55 files changed, 24795 insertions, 0 deletions

diff --git a/SA_POP/Builder.h b/SA_POP/Builder.h
new file mode 100644
index 00000000000..9097115887d
--- /dev/null
+++ b/SA_POP/Builder.h
@@ -0,0 +1,160 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  Builder.h
+ *
+ * This file contains the Builder abstract base class definition for
+ * SA-POP builders, which handle creation and configuration of Planner objects
+ * and the associated objects they use/mediate-between.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_BUILDER_H_
+#define SA_POP_BUILDER_H_
+
+#include "SA_POP_Types.h"
+#include "Planner.h"
+
+namespace SA_POP {
+
+  /**
+   * @class Builder
+   *
+   * @brief Abstract base class of SA-POP builders, which handle creation and
+   *        configuration of Planner and associated objects.
+   */
+  class Builder {
+  public:
+    /// Constructor.
+    Builder (void) {};
+
+    /// Destructor.
+    virtual ~Builder (void) {};
+
+    /// Reset for building a new set of SA-POP objects.
+    virtual void reset (void) = 0;
+
+    /// Get Planner object.
+    /**
+     * @return  Pointer to the configured planner object.
+     */
+    virtual Planner *get_planner (void) = 0;
+
+
+    // ************************************************************************
+    // Problem construction methods (tasks, conditions, & links between them).
+    // ************************************************************************
+
+    /// Add a task.
+    /**
+     * @param id  The unique task id.
+     *
+     * @param prior_prob  The prior probability of this task succeeding.
+     *
+     * @param name  The task name.
+     *
+     * @exception Duplicate_Task  The given task id already exists.
+     */
+    virtual void add_task (TaskID id, double prior_prob,
+      std::string name = "") = 0;
+
+    /// Add a condition.
+    /**
+     * @param id  The unique condition id.
+     *
+     * @param name  The condition name.
+     *
+     * @param utility  The (goal) utility of the condition.
+     *
+     * @param init_prob_true  The initial probability that the condition
+     *                        is true.
+     *
+     * @param cond_kind  The type of condition
+     *
+     * @exception Duplicate_Cond  The given condition id already exists.
+     */
+    virtual void add_cond (CondID id, Utility utility = 0,
+      double init_prob_true = 0, std::string name = "", CondKind cond_kind = SA_POP::DATA) = 0;
+
+    /// Add a link between a precondition and task.
+    /**
+     * @param cond_id  The precondition id.
+     *
+     * @param task_id  The task id.
+     *
+     * @param port  The receiving port id (on the task for this precondition).
+     *
+     * @param true_prob  Conditional probability of task success given
+     *                   condition = true.
+     *
+     * @param false_prob  Conditional probability of task success given
+     *                    condition = false.
+     *
+     * @exception Unknown_Cond  Unknown condition id.
+     */
+    virtual void set_precond (CondID cond_id, TaskID task_id,
+      PortID port, double true_prob, double false_prob) = 0;
+
+    /// Add a link between a task and an effect.
+    /**
+     * @param cond_id  The effect condition id.
+     *
+     * @param task_id  The task id.
+     *
+     * @param port  The sending port id (on the task for this effect).
+     *
+     * @param weight  Positive probability that task sets condition to true, or
+     *                negative of probability that task sets condition to false.
+     */
+    virtual void set_effect (TaskID task_id, CondID cond_id,
+      PortID port, double weight) = 0;
+
+
+
+    // ************************************************************************
+    // TaskMap construction methods (resources, task->implementations,
+    // and implementation->resources).
+    // ************************************************************************
+
+    /// Add a resource.
+    /**
+     * @param resource  The resource info.
+     */
+    virtual void add_resource (Resource resource) = 0;
+
+    /// Add an implementation.
+    /**
+     * @param task_impl  The task implementation info.
+     */
+    virtual void add_task_impl (TaskImpl *task_impl) = 0;
+
+    /// Associate a task with a task implementation.
+    /**
+     * @param task_id  ID of the task.
+     *
+     * @param task_impl_id  ID of the task implementation.
+     *
+     * @param duration  The duration of the task implementation for this task.
+     */
+    virtual void assoc_task_with_impl (TaskID task_id, TaskImplID task_impl_id,
+      TimeValue duration) = 0;
+
+    /// Associate a task implementation with its utilization of a resource.
+    /**
+     * @param impl_id  ID of the task implementation.
+     *
+     * @param resource_id  ID of the associated resource.
+     *
+     * @param resource_usage  The quantity of resource used.
+     */
+    virtual void assoc_impl_with_resource (TaskImplID impl_id,
+      ResourceID resource_id, ResourceValue resource_usage) = 0;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_BUILDER_H_ */
diff --git a/SA_POP/Converter.cpp b/SA_POP/Converter.cpp
new file mode 100644
index 00000000000..02353142f86
--- /dev/null
+++ b/SA_POP/Converter.cpp
@@ -0,0 +1,134 @@
+#include "Converter.h"
+namespace CIAO
+{
+
+  namespace RACE
+  {
+
+    Converter::Converter (int argc, char **argv)
+      : iia_name_ ("RACE::InteractiveInput"),
+        history_ (false)
+    {
+      try
+        {
+          this->orb_ = CORBA::ORB_init (argc, argv, "");
+          // Resolve naming service
+          CORBA::Object_var ns_tmp =
+            this->orb_->resolve_initial_references ("NameService");
+          ::CosNaming::NamingContext_var ns =
+              ::CosNaming::NamingContext::_narrow (ns_tmp.in ());
+          ::CosNaming::Name ns_name;
+          CORBA::ULong i = 0;
+          ACE_Tokenizer tok (this->iia_name_.rep ());
+          tok.delimiter_replace (':', 0);
+          tok.delimiter_replace ('/', 0);
+          char *name_element = 0;
+          while ((name_element = tok.next ()) != 0)
+            {
+              ns_name.length (ns_name.length () + 1);
+              ns_name[i].id = CORBA::string_dup (name_element);
+              ++i;
+            }
+
+          /// now try to resolve the reference to the IIA.
+          CORBA::Object_var iia_tmp = ns->resolve (ns_name);
+          this->iia_ =
+            ::CIAO::RACE::Interactive_Input_Adapter::_narrow (iia_tmp.in ());
+
+          this->plan_gen_.init (this->orb_);
+
+        }
+      catch (CORBA::Exception &ex)
+        {
+          ACE_PRINT_EXCEPTION (ex, "Error in initializing the Injector!\n");
+        }
+
+    }
+
+    Converter::~Converter ()
+    {}
+
+
+    int
+    Converter::convert (OperationalString &op_string,
+                        ::Deployment::DeploymentPlan &plan)
+    {
+      plan.label = op_string.name;
+
+      plan.UUID = op_string.UUID;
+
+      plan.connection = op_string.dataLinks;
+
+      plan.infoProperty = op_string.properties;
+
+      int position;
+
+      for (CORBA::ULong itr = 0; itr < op_string.instances.length (); ++itr)
+        {
+          ::CIAO::RACE::InstanceDescription op_instance =
+            op_string.instances [itr];
+          if (this->plan_gen_.generate_plan
+              (plan,
+               op_instance.suggestedImpl.in (),
+               position))
+            {
+              ::Deployment::InstanceDeploymentDescription instance;
+              instance.name = op_instance.name;
+              instance.node = CORBA::string_dup ("Satellite");
+              instance.implementationRef = position;
+              instance.configProperty = op_instance.configProperty;
+              CORBA::ULong cur_len = plan.instance.length ();
+              plan.instance.length (cur_len+1);
+              plan.instance [cur_len] = instance;
+
+            }
+          else
+            {
+              ACE_ERROR ((LM_ERROR, "Given suggested type is not available "
+                          "in the Repoman!!\n Bailing out....\n"));
+              return -1;
+            }
+        }
+
+      return 0;
+    }
+
+    int
+    Converter::deploy_plan (::Deployment::DeploymentPlan &plan)
+    {
+      CIAO::RACE::Metadata_var metadata = new OBV_CIAO::RACE::Metadata;
+
+      try
+        {
+
+          if (this->history_)
+            {
+              metadata->command (::CIAO::RACE::TEARDOWN);
+              metadata->plan (this->previous_);
+              this->iia_->get_consumer_meta_data ()->push_Metadata (metadata.in ());
+            }
+
+          metadata->command (::CIAO::RACE::DEPLOY);
+          metadata->plan (plan);
+          this->iia_->get_consumer_meta_data ()->push_Metadata (metadata.in ());
+          this->history_ = true;
+          this->previous_ = plan;
+        }
+      catch (CORBA::Exception &ex)
+        {
+          ACE_PRINT_EXCEPTION (ex, "Exception caught\n");
+          return -1;
+        }
+
+      catch (...)
+        {
+          ACE_ERROR ((LM_ERROR, "(%P|%t) Injector: Unknown exception\n"));
+          return -1;
+        }
+
+      return 0;
+    }
+
+  }
+}
+
diff --git a/SA_POP/Converter.h b/SA_POP/Converter.h
new file mode 100644
index 00000000000..bb150884cd1
--- /dev/null
+++ b/SA_POP/Converter.h
@@ -0,0 +1,39 @@
+#include "Interactive_Input_AdapterC.h"
+#include "ace/OS.h"
+#include "ace/SString.h"
+#include "orbsvcs/CosNamingC.h"
+#include "RACE/common/OpStringC.h"
+#include "Plan_Generator_impl.h"
+namespace CIAO
+{
+  namespace RACE
+  {
+
+    class Converter
+    {
+    public:
+      Converter (int argc, char **argv);
+
+      virtual ~Converter ();
+
+      virtual int convert (OperationalString &op_string,
+                           ::Deployment::DeploymentPlan &plan);
+
+      virtual int deploy_plan (::Deployment::DeploymentPlan &plan);
+
+    private:
+      ::CIAO::Plan_Generator::Plan_Generator_i plan_gen_;
+
+      ACE_CString iia_name_;
+
+      CORBA::ORB_var orb_;
+
+      CIAO::RACE::Interactive_Input_Adapter_var iia_;
+
+      bool history_;
+
+      ::Deployment::DeploymentPlan previous_;
+    };
+
+  }
+}
diff --git a/SA_POP/Driver.cpp b/SA_POP/Driver.cpp
new file mode 100644
index 00000000000..78b13905706
--- /dev/null
+++ b/SA_POP/Driver.cpp
@@ -0,0 +1,404 @@
+#include "Converter.h"
+#include "ace/Get_Opt.h"
+#include "ace/UUID.h"
+
+#include <iostream>
+#include <string>
+#include <map>
+#include <set>
+#include "SA_POP_Types.h"
+#include "SA_Builder.h"
+#include "TaskMapFileIn.h"
+#include "SANet/SANetFileIn.h"
+#include "LogScreenOut.h"
+
+int main (int argc, char **argv)
+{
+
+  try {
+    ::CIAO::RACE::Converter converter (argc, argv);
+  }
+
+
+  CIAO::RACE::OperationalString opstring;
+  std::string sanet_str;
+  std::string taskmap_str;
+
+  ACE_Get_Opt get_opts (argc, argv, "s:t:");
+  int c = 0;
+  while ((c = get_opts ()) != -1)
+  {
+    switch (c) {
+      case 's':
+        sanet_str = get_opts.opt_arg ();
+        break;
+
+      case 't':
+        taskmap_str = get_opts.opt_arg ();
+        break;
+      default:
+        break;
+    }
+  }
+
+  SA_POP_DEBUG (SA_POP_DEBUG_NORMAL, "\nSA-POP START\n");
+
+  SA_POP::SA_Builder builder;
+  SANet::SANetFileIn sanet_in;
+  SA_POP::TaskMapFileIn tm_in;
+
+  sanet_in.build_net (sanet_str, &builder);
+  tm_in.build_task_map (taskmap_str, &builder);
+
+  SA_POP::Planner *planner = builder.get_planner ();
+
+  // Log output plan to screen.
