PUBLIC

NLPlannerBodyC::NLPlannerBodyC(void) NLPlannerBodyC::NLPlannerBodyC(const DListC &) NLPlannerBodyC::Apply(const StateC &,const MinTermC &) NLPlannerBodyC::NewPlan(const StateC &,const MinTermC &) NLPlannerBodyC::CompletePlan(void) NLPlannerBodyC::IsComplete(void) const NLPlannerBodyC::GetLinearPlan(DListC &) NLPlannerBodyC::GetBestLinearPlan(void) const NLPlannerBodyC::GetBestSize(void) const NLPlannerBodyC::NLPlan(void) NLPlannerBodyC::NLPlan(void) const NLPlannerBodyC::ListSteps(MinTermC &,MinTermC &) NLPlannerBodyC::Distance(const MinTermC &,const MinTermC &) NLPlannerBodyC::SetMaxSearch(int) NLPlannerBodyC::PreCondID(const LiteralC &) NLPlannerBodyC::PostCondID(const LiteralC &) NLPlannerBodyC::GetPlanNo(void) NLPlannerBodyC::DoDBCheck(NonLinearPlanBodyC &) NLPlannerBodyC::DoDBCheck(NonLinearPlanC) RCBodyC::References(void) const RCBodyC::Copy(void) const RCBodyC::DeepCopy(UIntT) const RCBodyC::IncRefCounter(void) RCBodyC::DecRefCounter(void)

public RCBodyC

enum MaxIntT { MaxBest = 0 x7fffffff } ;

DListC steps;

List of available steps.

IntT planCount;

PriQueueLC plans;

Priority queue of plan/action pairs.

LiteralIndexC conds;

Index by preconditions. Used to establish threats.

UIntC allocCondID;

Starts from 1. Allocation counter for condition ID's.

CallFunc2C> listSteps;

List steps that might could be meet a goal condition.

int maxSearch;

How long to spend searching, Default:-1=Infinit.

int limSearch;

Max size of search, after a plan has been found.

int curSearch;

Number of plans considered so far.

int bestSize;

Size of best plan found so far.

NonLinearPlanC bestPlan;

NLPlannerBodyC()

Default constructor.

NLPlannerBodyC(const DListC<NLPStepC> & steps)

Constructor.

DListC<NLPStepC> Apply(const StateC & state,const MinTermC & goals)

Construct plan.

bool NewPlan(const StateC & start,const MinTermC & goal)

Create a new plan.

bool CompletePlan()

Try and complete plan, Ret: False=Failed.

bool IsComplete() const

Is plan complete.

bool GetLinearPlan(DListC<NLPStepC> & LPlan)

Create a linear plan.

DListC<NLPStepC> GetBestLinearPlan(void) const

Get best linear plan found so far.

int GetBestSize(void) const

Get size of best plan found so far.

NonLinearPlanC & NLPlan()

Get current plan.

const NonLinearPlanC & NLPlan() const

Get current plan.

DListC<NLPStepC> ListSteps(MinTermC & postCond,MinTermC & fullCond)

List steps with the given postcondition.

static int Distance(const MinTermC & MT1,const MinTermC & MT2)

Find distance between two terms.

void SetMaxSearch(int limit)

Limit size of search.

StepListIDC PreCondID(const LiteralC & symb)

Get ID for step precondition.

StepListIDC PostCondID(const LiteralC & symb)

Get ID for step postcondition.

IntT GetPlanNo()

Get an id for the current plan.

void DoDBCheck(NonLinearPlanBodyC & aPlan)

Debuging checks.

void DoDBCheck(NonLinearPlanC aPlan)

Debuging checks.

UIntT References() const

Access count of handles open to this object.

RCBodyC & Copy() const

Make copy of body.
This should be provided in derived classes. this funtion will issue an assertion failure if called.

RCBodyC & DeepCopy(UIntT levels = ((UIntT))) const

Make a deep copy of body.
This should be provided in derived classes. this funtion will issue an assertion failure if called.

void IncRefCounter()

Increment reference counter.

bool DecRefCounter()

Decrement reference counter.