PUBLIC

NonLinearPlanBodyC::NonLinearPlanBodyC(const MinTermC &,const MinTermC &,const CallFunc2C> &) NonLinearPlanBodyC::~NonLinearPlanBodyC(void) NonLinearPlanBodyC::Init(const MinTermC &,const MinTermC &) NonLinearPlanBodyC::InsStep(const NLPStepC &,const MinTermC &) NonLinearPlanBodyC::InsStep(const NLPStepC &) NonLinearPlanBodyC::InsCausalLink(NLPStepNodeT,NLPStepNodeT,MinTermC &) NonLinearPlanBodyC::InsOrderLink(NLPStepNodeT,NLPStepNodeT) NonLinearPlanBodyC::IsComplete(void) const NonLinearPlanBodyC::GetLinear(void) const NonLinearPlanBodyC::Dump(void) const NonLinearPlanBodyC::Score(void) const NonLinearPlanBodyC::StartNode(void) const NonLinearPlanBodyC::GoalNode(void) const NonLinearPlanBodyC::PreConds(void) NonLinearPlanBodyC::PreConds(void) const NonLinearPlanBodyC::PostConds(void) NonLinearPlanBodyC::PostConds(void) const NonLinearPlanBodyC::PlanID(void) const NonLinearPlanBodyC::NodeObjH(BGraphTypesC::NodeHandleT) NonLinearPlanBodyC::IsValid(const NLPStepNodeT &) const NonLinearPlanBodyC::IsValid(void) const NonLinearPlanBodyC::IsUsefullNewStep(const NLPStepC &,const NLPStepNodeT &) const NonLinearPlanBodyC::ListSteps(const MinTermC &,const MinTermC &) NonLinearPlanBodyC::DoDBCheck(void) NonLinearPlanBodyC::PostOpenCond(NLPStepNodeT &,const MinTermC &) NonLinearPlanBodyC::PostThreat(NLPStepNodeT &,NLPCausalLinkT) NonLinearPlanBodyC::TopOfAgenda(void) NonLinearPlanBodyC::GetTopOfAgenda(void) NonLinearPlanBodyC::GetSteps(void) const NonLinearPlanBodyC::Steps(void) const NonLinearPlanBodyC::ListSteps(void) RCBodyVC::Save(ostream &) const RCBodyVC::Save(BinOStreamC &) const RCBodyVC::Copy(void) const RCBodyVC::DeepCopy(UIntT) const RCBodyC::References(void) const RCBodyC::Copy(void) const RCBodyC::DeepCopy(UIntT) const RCBodyC::IncRefCounter(void) RCBodyC::DecRefCounter(void)

public RCBodyVC

IntT planID;

Only really used to help in debuging.

BDAGraphC plan;

Graph of states.
Links -> CausalLinkInfT. Nodes -> Steps in plan.

BindSetC bnds;

List of Negated binds.

BMinTermListIndexC> preConds;

Used to establish threats.

BMinTermListIndexC> postConds;

Used to help establish causal links.

NLPAgendaC agenda;

Agenda of open conditions.

int steps;

Count of steps in the plan.

NLPStepNodeT startNode;

Inital node in plan.

NLPStepNodeT goalNode;

Final node in plan.

CallFunc2C> listSteps;

List steps that could satisfy meet a goal condition.

NonLinearPlanBodyC(const MinTermC & initCond,const MinTermC & goalCond,const CallFunc2C<MinTermC,MinTermC,DListC<NLPStepC>> & step)

Constructor,

~NonLinearPlanBodyC()

Destructor.

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.

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 IsComplete(void) const

Is plan complete.

DListC<NLPStepC> GetLinear(void) const

Get a linear version of the plan.

void Dump(void) 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.

const BMinTermListIndexC<NLPStepNodeT> & PreConds() const

Access PreConditions.

BMinTermListIndexC<NLPStepNodeT> & PostConds()

Access PostConditions.

const BMinTermListIndexC<NLPStepNodeT> & PostConds() const

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. )

bool IsValid() const

Check plan is valid.

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.

sn is the step which has the open goal that caused mt to be considered

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

List steps with the given postcondition.
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.

void DoDBCheck()

Debuging checks.

bool PostOpenCond(NLPStepNodeT & AStep,const MinTermC & OpenCond)

Insert an open condition into the agenda.

bool PostThreat(NLPStepNodeT & AStep,NLPCausalLinkT ALink)

Insert an threat into the agenda.

NLPAgendaItemC TopOfAgenda()

Look at current agenda item.

NLPAgendaItemC GetTopOfAgenda()

Return current agenda item and remove it.

IntT GetSteps() const

Get the number of steps in the current plan.

IntT Steps() const

Get the number of steps in the current plan.

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

Access listStep methods.

bool Save(ostream & out) const

Save to stream 'out'.

bool Save(BinOStreamC & out) const

Save to binary stream 'out'.

RCBodyVC & 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.

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.