+  SA_POP::LogScreenOut screen_out (std::cout);
+  planner->add_out_adapter (&screen_out);
+
+  // Run planner (with a maximum of 50 steps of spreading activation).
+  planner->plan (50);
+
+  SA_POP::Plan plan = planner->get_plan ();
+  
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // (Get ID from Goal or Plan)
+  // Create and set the opstring ID.
+  ACE_Utils::UUID uuid;
+  ACE_Utils::UUID_GENERATOR::instance ()->generateUUID (uuid);
+  opstring.UUID = CORBA::string_dup (uuid.to_string()->c_str ());
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+  // Set opstring name.
+  opstring.name = CORBA::string_dup (plan.name.c_str ());
+
+  // Set opstring time windows.
+  opstring.startWindow.Earliest.sec = plan.start_window.first;
+  opstring.startWindow.Earliest.usec = 0;
+  opstring.startWindow.Latest.sec = plan.start_window.second;
+  opstring.startWindow.Latest.usec = 0;
+  opstring.endWindow.Earliest.sec = plan.end_window.first;
+  opstring.endWindow.Earliest.usec = 0;
+  opstring.endWindow.Latest.sec = plan.end_window.second;
+  opstring.endWindow.Latest.usec = 0;
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // (Get from expected utility)
+//        long priority;
+  // (Get from goal)
+//        QoSSpecifications QoSRequirements;
+  // (???)
+//        ::Deployment::Properties properties;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+
+  // Map from instance IDs to instance index.
+  typedef std::map <SA_POP::TaskInstID, CORBA::ULong> InstToIndexMap;
+  InstToIndexMap inst_to_index;
+  inst_to_index.clear ();
+
+  // Buffer for strings.
+  char buffer[64];
+
+  // Add instances to opstring.
+  for (SA_POP::PlanInstSet::iterator inst_iter = plan.task_insts.begin ();
+    inst_iter != plan.task_insts.end (); inst_iter++)
+  {
+    SA_POP::PlanTaskInst inst = *inst_iter;
+
+    // Instance description to populate.
+    CIAO::RACE::InstanceDescription inst_desc;
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    // (Get instance ID from instance in plan)
+    // Create and set task instance ID.
+    ACE_Utils::UUID inst_uuid;
+    ACE_Utils::UUID_GENERATOR::instance ()->generateUUID (inst_uuid);
+    inst_desc.UUID = CORBA::string_dup (inst_uuid.to_string()->c_str());
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    // (Get from repoman)
+//        ::Deployment::Properties configProperty;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+    // Set instance name, task ID, supported type ID, and suggested implementation ID.
+    inst_desc.name = CORBA::string_dup (inst.name.c_str());
+    inst_desc.taskId = CORBA::string_dup (itoa (inst.task_id, buffer, 64));
+    inst_desc.taskTypeId = CORBA::string_dup (inst.type_id.c_str ());
+    inst_desc.suggestedImpl = CORBA::string_dup (inst.suggested_impl.c_str ());
+
+    // Set instance time windows.
+    inst_desc.startWindow.Earliest.sec = inst.start_window.first;
+    inst_desc.startWindow.Earliest.usec = 0;
+    inst_desc.startWindow.Latest.sec = inst.start_window.second;
+    inst_desc.startWindow.Latest.usec = 0;
+    inst_desc.endWindow.Earliest.sec = inst.end_window.first;
+    inst_desc.endWindow.Earliest.usec = 0;
+    inst_desc.endWindow.Latest.sec = inst.end_window.second;
+    inst_desc.endWindow.Latest.usec = 0;
+
+    // Add instance to opstring and record index.
+    CORBA::ULong inst_len = opstring.instances.length ();
+    opstring.instances.length (inst_len + 1);
+    opstring.instances[inst_len] = inst_desc;
+    inst_to_index.insert (std::make_pair (inst.inst_id, inst_len));
+  }
+
+  // Add plan data links.
+  CORBA::ULong conns_index = 0;
+  for (SA_POP::PlanConnSet::iterator conn_iter = plan.connections.begin ();
+        conn_iter != plan.connections.end (); conn_iter++)
+  {
+    SA_POP::PlanConnection conn = *conn_iter;
+
+    // Connection description to populate.
+    Deployment::PlanConnectionDescription conn_desc;
+
+    // Get plan instance and port IDS for connection.
+    SA_POP::TaskInstID taskA = conn.first_task_inst;
+    SA_POP::TaskInstID taskB = conn.second_task_inst;
+    SA_POP::PortID taskAport = conn.first_port;
+    SA_POP::PortID taskBport = conn.second_port;
+
+    // Get deployment plan instances (port IDs are the same).
+    InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
+    CORBA::ULong taskAinst = taskA_iter->second;
+    InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
+    CORBA::ULong taskBinst = taskB_iter->second;
+
+    // Create connection name.
+    std::string conn_name = "";
+    conn_name += itoa (taskAinst, buffer, 64);
+    conn_name += "_";
+    conn_name += taskAport;
+    conn_name += "___";
+    conn_name += itoa (taskBinst, buffer, 64);
+    conn_name += "_";
+    conn_name += taskBport;
+
+    // Create connection endpoints.
+    conn_desc.internalEndpoint.length (2);
+    conn_desc.internalEndpoint[0].instanceRef = taskAinst;
+    conn_desc.internalEndpoint[0].portName = CORBA::string_dup (taskAport.c_str ());
+    conn_desc.internalEndpoint[0].provider = 1;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    // (Get kind from data link in plan)
+    conn_desc.internalEndpoint[0].kind = Deployment::EventPublisher;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    conn_desc.internalEndpoint[1].instanceRef = taskBinst;
+    conn_desc.internalEndpoint[1].portName = CORBA::string_dup (taskBport.c_str ());
+    conn_desc.internalEndpoint[1].provider = 0;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    // (Get kind from data link in plan)
+    conn_desc.internalEndpoint[1].kind = Deployment::EventConsumer;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+    // Set connection name.
+    conn_desc.name = CORBA::string_dup (conn_name.c_str ());
+
+    // Add data link to opstring.
+    opstring.dataLinks.length (conns_index + 1);
+    opstring.dataLinks[conns_index] = conn_desc;
+
+    // Increment connection index.
+    conns_index++;
+  }
+
+  // Add scheduling links.
+  CORBA::ULong links_index = 0;
+  for (SA_POP::SchedLinkSet::iterator sched_iter = plan.sched_links.begin ();
+        sched_iter != plan.sched_links.end (); sched_iter++)
+  {
+    SA_POP::SchedLink link = *sched_iter;
+
+    // Link to populate.
+    CIAO::RACE::OrderLinkDescription link_desc;
+
+    // Set link type.
+    link_desc.type = CIAO::RACE::SCHEDULING;
+
+    // Get plan instance and port IDS for link.
+    SA_POP::TaskInstID taskA = link.first;
+    SA_POP::TaskInstID taskB = link.second;
+
+    // Get deployment plan instances (port IDs are the same).
+    InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
+    CORBA::ULong taskAinst = taskA_iter->second;
+    InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
+    CORBA::ULong taskBinst = taskB_iter->second;
+
+    // Create link name.
+    std::string link_name = "";
+    link_name += itoa (taskAinst, buffer, 64);
+    link_name += "___";
+    link_name += itoa (taskBinst, buffer, 64);
+
+    // Create link endpoints.
+    link_desc.internalEndpoint.length (2);
+    link_desc.internalEndpoint[0].instanceRef = taskAinst;
+    link_desc.internalEndpoint[0].provider = 1;
+    link_desc.internalEndpoint[1].instanceRef = taskBinst;
+    link_desc.internalEndpoint[1].provider = 0;
+
+    // Set link name.
+    link_desc.name = CORBA::string_dup (link_name.c_str ());
+
+    // Add data link to opstring.
+    opstring.orderLinks.length (links_index + 1);
+    opstring.orderLinks[links_index] = link_desc;
+
+    // Increment link index.
+    links_index++;
+  }
+
+  // Add threat links.
+  links_index = opstring.orderLinks.length ();
+  for (SA_POP::ThreatLinkSet::iterator threat_iter = plan.threat_links.begin ();
+        threat_iter != plan.threat_links.end (); threat_iter++)
+  {
+    SA_POP::ThreatLink link = *threat_iter;
+
+    // Link to populate.
+    CIAO::RACE::OrderLinkDescription link_desc;
+
+    // Set link type.
+    link_desc.type = CIAO::RACE::THREAT;
+
+    // Get plan instance and port IDS for link.
+    SA_POP::TaskInstID taskA = link.first;
+    SA_POP::TaskInstID taskB = link.second;
+
+    // Get deployment plan instances (port IDs are the same).
+    InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
+    CORBA::ULong taskAinst = taskA_iter->second;
+    InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
+    CORBA::ULong taskBinst = taskB_iter->second;
+
+    // Create link name.
+    std::string link_name = "";
+    link_name += itoa (taskAinst, buffer, 64);
+    link_name += "___";
+    link_name += itoa (taskBinst, buffer, 64);
+
+    // Create link endpoints.
+    link_desc.internalEndpoint.length (2);
+    link_desc.internalEndpoint[0].instanceRef = taskAinst;
+    link_desc.internalEndpoint[0].provider = 1;
+    link_desc.internalEndpoint[1].instanceRef = taskBinst;
+    link_desc.internalEndpoint[1].provider = 0;
+
+    // Set link name.
+    link_desc.name = CORBA::string_dup (link_name.c_str ());
+
+    // Add data link to opstring.
+    opstring.orderLinks.length (links_index + 1);
+    opstring.orderLinks[links_index] = link_desc;
+
+    // Increment link index.
+    links_index++;
+  }
+
+  // Add causal links.
+  links_index = opstring.orderLinks.length ();
+  for (SA_POP::CLSet::iterator cl_iter = plan.causal_links.begin ();
+        cl_iter != plan.causal_links.end (); cl_iter++)
+  {
+    SA_POP::CausalLink link = *cl_iter;
+
+    // Link to populate.
+    CIAO::RACE::OrderLinkDescription link_desc;
+
+    // Set link type.
+    link_desc.type = CIAO::RACE::CAUSAL;
+
+    // Get plan instance and port IDS for link.
+    SA_POP::TaskInstID taskA = link.first;
+    SA_POP::TaskInstID taskB = link.second;
+
+    // Get deployment plan instances (port IDs are the same).
+    InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
+    CORBA::ULong taskAinst = taskA_iter->second;
+    InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
+    CORBA::ULong taskBinst = taskB_iter->second;
+
+    // Create link name.
+    std::string link_name = "";
+    link_name += itoa (taskAinst, buffer, 64);
+    link_name += "___";
+    link_name += itoa (taskBinst, buffer, 64);
+
+    // Create link endpoints.
+    link_desc.internalEndpoint.length (2);
+    link_desc.internalEndpoint[0].instanceRef = taskAinst;
+    link_desc.internalEndpoint[0].provider = 1;
+    link_desc.internalEndpoint[1].instanceRef = taskBinst;
+    link_desc.internalEndpoint[1].provider = 0;
+
+    // Set link name.
