resolve threats.

bool IsUsefullNewStep(const NLPStepC & mt,const NLPStepNodeT & sn) const

Test if is usefull to add postcondition to this plan.
Use to filter out the addition of useless steps.

bool IsComplete() const

Is plan complete.

DListC<NLPStepC> GetLinear() const

Get a linear version of the plan.

void Dump() const

Dump current plan to stdout.

IntT Score(void) const

Give the plan a score for A* search.

const NLPStepNodeT & StartNode() const

Const access to start node.

const NLPStepNodeT & GoalNode() const

Const access to goal node.

BMinTermListIndexC<NLPStepNodeT> & PreConds()

Access PreConditions.

BMinTermListIndexC<NLPStepNodeT> & PostConds()

Access PostConditions.

IntT PlanID() const

Get a unique ID for the plan.

NLPStepNodeT NodeObjH(BGraphTypesC::NodeHandleT H)

Convert a node handle to a ptr.

bool IsValid(const NLPStepNodeT & Oth) const

Check the handle is valid. (For debuging. )

void DoDBCheck()

Debuging checks.

IntT Steps() const

Get the number of steps in the current plan.

DListC<NLPStepC> ListSteps(const MinTermC & goalCond,const MinTermC & fullCond)

Get a list of steps that will meet 'goalCond'.
GoalCond :- Condition that must be meet by Step, FullCond :- 'Wish list' of conditions that also will be needed. Heuristic ordering of steps, place the most likly to be usefull first.

CallFunc2C<MinTermC,MinTermC,DListC<NLPStepC>> & ListSteps()

Access listStep methods.

NLPAgendaItemC GetTopOfAgenda()

Return current agenda item and remove it.

const RCHandleC<NonLinearPlanBodyC> & operator =(const RCHandleC<NonLinearPlanBodyC> & oth)

Assign handle.

RCHandleC<NonLinearPlanBodyC> DeepCopy(UIntT levels = ((UIntT))) const

Do a deep copy of the object.

bool operator ==(const RCHandleC<NonLinearPlanBodyC> & oth) const

Are handles to the same object ?

bool operator !=(const RCHandleC<NonLinearPlanBodyC> & oth) const

Are handles to different objects ?

UIntT Hash() const

Default hash function.
This hashes on the address of the body.

bool IsValid() const

Test if this is a valid handle.

void Invalidate()

Invalidate this handle.
Unattaches the body from the handle.

bool IsHandleType(const DT &) const

Is handle of given type ?

void CheckHandleType(const DT & dummy) const

Check handle type. Throw an expception if not.

UIntT References() const

Find the number of references to the body of this object.

ostream & operator <<(ostream & strm,const RCHandleC<NonLinearPlanBodyC> & obj)

istream & operator >>(istream & strm,RCHandleC<NonLinearPlanBodyC> & obj)