+    link_desc.name = CORBA::string_dup (link_name.c_str ());
+
+    // Add data link to opstring.
+    opstring.orderLinks.length (links_index + 1);
+    opstring.orderLinks[links_index] = link_desc;
+
+    // Increment link index.
+    links_index++;
+  }
+
+/*
+  // Print out opstring instances.
+  std::cout << "Opstring Instances:" << std::endl;
+  if (opstring.instances.length () > 0) {
+    for (CORBA::ULong i (0); i < opstring.instances.length (); ++i) {
+      CORBA::String_var impl  = CORBA::string_dup (opstring.instances[i].suggestedImpl);
+      std::cout << "Inst: " << i << " -> Impl: " << impl << std::endl;
+    }
+  }
+  std::cout << std::endl;
+
+  // Print out opstring connections.
+  Deployment::PlanConnectionDescriptions check_conns = opstring.dataLinks;
+  std::cout << "Opstring Connections:" << std::endl;
+  for (CORBA::ULong i (0); i < check_conns.length (); ++i) {
+    std::cout << "name " << check_conns[i].name << std::endl;
+    std::cout << "InstA " << check_conns[i].internalEndpoint[0].instanceRef << "; ";
+    std::cout << "PortA " << check_conns[i].internalEndpoint[0].portName << "; ";
+    std::cout << "ProviderA " << check_conns[i].internalEndpoint[0].provider << "; ";
+    std::cout << "KindA " << check_conns[i].internalEndpoint[0].kind << "; ";
+    std::cout << std::endl << " -> " << std::endl;
+    std::cout << "InstB " << check_conns[i].internalEndpoint[1].instanceRef << "; ";
+    std::cout << "PortB " << check_conns[i].internalEndpoint[1].portName << "; ";
+    std::cout << "ProviderB " << check_conns[i].internalEndpoint[1].provider << "; ";
+    std::cout << "KindB " << check_conns[i].internalEndpoint[1].kind << "; ";
+    std::cout << std::endl << std::endl;
+  }
+*/
+
+  // Planner no longer needed.
+  delete planner;
+
+  SA_POP_DEBUG (SA_POP_DEBUG_NORMAL, "\nSA-POP END\n");
+
+  try
+    {
+
+      ::Deployment::DeploymentPlan deploy_plan;
+
+      if (converter.convert (opstring, deploy_plan) == 0)
+        {
+          converter.deploy_plan (deploy_plan);
+        }
+      else
+        {
+          return -1;
+        }
+    }
+  catch (...)
+    {
+      ACE_ERROR ((LM_ERROR, "(%P|%t) Unknown exception\n"));
+      return -1;
+    }
+
+  return 0;
+}
diff --git a/SA_POP/LogFileOut.cpp b/SA_POP/LogFileOut.cpp
new file mode 100644
index 00000000000..ab1af922a16
--- /dev/null
+++ b/SA_POP/LogFileOut.cpp
@@ -0,0 +1,170 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  LogFileOut.cpp
+ *
+ * This file contains the LogFileOut class implementation for the output adapter
+ * that logs plan changes to a file.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include <fstream>
+#include <time.h>
+#include "SA_POP_Types.h"
+#include "LogFileOut.h"
+#include "Planner.h"
+
+using namespace SA_POP;
+
+// Constructor.
+LogFileOut::LogFileOut (const char *filename)
+: outfile_ (filename)
+{
+  if (this->outfile_ == 0){
+    std::string msg = "Unable to open ";
+    msg += filename;
+    msg += " for writing.";
+    throw msg;
+  }
+};
+
+// Destructor.
+LogFileOut::~LogFileOut (void)
+{
+  this->outfile_.close ();
+};
+
+// Notify about task future expected utility changes.
+void LogFileOut::notify_eu (SA_POP::Planner *planner)
+{
+  time_t cur_time = time(0);
+  this->outfile_ << std::endl;
+  this->outfile_ << "EU Changes (" << ctime (&cur_time) << "):" << std::endl;
+
+  TaskEUMap eu_changes = planner->get_eu_changes ();
+  for (TaskEUMap::iterator iter = eu_changes.begin ();
+    iter != eu_changes.end ();
+    iter++)
+  {
+    this->outfile_ << "Task " << iter->first << " = " << iter->second;
+    this->outfile_ << std::endl;
+  }
+};
+
+// Notify about plan changes.
+void LogFileOut::notify_plan (SA_POP::Planner *planner)
+{
+  Plan plan = planner->get_plan ();
+
+  time_t cur_time = time(0);
+
+  this->outfile_ << std::endl;
+  this->outfile_ << "Plan (" << plan.name << ") Changed at " << std::endl;
+  this->outfile_ << ctime (&cur_time) << std::endl;
+  this->outfile_ << "ID: " << plan.plan_id << std::endl;
+
+  this->outfile_ << "Start Window: [" << plan.start_window.first << ", ";
+  this->outfile_ << plan.start_window.second << "]" << std::endl;
+
+  this->outfile_ << "End Window: [" << plan.end_window.first << ", ";
+  this->outfile_ << plan.end_window.second << "]" << std::endl;
+  
+  for (PlanInstSet::iterator inst_iter = plan.task_insts.begin ();
+    inst_iter != plan.task_insts.end ();
+    inst_iter++)
+  {
+    PlanTaskInst inst = *inst_iter;
+    this->outfile_ << "Task Instance (" << inst.name << "):" << std::endl;
+
+    this->outfile_ << "  ID: " << inst.inst_id << std::endl;
+
+    this->outfile_ << "  Start Window: [" << inst.start_window.first << ", ";
+    this->outfile_ << inst.start_window.second << "]" << std::endl;
+
+    this->outfile_ << "  End Window: [" << inst.end_window.first << ", ";
+    this->outfile_ << inst.end_window.second << "]" << std::endl;
+
+    this->outfile_ << " Task ID: " << inst.task_id << std::endl;
+
+    this->outfile_ << " Task Type: " << inst.type_id << std::endl;
+
+    this->outfile_ << " Suggested Implementation: ";
+    this->outfile_ << inst.suggested_impl << std::endl;
+  }
+
+  this->outfile_ << std::endl;
+
+  for (PlanConnSet::iterator conn_iter = plan.connections.begin ();
+    conn_iter != plan.connections.end ();
+    conn_iter++)
+  {
+    PlanConnection conn = *conn_iter;
+    this->outfile_ << "Data Connection:" << std::endl;
+    this->outfile_ << "  " << conn.first_task_inst << " (";
+    this->outfile_ << planner->get_task_name (
+      planner->get_task_from_inst (conn.first_task_inst)) << "--";
+    this->outfile_ << conn.first_port << ")  -";
+    this->outfile_ << "(" << planner->get_cond_name (conn.cond) << ")-> ";
+    this->outfile_ << conn.second_task_inst << " (";
+    this->outfile_ << planner->get_task_name (
+      planner->get_task_from_inst (conn.second_task_inst)) << "--";
+    this->outfile_ << conn.second_port << ")" << std::endl;
+  }
+
+  this->outfile_ << std::endl;
+
+  for (CLSet::iterator cl_iter = plan.causal_links.begin ();
+    cl_iter != plan.causal_links.end ();
+    cl_iter++)
+  {
+    CausalLink clink = *cl_iter;
+    this->outfile_ << "Causal Link:" << std::endl;
+    this->outfile_ << "  " << clink.first << " (";
+    this->outfile_ << planner->get_task_name (
+      planner->get_task_from_inst (clink.first)) << ") -";
+    this->outfile_ << "(" << planner->get_cond_name (clink.cond.id) << ")-> ";
+    this->outfile_ << clink.second << " (";
+    this->outfile_ << planner->get_task_name (
+      planner->get_task_from_inst (clink.second)) << ")" << std::endl;
+  }
+
+  this->outfile_ << std::endl;
+
+  for (SchedLinkSet::iterator sched_iter = plan.sched_links.begin ();
+    sched_iter != plan.sched_links.end ();
+    sched_iter++)
+  {
+    SchedLink sched_link = (*sched_iter);
+    this->outfile_ << "Scheduling Link:" << std::endl;
+    this->outfile_ << "  " << sched_link.first  << " (";
+    this->outfile_ << planner->get_task_name (
+      planner->get_task_from_inst (sched_link.first)) << ") -> ";
+    this->outfile_ << sched_link.second  << " (";
+    this->outfile_ << planner->get_task_name (
+      planner->get_task_from_inst (sched_link.second)) << ")" << std::endl;
+
+  }
+
+  this->outfile_ << std::endl;
+
+  for (ThreatLinkSet::iterator threat_iter = plan.threat_links.begin ();
+    threat_iter != plan.threat_links.end ();
+    threat_iter++)
+  {
+    ThreatLink threat_link = (*threat_iter);
+    this->outfile_ << "Threat Link:" << std::endl;
+    this->outfile_ << "  " << threat_link.first  << " (";
+    this->outfile_ << planner->get_task_name (
+      planner->get_task_from_inst (threat_link.first)) << ") -> ";
+    this->outfile_ << threat_link.second  << " (";
+    this->outfile_ << planner->get_task_name (
+      planner->get_task_from_inst (threat_link.second)) << ")" << std::endl;
+
+  }
+
+  this->outfile_ << std::endl;
+};
diff --git a/SA_POP/LogFileOut.h b/SA_POP/LogFileOut.h
new file mode 100644
index 00000000000..8a714f3152a
--- /dev/null
+++ b/SA_POP/LogFileOut.h
@@ -0,0 +1,58 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  LogFileOut.h
+ *
+ * This file contains the LogFileOut class definition for the output adapter
+ * that logs plan changes to a file.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_LOG_FILE_OUT_H_
+#define SA_POP_LOG_FILE_OUT_H_
+
+#include <fstream>
+#include "OutAdapter.h"
+
+namespace SA_POP {
+
+  /**
+   * @class LogFileOut
+   *
+   * @brief Output adapter that logs plan changes to a file.
+   */
+  class LogFileOut : public OutAdapter {
+  public:
+    /// Constructor.
+    /**
+     * @param filename  Name of file to log to.
+     */
+    LogFileOut (const char *filename);
+
+    /// Destructor.
+    virtual ~LogFileOut (void);
+
+    /// Notify about task future expected utility changes.
+    /**
+     * @param planner  Planner for which changes have occurred.
+     */
+    virtual void notify_eu (SA_POP::Planner *planner);
+
+    /// Notify about plan changes.
+    /**
+     * @param planner  Planner for which changes have occurred.
+     */
+    virtual void notify_plan (SA_POP::Planner *planner);
+
+  protected:
+    /// Output file handle.
+    std::ofstream outfile_;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_LOG_FILE_OUT_H_ */
diff --git a/SA_POP/LogScreenOut.cpp b/SA_POP/LogScreenOut.cpp
new file mode 100644
index 00000000000..531c4f9e3ae
--- /dev/null
+++ b/SA_POP/LogScreenOut.cpp
@@ -0,0 +1,166 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  LogScreenOut.cpp
+ *
+ * This file contains the LogScreenOut class implementation for the output adapter
+ * that displays plan changes on the screen as they occur.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include <iostream>
+#include <time.h>
+#include "SA_POP_Types.h"
+#include "LogScreenOut.h"
+#include "Planner.h"
+
+using namespace SA_POP;
+
+// Constructor.
+LogScreenOut::LogScreenOut (std::ostream &out)
+: out_ (out)
+{
+  // Nothing to do.
+};
+
+// Destructor.
+LogScreenOut::~LogScreenOut (void)
+{
+  // Nothing to do.
+};
+
+// Notify about task future expected utility changes.
+void LogScreenOut::notify_eu (SA_POP::Planner *planner)
+{
+  time_t cur_time = time(0);
+  this->out_ << std::endl;
+  this->out_ << "EU Changes:" << std::endl;
+  this->out_ << ctime (&cur_time) << std::endl;
+
+  TaskEUMap eu_changes = planner->get_eu_changes ();
+  for (TaskEUMap::iterator iter = eu_changes.begin ();
+    iter != eu_changes.end ();
+    iter++)
+  {
+    this->out_ << "Task " << iter->first << " = " << iter->second;
+    this->out_ << std::endl;
+  }
+};
+
+// Notify about plan changes.
+void LogScreenOut::notify_plan (SA_POP::Planner *planner)
+{
+  Plan plan = planner->get_plan ();
+
+  time_t cur_time = time(0);
+
+  this->out_ << std::endl;
+  this->out_ << "Plan (" << plan.name << ") Changed at " << std::endl;
+  this->out_ << ctime (&cur_time) << std::endl;
+  this->out_ << "ID: " << plan.plan_id << std::endl;
+
+  this->out_ << "Start Window: [" << plan.start_window.first << ", ";
+  this->out_ << plan.start_window.second << "]" << std::endl;
+
+  this->out_ << "End Window: [" << plan.end_window.first << ", ";
+  this->out_ << plan.end_window.second << "]" << std::endl;
+  
+  for (PlanInstSet::iterator inst_iter = plan.task_insts.begin ();
+    inst_iter != plan.task_insts.end ();
+    inst_iter++)
+  {
+    PlanTaskInst inst = *inst_iter;
+    this->out_ << "Task Instance (" << inst.name << "):" << std::endl;
+
+    this->out_ << "  ID: " << inst.inst_id << std::endl;
+
+    this->out_ << "  Start Window: [" << inst.start_window.first << ", ";
+    this->out_ << inst.start_window.second << "]" << std::endl;
+
+    this->out_ << "  End Window: [" << inst.end_window.first << ", ";
+    this->out_ << inst.end_window.second << "]" << std::endl;
+
+    this->out_ << " Task ID: " << inst.task_id << std::endl;
+
+    this->out_ << " Task Type: " << inst.type_id << std::endl;
+
+    this->out_ << " Suggested Implementation: ";
+    this->out_ << inst.suggested_impl << std::endl;
+  }
+
+  this->out_ << std::endl;
+
+  for (PlanConnSet::iterator conn_iter = plan.connections.begin ();
+    conn_iter != plan.connections.end ();
+    conn_iter++)
+  {
+    PlanConnection conn = *conn_iter;
+    this->out_ << "Data Connection:" << std::endl;
+    this->out_ << "  " << conn.first_task_inst << " (";
+    this->out_ << planner->get_task_name (
+      planner->get_task_from_inst (conn.first_task_inst)) << "--";
+    this->out_ << conn.first_port << ")  -";
+    this->out_ << "(" << planner->get_cond_name (conn.cond) << ")-> ";
+    this->out_ << conn.second_task_inst << " (";
+    this->out_ << planner->get_task_name (
+      planner->get_task_from_inst (conn.second_task_inst)) << "--";
+    this->out_ << conn.second_port << ")" << std::endl;
+  }
+
+  this->out_ << std::endl;
+
+  for (CLSet::iterator cl_iter = plan.causal_links.begin ();
+    cl_iter != plan.causal_links.end ();
+    cl_iter++)
+  {
+    CausalLink clink = *cl_iter;
+    this->out_ << "Causal Link:" << std::endl;
+    this->out_ << "  " << clink.first << " (";
+    this->out_ << planner->get_task_name (
+      planner->get_task_from_inst (clink.first)) << ") -";
+    this->out_ << "(" << planner->get_cond_name (clink.cond.id) << ")-> ";
+    this->out_ << clink.second << " (";
+    this->out_ << planner->get_task_name (
+      planner->get_task_from_inst (clink.second)) << ")" << std::endl;
+  }
+
+  this->out_ << std::endl;
+
+  for (SchedLinkSet::iterator sched_iter = plan.sched_links.begin ();
+    sched_iter != plan.sched_links.end ();
+    sched_iter++)
+  {
+    SchedLink sched_link = (*sched_iter);
+    this->out_ << "Scheduling Link:" << std::endl;
+    this->out_ << "  " << sched_link.first  << " (";
+    this->out_ << planner->get_task_name (
+      planner->get_task_from_inst (sched_link.first)) << ") -> ";
+    this->out_ << sched_link.second  << " (";
+    this->out_ << planner->get_task_name (
+      planner->get_task_from_inst (sched_link.second)) << ")" << std::endl;
+
+  }
+
+  this->out_ << std::endl;
+
+  for (ThreatLinkSet::iterator threat_iter = plan.threat_links.begin ();
+    threat_iter != plan.threat_links.end ();
+    threat_iter++)
+  {
+    ThreatLink threat_link = (*threat_iter);
+    this->out_ << "Threat Link:" << std::endl;
+    this->out_ << "  " << threat_link.first  << " (";
+    this->out_ << planner->get_task_name (
+      planner->get_task_from_inst (threat_link.first)) << ") -> ";
+    this->out_ << threat_link.second  << " (";
+    this->out_ << planner->get_task_name (
+      planner->get_task_from_inst (threat_link.second)) << ")" << std::endl;
+
+  }
+
+  this->out_ << std::endl;
+};
diff --git a/SA_POP/LogScreenOut.h b/SA_POP/LogScreenOut.h
new file mode 100644
index 00000000000..9ae7322e0ab
--- /dev/null
+++ b/SA_POP/LogScreenOut.h
@@ -0,0 +1,59 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  LogScreenOut.h
+ *
+ * This file contains the LogScreenOut class definition for the output adapter
+ * that displays plan changes on the screen as they occur.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_LOG_SCREEN_OUT_H_
+#define SA_POP_LOG_SCREEN_OUT_H_
+
+#include <iostream>
+#include "OutAdapter.h"
+
+namespace SA_POP {
+
+  /**
+   * @class LogScreenOut
+   *
+   * @brief Output adapter that displays plan changes on the screen as they
+   *        occur.
+   */
+  class LogScreenOut : public OutAdapter {
+  public:
+    /// Constructor.
+    /**
+     * @param strm  Output stream to log to.
+     */
+    LogScreenOut (std::ostream &out);
+
+    /// Destructor.
+    virtual ~LogScreenOut (void);
+
+    /// Notify about task future expected utility changes.
+    /**
+     * @param planner  Planner for which changes have occurred.
+     */
+    virtual void notify_eu (SA_POP::Planner *planner);
+
+    /// Notify about plan changes.
+    /**
+     * @param planner  Planner for which changes have occurred.
+     */
+    virtual void notify_plan (SA_POP::Planner *planner);
+
+  protected:
+    /// Output stream to log to.
+    std::ostream &out_;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_LOG_SCREEN_OUT_H_ */
diff --git a/SA_POP/OutAdapter.h b/SA_POP/OutAdapter.h
new file mode 100644
index 00000000000..437eb283f00
--- /dev/null
+++ b/SA_POP/OutAdapter.h
@@ -0,0 +1,54 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  OutAdapter.h
+ *
+ * This file contains the OutAdapter abstract base class definition for output
+ * adapters.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_OUT_ADAPTER_H_
+#define SA_POP_OUT_ADAPTER_H_
+
+#include "SA_POP_Types.h"
+
+namespace SA_POP {
+
+  // Forward declaration of Planner.
+  class Planner;
+
+  /**
+   * @class OutAdapter
+   *
+   * @brief Abstract base class for output adapters.
+   */
+  class OutAdapter {
+  public:
+    /// Constructor.
+    OutAdapter (void) { };
+
+    /// Destructor.
+    virtual ~OutAdapter (void) { };
+
+    /// Notify about task future expected utility changes.
+    /**
+     * @param planner  Planner for which changes have occurred.
+     */
+    virtual void notify_eu (SA_POP::Planner *planner) = 0;
+
+    /// Notify about plan changes.
+    /**
+     * @param planner  Planner for which changes have occurred.
+     */
+    virtual void notify_plan (SA_POP::Planner *planner) = 0;
+
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_OUT_ADAPTER_H_ */
diff --git a/SA_POP/PlanCommands.h b/SA_POP/PlanCommands.h
new file mode 100644
index 00000000000..fc1553b4c6c
--- /dev/null
+++ b/SA_POP/PlanCommands.h
@@ -0,0 +1,370 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  PlanCommand.h
+ *
+ * This file contains the PlanCommand abstract base class definition for
+ * encapsulation of a command to modify a WorkingPlan.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_PLAN_COMMAND_H_
+#define SA_POP_PLAN_COMMAND_H_
+
+#include <string>
+#include "SA_POP_Types.h"
+
+namespace SA_POP {
+
+  /**
+   * @class PlanCommand
+   *
+   * @brief Abstract base class for the encapsulation of a command to modify a
+   *        WorkingPlan.
+   */
+  class PlanCommand {
+  public:
+    /// Constructor.
+    PlanCommand (void)
+      : prev_ (0)
+    { id_.step = -1; id_.decision_pt = -1; id_.seq_num = -1; };
+
+    /// Destructor.
+    virtual ~PlanCommand (void) { };
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void) = 0;
+
+    /// Set id (i.e. info on when this command was created during planning).
+    /**
+     * @param id  The command id.
+     */
+    virtual void set_id (CommandID id) { this->id_ = id; };
+
+    /// Get id (i.e. info on when this command was created during planning).
+    /**
+     * @return  The command id.
+     */
+    virtual CommandID get_id (void) { return this->id_; };
+
+    /// Set pointer to previous command.
+    /**
+     * @param prev  Pointer to the previous command.
+     */
+    virtual void set_prev (PlanCommand *prev) { this->prev_ = prev; };
+
+    /// Get pointer to previous command.
+    /**
+     * @return  Pointer to the previous command.
+     */
+    virtual PlanCommand *get_prev (void) { return this->prev_; };
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void) = 0;
+
+    /// Undo this command.
+    /**
+     * @return  True if undo succeeded, false otherwise.
+     */
+    virtual void undo (void) = 0;
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void) = 0;
+
+  protected:
+    /// ID of this command.
+    CommandID id_;
+
+    /// Pointer to previous command.
+    PlanCommand *prev_;
+
+  };
+
+  /**
+   * @class AdjustMinTimesCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to adjust
+   *        the start-min and end-min times of a task instance in the plan.
+   */
+  class AdjustMinTimesCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    AdjustMinTimesCmd (void) { };
+
+    /// Destructor.
+    virtual ~AdjustMinTimesCmd (void) { };
+
+    /// Set the task instance and window adjustment.
+    /**
+     * @param task_inst  The task instance for which to adjust to the window.
+     *
+     * @param start_min  The new start-min time.
+     *
+     * @param end_min  The new end-min time.
+     */
+    virtual void set_times (TaskInstID task_inst, TimeValue start_min,
+      TimeValue end_min) = 0;
+  };
+
+  /**
+   * @class AdjustMaxTimesCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to adjust
+   *        the start-max and end-max times of a task instance in the plan.
+   */
+  class AdjustMaxTimesCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    AdjustMaxTimesCmd (void) { };
+
+    /// Destructor.
+    virtual ~AdjustMaxTimesCmd (void) { };
+
+    /// Set the task instance and window adjustment.
+    /**
+     * @param task_inst  The task instance for which to adjust to the window.
+     *
+     * @param start_max  The new start-max time.
+     *
+     * @param end_max  The new end-max time.
+     */
+    virtual void set_times (TaskInstID task_inst, TimeValue start_max,
+      TimeValue end_max) = 0;
+  };
+
+  /**
+   * @class AddTaskCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to add a
+   *        task to the current plan.
+   */
+  class AddTaskCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    AddTaskCmd (void) { };
+
+    /// Destructor.
+    virtual ~AddTaskCmd (void) { };
+
+    /// Set (ordered) list of tasks to add (one per execution) to the plan.
+    /**
+     * @param tasks  Ordered list of tasks.
+     */
+    virtual void set_tasks (const TaskList &tasks) = 0;
+
+    /// Set causal link info to add to the plan with task.
+    /**
+     * @param cond  Condition this task satisifies.
+     *
+     * @param task_insts  Set of task instances that this task satisifes
+     *                    the given precondition.
+     */
+    virtual void set_causal_info (Condition cond, TaskInstSet task_insts) = 0;
+
+    /// Get ID of last task added to the plan by this command.
+    /**
+     * @return  ID of last task added to the plan by this command.
+     */
+    virtual TaskID get_task (void) = 0;
+
+    /// Get ID of instance of last task added to the plan by this command.
+    /**
+     * @return  ID of instance of last task added to the plan by this command.
+     */
+    virtual TaskInstID get_task_inst (void) = 0;
+
+    /// Check if the instance id used by the task of this command already exists.
+    /**
+     * @return  True if this command is using an already existing instance id.
+     */
+    virtual bool inst_exists (void) = 0;
+  };
+
+  /**
+   * @class AssocTaskImplCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to
+   *        associate an implementation with a task instance in the plan.
+   */
+  class AssocTaskImplCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    AssocTaskImplCmd (void) { };
+
+    /// Destructor.
+    virtual ~AssocTaskImplCmd (void) { };
+
+    /// Set the task->implementation associate.
+    /**
+     * @param task_inst  The task instance.
+     *
+     * @param impl_list  The task implementations to try for this instance.
+     */
+    virtual void set_assoc (TaskInstID task_inst, TaskImplList impl_list) = 0;
+    /// Get ID of instance of this command.
+    /**
+     * @return  ID of instance of this command.
+     */
+    virtual TaskInstID get_task_inst (void) = 0;
+  };
+
+  /**
+   * @class AddOpenCondsCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to add
+   *        open conditions to the current planning strategy.
+   */
+  class AddOpenCondsCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    AddOpenCondsCmd (void) { };
+
+    /// Destructor.
+    virtual ~AddOpenCondsCmd (void) { };
+
+    /// Set the open conditions to add.
+    /**
+     * @param conds  Set of open conditions to add.
+     */
+    virtual void set_conds (const CondSet &conds) = 0;
+
+    /// Set the task instance for which these are preconditions.
+    /**
+     * @param task_inst  Task instance for which these are preconditions.
+     */
+    virtual void set_task_inst (TaskInstID) = 0;
+  };
+
+  /**
+   * @class RemoveOpenCondsCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to remove
+   *        open conditions from the current planning strategy.
+   */
+  class RemoveOpenCondsCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    RemoveOpenCondsCmd (void) { };
+
+    /// Destructor.
+    virtual ~RemoveOpenCondsCmd (void) { };
+
+    /// Set the open conditions to remove.
+    /**
+     * @param conds  Set of open conditions to remove.
+     */
+    virtual void set_conds (const CondSet &conds) = 0;
+  };
+
+  /**
+   * @class AddOpenThreatsCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to add
+   *        open causal link threats to the current planning strategy.
+   */
+  class AddOpenThreatsCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    AddOpenThreatsCmd (void) { };
+
+    /// Destructor.
+    virtual ~AddOpenThreatsCmd (void) { };
+
+    /// Set the open threats to add.
+    /**
+     * @param conds  Set of open threats to add.
+     */
+    virtual void set_threats (const CLThreatSet &threats) = 0;
+  };
+
+  /**
+   * @class RemoveOpenThreatsCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to remove
+   *        open causal link threats from the current planning strategy.
+   */
+  class RemoveOpenThreatsCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    RemoveOpenThreatsCmd (void) { };
+
+    /// Destructor.
+    virtual ~RemoveOpenThreatsCmd (void) { };
+
+    /// Set the open threats to remove.
+    /**
+     * @param conds  Set of open threats to remove.
+     */
+    virtual void set_threats (const CLThreatSet &threats) = 0;
+  };
+
+  /**
+   * @class ResolveCLThreatCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to resolve
+   *        a causal link threat in the plan.
+   */
+  class ResolveCLThreatCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    ResolveCLThreatCmd (void) { };
+
+    /// Destructor.
+    virtual ~ResolveCLThreatCmd (void) { };
+
+    /// Set the causal link threat to resolve.
+    /**
+     * @param threat  The causal link threat to resolve.
+     */
+    virtual void set_threat (CLThreat &threat) = 0;
+  };
+
+  /**
+   * @class ResolveSchedOrderCmd
+   *
+   * @brief Abstract base class for the encapsulation of a command to add
+   *        a non-causal-link ordering constraint (promotion or demotion)
+   *        between two task instances in the plan.
+   */
+  class ResolveSchedOrderCmd : public PlanCommand {
+  public:
+    /// Constructor.
+    ResolveSchedOrderCmd (void) { };
+
+    /// Destructor.
+    virtual ~ResolveSchedOrderCmd (void) { };
+
+    /// Set the task instances to order.
+    /**
+     * @param task_inst_a  One task instance.
+     *
+     * @param task_inst_b  The other task instance.
+     */
+    virtual void set_task_insts (TaskInstID task_inst_a,
+      TaskInstID task_inst_b) = 0;
+    /// Get the affected task instances.
+    /**
+     * @return A set of the affected task instances.
+     */
+    virtual TaskInstSet get_affected_insts () = 0;
+  };
+
+
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_PLAN_COMMAND_H_ */
diff --git a/SA_POP/PlanHeuristics.h b/SA_POP/PlanHeuristics.h
new file mode 100644
index 00000000000..941e60089cf
--- /dev/null
+++ b/SA_POP/PlanHeuristics.h
@@ -0,0 +1,123 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  PlanHeuristic.h
+ *
+ * This file contains the class definitions for the encapsulations of
+ * algorithms corresponding to planning/scheduling substeps.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_PLAN_STEP_H_
+#define SA_POP_PLAN_STEP_H_
+
+#include "SA_POP_Types.h"
+#include "PlanStrategy.h"
+
+namespace SA_POP {
+
+  // Forward declaration of Planner.
+  class Planner;
+
+  /**
+   * @class CondStrategy
+   *
+   * @brief CondStrategy abstract base class for a PlanHeuristic that
+   *        chooses an open condition in the plan to satisfy next.
+   */
+  class CondStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    CondStrategy (SA_POP::Planner *planner)
+      : planner_ (planner) { };
+
+    /// Destructor.
+    virtual ~CondStrategy (void) { };
+
+    /// Choose the next open condition to satisfy.
+    /**
+     * @param open_conds  Open conditions in the plan.
+     *
+     * @return  Next open condition to satisfy.
+     */
+    virtual Condition choose_cond (const OpenCondMap &open_conds) = 0;
+
+  protected:
+    /// Pointer to Planner object.
+    SA_POP::Planner *planner_;
+  };
+
+  /**
+   * @class TaskStrategy
+   *
+   * @brief TaskStrategy abstract base class for a PlanHeuristic that
+   *        chooses an ordering of tasks for the choice to satisfy an
+   *        open condition.
+   */
+  class TaskStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    TaskStrategy (SA_POP::Planner *planner)
+      : planner_ (planner) { };
+
+    /// Destructor.
+    virtual ~TaskStrategy (void) { };
+
+    /// Choose the (ordering of) task(s) to satisfy an open condition.
+    /**
+     * @param open_cond  Open condition to satisfy.
+     *
+     * @return  Sorted list of tasks that satisfy given condition.
+     */
+    virtual TaskList choose_task (Condition open_cond) = 0;
+
+  protected:
+    /// Pointer to Planner object.
+    SA_POP::Planner *planner_;
+  };
+
+  /**
+   * @class ImplStrategy
+   *
+   * @brief ImplStrategy abstract base class for a PlanHeuristic that
+   *        chooses an ordering of implementations to try for a given
+   *        task instance.
+   */
+  class ImplStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    ImplStrategy (SA_POP::Planner *planner)
+      : planner_ (planner) { };
+
+    /// Destructor.
+    virtual ~ImplStrategy (void) { };
+
+    /// Choose the (ordering of) task implementation(s) for a task instance.
+    /**
+     * @param task_inst  Task instance for which to choose implementations.
+     *
+     * @return  Ordered list of implementations for the given task instance.
+     */
+    virtual TaskImplList choose_impl (TaskInstID task_inst) = 0;
+
+  protected:
+    /// Pointer to Planner object.
+    SA_POP::Planner *planner_;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_PLAN_STEP_H_ */
diff --git a/SA_POP/PlanStrategy.h b/SA_POP/PlanStrategy.h
new file mode 100644
index 00000000000..1a966207f5f
--- /dev/null
+++ b/SA_POP/PlanStrategy.h
@@ -0,0 +1,110 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  PlanStrategy.h
+ *
+ * This file contains the PlanStrategy abstract base class definition for
+ * the high-level planning algorithm.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_PLAN_STRATEGY_H_
+#define SA_POP_PLAN_STRATEGY_H_
+
+#include "SA_POP_Types.h"
+#include "PlanCommands.h"
+
+namespace SA_POP {
+
+  // Forward declaration of Planner.
+  class Planner;
+
+  /**
+   * @class PlanStrategy
+   *
+   * @brief  Abstract base class for the high-level planning/scheduling
+   *         algorithm.
+   */
+  class PlanStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    PlanStrategy (SA_POP::Planner *planner)
+      : planner_ (planner) { };
+
+    /// Destructor.
+    virtual ~PlanStrategy (void) { };
+
+
+
+    // ************************************************************************
+    // Planning methods.
+    // ************************************************************************
+
+    /// Set goals.
+    /**
+     * @param goals  Set of goals and associated utilities.
+     */
+    virtual void set_goals (GoalMap goals) = 0;
+
+    /// Get command ID to use for next command.
+    /**
+     * @return  Command ID to use for next command.
+     */
+    virtual CommandID get_next_cmd_id (void) = 0;
+
+    /// Recursively satisfy all open conditions (including recursive
+    /// scheduling constraint satisfaction through call back).
+    /**
+     * @return  True if all open conditions were satisfied, false otherwise.
+     */
+    virtual bool satisfy_open_conds (void) = 0;
+
+
+    // ************************************************************************
+    // Methods for obtaining prototypes of commands that work on this strategy.
+    // ************************************************************************
+
+    /// Get a PlanCommand prototype for adding open conditions,
+    /// which works on this strategy.
+    /**
+     * @return  An AddOpenCondsCmd prototype for this strategy.
+     */
+    virtual AddOpenCondsCmd *get_AddOpenCondsCmd (void) = 0;
+
+    /// Get a PlanCommand prototype for removing open conditions,
+    /// which works on this strategy.
+    /**
+     * @return  A RemoveOpenCondsCmd prototype for this strategy.
+     */
+    virtual RemoveOpenCondsCmd *get_RemoveOpenCondsCmd (void) = 0;
+
+    /// Get an command prototype for adding causal link threats, which works on
+    /// this strategy.
+    /**
+     * @return  An AddOpenThreatsCmd prototype for this strategy.
+     */
+    virtual AddOpenThreatsCmd *get_AddOpenThreatsCmd (void) = 0;
+
+    /// Get a PlanCommand prototype for removing causal link threats,
+    /// which works on this strategy.
+    /**
+     * @return  A RemoveOpenThreatsCmd prototype for this strategy.
+     */
+    virtual RemoveOpenThreatsCmd *get_RemoveOpenThreatsCmd (void) = 0;
+
+  protected:
+    /// Pointer to Planner object.
+    SA_POP::Planner *planner_;
+
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_PLAN_STRATEGY_H_ */
diff --git a/SA_POP/Planner.cpp b/SA_POP/Planner.cpp
new file mode 100644
index 00000000000..783e2506eaa
--- /dev/null
+++ b/SA_POP/Planner.cpp
@@ -0,0 +1,459 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  Planner.cpp
+ *
+ * This file contains the Planner abstract base class implementation for planners,
+ * which direct planning and mediate communication between other planning
+ * objects.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include <string>
+#include <set>
+#include <stdlib.h>
+#include <fstream>
+#include "SA_POP_Types.h"
+#include "Planner.h"
+#include "PlanStrategy.h"
+#include "SchedStrategy.h"
+#include "WorkingPlan.h"
+#include "TaskMap.h"
+#include "OutAdapter.h"
+#include "PlanCommands.h"
+
+using namespace SA_POP;
+
+// Constructor.
+Planner::Planner (void)
+: cond_prob_thresh_ (0.9),
+has_objs_ (false),
+sanet_ (0),
+plan_strat_ (0),
+sched_strat_ (0),
+working_plan_ (0),
+task_map_ (0),
+cur_cmd_ (0)
+{
+  this->out_adapters_.clear ();
+  this->eu_changes_.clear ();
+
+  // Clear plan.
+  this->plan_.causal_links.clear ();
+  this->plan_.connections.clear ();
+  this->plan_.sched_links.clear ();
+  this->plan_.task_insts.clear ();
+  this->plan_.threat_links.clear ();
+};
+
+
+/// Destructor.
+Planner::~Planner (void)
+{
+  delete this->sanet_;
+  delete this->plan_strat_;
+  delete this->sched_strat_;
+  delete this->working_plan_;
+  delete this->task_map_;
+
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****
+  // Delete output adapters??????
+}
+
+
+
+// Add planning objects.
+void Planner::set_objects (SANet::Network *sanet, PlanStrategy *plan_strat,
+SchedStrategy *sched_strat, WorkingPlan *working_plan, TaskMap *task_map)
+{
+  this->has_objs_ = true;
+
+  if (sanet != 0)
+    this->sanet_ = sanet;
+  else if (this->sanet_ == 0)
+    this->has_objs_ = false;
+
+  if (plan_strat != 0)
+    this->plan_strat_ = plan_strat;
+  else if (this->plan_strat_ == 0)
+    this->has_objs_ = false;
+
+  if (sched_strat != 0)
+    this->sched_strat_ = sched_strat;
+  else if (this->sched_strat_ == 0)
+    this->has_objs_ = false;
+
+  if (working_plan != 0)
+    this->working_plan_ = working_plan;
+  else if (this->working_plan_ == 0)
+    this->has_objs_ = false;
+
+  if (task_map != 0)
+    this->task_map_ = task_map;
+  else if (this->task_map_ == 0)
+    this->has_objs_ = false;
+};
+
+// Add output adapter.
+void Planner::add_out_adapter (OutAdapter *out)
+{
+  this->out_adapters_.insert (out);
+};
+
+// Run planning.
+bool Planner::plan (size_t sa_max_steps)
+{
+  this->sanet_->update (sa_max_steps);
+	std::ofstream fout("output.txt");
+	this->sanet_->print(fout,true);
+	fout.close();
+  this->plan_strat_->set_goals (this->sanet_->get_goals ());
+  if (this->plan_strat_->satisfy_open_conds ()) {
+    this->plan_ = this->working_plan_->get_plan ();
+    this->notify_plan_changed ();
+    return true;
+  }
+
+  return false;
+};
+
+// Get current plan.
+const Plan& Planner::get_plan (void)
+{
+  return this->plan_;
+};
+
+// Get last set of expected utility changes.
+const TaskEUMap& Planner::get_eu_changes (void)
+{
+  return this->eu_changes_;
+};
+
+// Print network.
+void Planner::print_sanet (std::basic_ostream<char, std::char_traits<char> >& strm,
+                           bool verbose)
+{
+  this->sanet_->print (strm, verbose);
+}
+
+// Recursively plan (satisfy all open conditions & schedule constraints).
+bool Planner::recurse_plan (void)
+{
+  return this->plan_strat_->satisfy_open_conds ();
+};
+
+// Recursively schedule (satisfy schedule constraints and continue
+// recursive planning).
+bool Planner::recurse_sched (TaskInstID task_inst)
+{
+  return this->sched_strat_->satisfy_sched (task_inst);
+};
+
+// Satisfy scheduling constraints in fully instantiated plan (no
+// recursive call backs).
+bool Planner::full_sched ()
+{
+  return this->sched_strat_->satisfy_full_sched ();
+};
+
+// Execute a command (adding it as the current command).
+void Planner::execute_command (PlanCommand *command)
+{
+  command->set_prev (this->cur_cmd_);
+  this->cur_cmd_ = command;
+  this->cur_cmd_->execute_next ();
+};
+
+// Undo and remove command.
+void Planner::undo_command (CommandID id)
+{
+  if (this->cur_cmd_->get_id () != id)
+    this->undo_through (id);
+
+  if (this->cur_cmd_ == 0) {
+    char char_buf[35];
+    sprintf(char_buf, "%d.%d.%d", id.step, id.decision_pt, id.seq_num); 
+    std::string msg = "Planner::undo_command (): no command history ";
+    msg += "(command id ";
+    msg += char_buf;
+    msg += ")";
+    throw msg;
+  }
+
+  this->cur_cmd_->undo ();
+  this->cur_cmd_ = this->cur_cmd_->get_prev ();
+};
+
+// Add a command to be executed later with execute_next().
+void Planner::add_command (PlanCommand *command)
+{
+  command->set_prev (this->cur_cmd_);
+  this->cur_cmd_ = command;
+};
+
+// On current command, undo last execution (if any) & execute next option.
+bool Planner::try_next (CommandID id)
+{
+  if (this->cur_cmd_->get_id () != id) {
+    char char_buf[35];
+    sprintf(char_buf, "%d.%d.%d", id.step, id.decision_pt, id.seq_num); 
+    std::string msg = "Planner::try_next (): command id ";
+    msg += char_buf;
+    msg += " is not current command in history.";
+    throw msg;
+  }
+
+  return this->cur_cmd_->execute_next ();
+};
+
+// Undo and remove all commands back to specified point.
+void Planner::undo_through (CommandID id)
+{
+  if (this->cur_cmd_ == 0) {
+    char char_buf[35];
+    sprintf(char_buf, "%d.%d.%d", id.step, id.decision_pt, id.seq_num); 
+    std::string msg = "Planner::undo_through (): command id ";
+    msg += char_buf;
+    msg += " could not be found.";
+    throw msg;
+  }
+
+  if (this->cur_cmd_->get_id () == id)
+    return;
+
+  PlanCommand *temp = this->cur_cmd_;
+  temp->undo ();
+  this->cur_cmd_ = temp->get_prev ();
+  this->undo_through (id);
+};
+/// Get the current command id.
+CommandID Planner::cur_command_id()
+{
+  return this->cur_cmd_->get_id();
+}
+
+// Update a condition's current value (probability of being true).
+void Planner::update_cond_val (CondID cond_id, double true_prob)
+{
+  this->sanet_->update_cond_val (cond_id, true_prob);
+};
+
+// Update a condition's (goal) utility.
+void Planner::update_cond_util (CondID cond_id, double utility)
+{
+  this->sanet_->update_cond_util (cond_id, utility);
+};
+
+// Update all condition utilities based on new goal set.
+void Planner::update_goals (GoalMap goals)
+{
+  this->sanet_->update_goals (goals);
+};
+
+// Get a condition's current value (probability of being true).
+double Planner::get_cond_val (CondID cond_id)
+{
+  return this->sanet_->get_cond_val (cond_id);
+};
+
+// Get all goals.
+const GoalMap& Planner::get_goals (void)
+{
+  return this->sanet_->get_goals ();
+};
+
+// Get a task's name.
+std::string Planner::get_task_name (TaskID task_id)
+{
+  return this->sanet_->get_task_name (task_id);
+};
+
+// Get a condition's name.
+std::string Planner::get_cond_name (CondID cond_id)
+{
+  return this->sanet_->get_cond_name (cond_id);
+};
+
+// Get a condition's type/kind.
+CondKind Planner::get_cond_type (CondID cond_id)
+{
+  return this->sanet_->get_cond_type (cond_id);
+};
+
+// Get a task's current expected utility.
+double Planner::get_task_current_eu (TaskID task_id)
+{
+  return this->sanet_->get_task_current_eu (task_id);
+};
+
+// Get a task's future expected utility.
+double Planner::get_task_future_eu (TaskID task_id)
+{
+  return this->sanet_->get_task_future_eu (task_id);
+};
+
+// Get all preconditions of a task.
+CondSet Planner::get_preconds (TaskID task_id)
+{
+  return this->sanet_->get_preconds (task_id);
+};
+
+// Get currently unsatisfied preconditions of a task.
+CondSet Planner::get_unsat_preconds (TaskID task_id)
+{
+  CondSet temp = this->get_preconds (task_id);
+
+  // Remove satisfied preconditions.
+  for (CondSet::iterator iter = temp.begin ();
+    iter != temp.end (); )
+  {
+    CondSet::iterator prev_iter = iter;
+    iter++;
+
+    // Get current probability of needed value for condition.
+    Probability cur_prob = this->get_cond_val ((*prev_iter).id);
+    if (!(*prev_iter).value)
+      cur_prob = 1 - cur_prob;
+
+    // Remove condition if probability is greater than threshold.
+    if (cur_prob > this->cond_prob_thresh_)
+      temp.erase (prev_iter);
+  }
+
+  return temp;
+}
+
+
+// Get all effects of a task.
+CondSet Planner::get_effects (TaskID task_id)
+{
+  return this->sanet_->get_effects (task_id);
+};
+
+// Get all tasks that satisfy a condition.
+TaskSet Planner::get_satisfying_tasks (Condition cond)
+{
+  return this->sanet_->get_satisfying_tasks (cond);
+};
+
+// Get ports for a causal link.
+LinkPorts Planner::get_clink_ports (TaskID task1_id, CondID cond_id,
+                                    TaskID task2_id)
+{
+  return this->sanet_->get_clink_ports(task1_id, cond_id, task2_id);
+};
+
+// Get task id of a task instance.
+TaskID Planner::get_task_from_inst (TaskInstID inst_id)
+{
+  return this->working_plan_->get_task_from_inst (inst_id);
+};
+
+// Get all current causal link threats.
+CLThreatSet Planner::get_all_threats (void)
+{
+  return this->working_plan_->get_all_threats ();
+};
+
+// Get all implementations of a task.
+TaskImplSet Planner::get_all_impls (TaskID task_id)
+{
+  return this->task_map_->get_all_impls (task_id);
+};
+
+// Get task implementation.
+TaskImpl *Planner::get_impl (TaskImplID impl_id)
+{
+  return this->task_map_->get_impl (impl_id);
+};
+
+// Get utilization info of a task implementation for a resource.
+ResourceValue Planner::get_resource_usage (TaskImplID impl_id,
+ResourceID resource_id)
+{
+  return this->task_map_->get_resource_usage (impl_id, resource_id);
+};
+
+// Get all resources used by a task implementation.
+ResourceMap Planner::get_all_resources (TaskImplID impl_id)
+{
+  return this->task_map_->get_all_resources (impl_id);
+};
+
+void Planner::notify_plan_changed (void)
+{
+  for (std::set<OutAdapter *>::iterator iter = this->out_adapters_.begin ();
+    iter != this->out_adapters_.end (); iter++)
+  {
+    (*iter)->notify_plan (this);
+  }
+};
+
+/// Get the Task instances in a particular set of the specified task instance
+const TaskInstSet* Planner::get_prec_insts (TaskInstID task_inst, PrecedenceRelation prec_rel)
+{
+	return this->working_plan_->get_prec_set(task_inst,prec_rel);
+}
+
+/// Get the Start Window of the Task instance
+TimeWindow Planner::get_start_window (TaskInstID task_inst)
+{
+	return this->working_plan_->get_start_window(task_inst);
+}
+
+/// Get the End Window of the Task instance
+TimeWindow Planner::get_end_window (TaskInstID task_inst)
+{
+	return this->working_plan_->get_end_window(task_inst);
+}
+
+/// Get task implementation id of a task instance.
+TaskImplID Planner::get_task_impl_from_inst (TaskInstID inst_id)
+{
+	return this->working_plan_->get_task_impl_from_inst(inst_id);
+}
+
+/// Get the capacity of a resource.
+ResourceValue Planner::get_capacity (ResourceID res_id)
+{
+  return this->task_map_->get_capacity(res_id);
+}
+
+//Get the duration of a task instance
+TimeValue Planner::get_duration(TaskInstID task_inst)
+{
+  return this->working_plan_->get_duration(task_inst);
+}
+/// Get the Causal and Scheduling orderings from this task instance
+TaskInstSet Planner::after_orderings (TaskInstID inst_id)
+{
+  return this->working_plan_->after_orderings(inst_id);
+}
+
+/// Get the Causal and Scheduling orderings to this task instance
+TaskInstSet Planner::before_orderings (TaskInstID inst_id)
+{
+  return this->working_plan_->before_orderings(inst_id);
+}
+
+/// Get all the task instances
+TaskInstSet Planner::get_all_insts()
+{
+	return this->working_plan_->get_all_insts();
+}
+
+/// Check if the instance id already exists and is being reused.
+bool Planner::inst_exists (TaskInstID task_inst)
+{
+  return this->working_plan_->inst_exists(task_inst);
+}
+
+/// Get task implementation for a task instance.
+TaskImplID Planner::get_impl_id (TaskInstID task_inst)
+{
+  return this->working_plan_->get_impl_id(task_inst);
+}
diff --git a/SA_POP/Planner.h b/SA_POP/Planner.h
new file mode 100644
index 00000000000..1a904158c89
--- /dev/null
+++ b/SA_POP/Planner.h
@@ -0,0 +1,511 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  Planner.h
+ *
+ * This file contains the Planner abstract base class definition for planners,
+ * which direct planning and mediate communication between other planning
+ * objects.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_PLANNER_H_
+#define SA_POP_PLANNER_H_
+
+
+#include <string>
+#include <set>
+#include "SA_POP_Types.h"
+#include "PlanStrategy.h"
+#include "SchedStrategy.h"
+#include "WorkingPlan.h"
+#include "TaskMap.h"
+#include "OutAdapter.h"
+#include "PlanCommands.h"
+#include "SANet/SANet.h"
+
+namespace SA_POP {
+
+  /**
+   * @class Planner
+   *
+   * @brief Abstract base class for planners, which direct planning and
+   *        mediate communication between other planning objects.
+   */
+  class Planner {
+  public:
+    /// Constructor.
+    Planner (void);
+
+    /// Destructor.
+    virtual ~Planner (void);
+
+
+
+    // ************************************************************************
+    // Initialization methods.
+    // ************************************************************************
+
+    /// Add planning objects.
+    /**
+     * @param sanet  Spreading activation network.
+     *
+     * @param plan_strat  PlanStrategy object for planning.
+     *
+     * @param sched_strat  SchedStrategy object for scheduling.
+     *
+     * @param working_plan  WorkingPlan object for holding plan in progress.
+     *
+     * @param task_map  TaskMap object for associating tasks with
+     *                  implementations and resources.
+     */
+    virtual void set_objects (SANet::Network *sanet, PlanStrategy *plan_strat,
+      SchedStrategy *sched_strat, WorkingPlan *working_plan,
+      TaskMap *task_map);
+
+    /// Add output adapter.
+    /**
+     * @param out  OutAdapter to add.
+     */
+    virtual void add_out_adapter (OutAdapter *out);
+
+
+
+    // ************************************************************************
+    // Planning and changed planning info accessor methods.
+    // ************************************************************************
+
+    /// Run planning.
+    /**
+     * @param sa_max_steps  Maximum steps to run spreading activation.
+     *
+     * @return  True if planning succeeded, false otherwise.
+     */
+    virtual bool plan (size_t sa_max_steps);
+
+    /// Get current plan.
+    /**
+     * @return  Reference to current plan.
+     */
+    virtual const Plan& get_plan (void);
+
+    /// Get last set of expected utility changes.
+    /**
+     * @return  Reference to last set of expected utility changes.
+     */
+    virtual const TaskEUMap& get_eu_changes (void);
+
+    /// Print network.
+    /**
+     * @param strm  Output stream on which to print network representation.
+     *
+     * @param verbose  Whether to print verbose representation.
+     */
+    virtual void print_sanet (std::basic_ostream<char, std::char_traits<char> >& strm
+      = std::cout, bool verbose = false);
+
+
+
+    // ************************************************************************
+    // Recursive planning/scheduling methods.
+    // ************************************************************************
+
+    /// Recursively plan (satisfy all open conditions & schedule constraints).
+    /**
+     * @return  True if fully satisfied plan found, false otherwise.
+     */
+    virtual bool recurse_plan (void);
+
+    /// Recursively schedule (satisfy schedule constraints and continue
+    /// recursive planning).
+    /**
+     * @param task_inst  Current task instance being tried in the plan.
+     *
+     * @return  True if fully satisfied plan found, false otherwise.
+     */
+    virtual bool recurse_sched (TaskInstID task_inst);
+
+    /// Satisfy scheduling constraints in fully instantiated plan (no
+    /// recursive call backs).
+    /**
+     * @param task_inst  Current task instance being tried in the plan.
+     *
+     * @return  True if fully satisfied plan found, false otherwise.
+     */
+    virtual bool full_sched ();
+
+
+
+    // ************************************************************************
+    // Planning/scheduling command execution and undo methods.
+    // ************************************************************************
+
+    /// Execute a command (adding it as the current command).
+    /**
+     * @param command  The command to add and execute.
+     */
+    virtual void execute_command (PlanCommand *command);
+
+    /// Undo and remove command.
+    /**
+     * @param id  The id of the command to undo and remove.
+     *
+     * @exception InvalidCommand  The id provided does not correspond to top
+     *                            command.
+     */
+    virtual void undo_command (CommandID id);
+
+    /// Add a command to be executed later with execute_next().
+    /**
+     * @param command  The command to add for execution.
+     */
+    virtual void add_command (PlanCommand *command);
+
+    /// On current command, undo last execution (if any) & execute next option.
+    /**
+     * @param id  The id of the command to undo and remove.
+     *
+     * @exception InvalidCommand  The id provided does not correspond to top
+     *                            command.
+     *
+     * @return True if command had an option to execute, false otherwise.
+     */
+    virtual bool try_next (CommandID id);
+
+    /// Undo and remove all commands back to specified point.
+    /**
+     * @param id  The id of the command to undo and remove through.
+     */
+    virtual void undo_through (CommandID id);
+
+    /// Get the current command id.
+    /**
+     * @return  The id of the current command
+     */
+    virtual CommandID cur_command_id();
+
+
+    // ************************************************************************
+    // Condition update methods (environment/system state or goal changes).
+    // ************************************************************************
+
+    /// Update a condition's current value (probability of being true).
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @param true_prob  New probability that condition is true.
+     */
+    virtual void update_cond_val (CondID cond_id, double true_prob);
+
+    /// Update a condition's (goal) utility.
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @param utility  New goal utility of condition.
+     */
+    virtual void update_cond_util (CondID cond_id, double utility);
+
+    /// Update all condition utilities based on new goal set.
+    /**
+     * @param goals  Set of goal condition ids and associated utilities.
+     */
+    virtual void update_goals (GoalMap goals);
+
+
+
+    // ************************************************************************
+    // General task/condition accessor methods.
+    // ************************************************************************
+
+    /// Get a condition's current value (probability of being true).
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @return  Probability that condition is true.
+     */
+    virtual double get_cond_val (CondID cond_id);
+
+    /// Get all goals.
+    /**
+     * @return  Set of condition ids and associated utilities.
+     */
+    virtual const GoalMap& get_goals (void);
+
+    /// Get a task's name.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Task name.
+     */
+    virtual std::string get_task_name (TaskID task_id);
+
+    /// Get a condition's name.
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @return  Condition name.
+     */
+    virtual std::string get_cond_name (CondID cond_id);
+
+    /// Get a condition's type/kind.
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @return  Condition type.
+     */
+    virtual CondKind get_cond_type (CondID cond_id);
+
+    /// Get a task's current expected utility.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Current task expected utility.
+     */
+    virtual double get_task_current_eu (TaskID task_id);
+
+    /// Get a task's future expected utility.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Future task expected utility.
+     */
+    virtual double get_task_future_eu (TaskID task_id);
+
+    /// Get all preconditions of a task.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Set of all preconditions with associated values.
+     */
+    virtual CondSet get_preconds (TaskID task_id);
+
+    /// Get currently unsatisfied preconditions of a task.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Set of all unsatisfied preconditions with associated values.
+     */
+    virtual CondSet get_unsat_preconds (TaskID task_id);
+
+    /// Get all effects of a task.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Set of all effects with associated values.
+     */
+    virtual CondSet get_effects (TaskID task_id);
+
+    /// Get all tasks that satisfy a condition.
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @return  Set of all tasks that satisfy the given condition.
+     */
+    virtual TaskSet get_satisfying_tasks (Condition cond);
+
+    /// Get ports for a causal link.
+    /**
+     * @param task1_id  ID of start task node in causal link.
+     *
+     * @param cond_id  ID of condition node in both precondition and effect
+     *                 links.
+     *
+     * @param task2_id  ID of end task node in causal link.
+     */
+    virtual LinkPorts get_clink_ports (TaskID task1_id, CondID cond_id,
+      TaskID task2_id);
+
+
+
+    // ************************************************************************
+    // Planning task/condition info accessor methods.
+    // ************************************************************************
+
+    /// Get task id of a task instance.
+    /**
+     * @param inst_id  The task instance id.
+     *
+     * @return  The task id of this task instance.
+     */
+    virtual TaskID get_task_from_inst (TaskInstID inst_id);
+
+    /// Get all current causal link threats.
+    /**
+     * @return  Set of all current causal link threats.
+     */
+    virtual CLThreatSet get_all_threats (void);
+
+
+
+    // ************************************************************************
+    // TaskMap accessor methods (resources, task->implementations,
+    // and implementation->resources).
+    // ************************************************************************
+
+    /// Get all implementations of a task.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  The set of all implementations (ids) for the given task.
+     */
+    virtual TaskImplSet get_all_impls (TaskID task_id);
+
+    /// Get task implementation.
+    /**
+     * @param impl_id  The task implementation id.
+     *
+     * @return  Reference to the task implementation.
+     */
+    virtual TaskImpl *get_impl (TaskImplID impl_id);
+
+    /// Get utilization info of a task implementation for a resource.
+    /**
+     * @param impl_id  The task implementation id.
+     *
+     * @param resource_id  The resource id.
+     *
+     * @return  The quantity of resource used.
+     */
+    virtual ResourceValue get_resource_usage (TaskImplID impl_id,
+      ResourceID resource_id);
+
+    /// Get all resources used by a task implementation.
+    /**
+     * @param impl_id  The task implementation id.
+     *
+     * @return  The set of all resources used (with associated usage values).
+     */
+    virtual ResourceMap get_all_resources (TaskImplID impl_id);
+
+    // ************************************************************************
+    // Scheduling Precedence Graph/Time Windows/Resources accessor methods.
+    // ************************************************************************
+
+
+	/// Get the Task instances in a particular set of the specified task instance
+	/**
+	 * @param task_inst The Task Instance whose Precedence Set has been queried
+	 *
+	 * @param prec_rel The Precedence relation to the task_inst
+	 *
+	 * @return A pointer to the Task Instance Set that has the relation prec_rel to task_inst
+	 */
+	virtual const TaskInstSet* get_prec_insts (TaskInstID task_inst, PrecedenceRelation prec_rel);
+
+	/// Get the Start Window of the Task instance
+	/**
+	 * @param task_inst The Task Instance whose Start Window is required
+	 *
+	 * @return The Start Window of task_inst
+	 */
+	virtual TimeWindow get_start_window (TaskInstID task_inst);
+
+	/// Get the End Window of the Task instance
+	/**
+	 * @param task_inst The Task Instance whose End Window is required
+	 *
+	 * @return The End Window of task_inst
+	 */
+	virtual TimeWindow get_end_window (TaskInstID task_inst);
+
+    //Get the duration of a task instance
+    /**
+     * @param task_inst The task instance of which the duration is returned
+     *
+     * @return The duration of the task instance
+     */
+    virtual TimeValue get_duration(TaskInstID task_inst);
+
+    /// Get task implementation id of a task instance.
+    /**
+     * @param inst_id  The task instance id.
+     *
+     * @return  The task implementation id of this task instance.
+     */
+    /// Get task implementation id of a task instance.
+	virtual TaskImplID get_task_impl_from_inst (TaskInstID inst_id);
+
+    /// Get the capacity of a resource.
+    /**
+     * @param res_id The resource id whose capacity that we want to get.
+     *
+     * @return The capacity of the resource
+     */
+  virtual ResourceValue get_capacity (ResourceID res_id);
+
+    /// Get the Causal and Scheduling orderings to this task instance
+    /**
+     * @param inst_id The task instance to which all orderings are required
+     */
+  virtual TaskInstSet before_orderings (TaskInstID inst_id);
+
+    /// Get the Causal and Scheduling orderings from this task instance
+    /**
+     * @param inst_id The task instance from which all orderings are required
+     */
+  virtual TaskInstSet after_orderings (TaskInstID inst_id);
+
+  /// Get all the task instances
+  virtual TaskInstSet get_all_insts();
+  
+    /// Check if the instance id already exists and is being reused.
+    /**
+     * @param task_inst The task instance being checked
+     *
+     * @return  True If this task instance already exists.
+     */
+    virtual bool inst_exists (TaskInstID task_inst);
+
+    /// Get task implementation for a task instance.
+    /**
+     * @param task_inst  The task instance.
+     *
+     * @return The task implementation id.
+     */
+    virtual TaskImplID get_impl_id (TaskInstID task_inst);
+
+  protected:
+    /// Threshold for current probability of a condition to be satisfied.
+    const Probability cond_prob_thresh_;
+
+    /// Flag for whether planning objects have been set.
+    bool has_objs_;
+
+    /// Spreading activation network.
+    SANet::Network *sanet_;
+
+    /// PlanStrategy object for planning.
+    PlanStrategy *plan_strat_;
+
+    /// SchedStrategy object for scheduling.
+    SchedStrategy *sched_strat_;
+
+    /// WorkingPlan object for holding plan in progress.
+    WorkingPlan *working_plan_;
+
+    /// TaskMap object for associating tasks with implementations and resources.
+    TaskMap *task_map_;
+
+    /// OutAdapter objects.
+    std::set <OutAdapter *> out_adapters_;
+
+    /// Current complete plan.
+    Plan plan_;
+
+    /// Last set of expected utility changes.
+    TaskEUMap eu_changes_;
+
+    /// Current command.
+    PlanCommand *cur_cmd_;
+
+    /// Notify all output adapters that plans have changed.
+    virtual void notify_plan_changed (void);
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_PLANNER_H_ */
diff --git a/SA_POP/SANet/SANet.cpp b/SA_POP/SANet/SANet.cpp
new file mode 100644
index 00000000000..e46f0d94f23
--- /dev/null
+++ b/SA_POP/SANet/SANet.cpp
@@ -0,0 +1,476 @@
+// -*- C++ -*-
+
+//=============================================================================
+/**
+ * @file  SANet.cpp
+ *
+ * This file contains the Network class implementation for spreading
+ * activation networks.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include <map>
+#include <iostream>
+#include "SANet_Types.h"
+#include "SANet.h"
+#include "SANode.h"
+#include "SANet_Exceptions.h"
+
+#if !defined (SANET_STANDALONE)
+#include "SA_POP_Types.h"
+#endif  /* SANET_STANDALONE not defined */
+
+using namespace SANet;
+
+
+SANet::Network::Network (void)
+: step_ (0)
+{
+  // Clear maps.
+  this->task_nodes_.clear ();
+  this->cond_nodes_.clear ();
+  this->precond_links_.clear ();
+  this->effect_links_.clear ();
+  this->goals_.clear ();
+};
+
+SANet::Network::~Network ()
+{
+  // Deallocate task nodes.
+  for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+    node_iter != task_nodes_.end (); node_iter++)
+  {
+    delete node_iter->second;
+  }
+
+  // Deallocate condition nodes.
+  for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
+    node_iter != cond_nodes_.end (); node_iter++)
+  {
+    delete node_iter->second;
+  }
+};
+
+void SANet::Network::add_task (TaskID ID, std::string name, MultFactor atten_factor,
+                          TaskCost cost, Probability prior_prob)
+{
+  // If this ID has already been used, throw exception.
+  if (task_nodes_.find (ID) != task_nodes_.end ()) {
+    throw Duplicate_ID ();
+  }
+  if (cond_nodes_.find (ID) != cond_nodes_.end ()) {
+    throw Duplicate_ID ();
+  }
+
+  // Task node pointer.
+  TaskNode *node;
+
+  // Add task node, throwing exception if insertion fails.
+  node = new TaskNode (ID, name, atten_factor, cost, prior_prob);
+  if (!(task_nodes_.insert (std::make_pair (ID, node))).second)
+  {
+    throw Insertion_Error ();
+  }
+};
+
+
+void SANet::Network::add_cond (CondID ID, std::string name, MultFactor atten_factor,
+                        Probability true_prob, Probability false_prob,
+                        Utility goal_util, CondKind cond_kind)
+{
+  // If this ID has already been used, throw exception.
+  if (task_nodes_.find (ID) != task_nodes_.end ()) {
+    throw Duplicate_ID ();
+  }
+  if (cond_nodes_.find (ID) != cond_nodes_.end ()) {
+    throw Duplicate_ID ();
+  }
+
+  // Condition node pointer.
+  CondNode *node;
+
+  // Add condition node, throwing exception if insertion fails.
+  node = new CondNode (ID, name, atten_factor,
+    true_prob, false_prob, goal_util, cond_kind);
+  if (!(cond_nodes_.insert (std::make_pair (ID, node))).second)
+  {
+    throw Insertion_Error ();
+  }
+
+  if (goal_util != 0)
+    this->goals_.insert (std::make_pair (ID, goal_util));
+};
+
+void SANet::Network::add_precond_link (CondID cond_ID, TaskID task_ID,
+                                Probability true_prob, Probability false_prob,
+                                PortID port_ID)
+{
+  // Find task node pointer, throwing exception if not found.
+  TaskNodeMap::iterator task_iter = task_nodes_.find (task_ID);
+  if (task_iter == task_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+  TaskNode *task_node = task_iter->second;
+
+  // Find condition node pointer, throwing exception if not found.
+  CondNodeMap::iterator cond_iter = cond_nodes_.find (cond_ID);
+  if (cond_iter == cond_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+  CondNode *cond_node = cond_iter->second;
+
+  // Add link to task node.
+  task_node->add_precond (cond_ID, cond_node, true_prob, false_prob);
+
+  // Add link to port map.
+  this->precond_links_.insert (std::make_pair (std::make_pair (cond_ID,
+    task_ID), port_ID));
+};
+
+void SANet::Network::add_effect_link (TaskID task_ID, CondID cond_ID,
+                               LinkWeight weight, PortID port_ID)
+{
+  // Find task node pointer, throwing exception if not found.
+  TaskNodeMap::iterator task_iter = task_nodes_.find (task_ID);
+  if (task_iter == task_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+  TaskNode *task_node = task_iter->second;
+
+  // Find condition node pointer, throwing exception if not found.
+  CondNodeMap::iterator cond_iter = cond_nodes_.find (cond_ID);
+  if (cond_iter == cond_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+  CondNode *cond_node = cond_iter->second;
+
+  // Add link.
+  task_node->add_effect (cond_ID, cond_node, weight);
+
+  // Add link to port map.
+  this->effect_links_.insert (std::make_pair (std::make_pair (task_ID,
+    cond_ID), port_ID));
+};
+
+void SANet::Network::print (std::basic_ostream<char, std::char_traits<char> >& strm,
+                     bool verbose)
+{
+  // Print current step.
+  strm << "Current Step: " << step_ << std::endl << std::endl;
+
+  // Print all task nodes.
+  for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+    node_iter != task_nodes_.end (); node_iter++)
+  {
+    node_iter->second->print (strm, verbose);
+    strm << std::endl;
+  }
+
+  // Print all condition nodes.
+  for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
+    node_iter != cond_nodes_.end (); node_iter++)
+  {
+    node_iter->second->print (strm, verbose);
+    strm << std::endl;
+  }
+  strm << std::endl;
+};
+
+// Print links and ports.
+void SANet::Network::print_link_ports (std::basic_ostream<char,
+                                 std::char_traits<char> >& strm,
+                                 bool verbose)
+{
+
+  // Print all precondition links.
+  strm << "Precondition Links: " << std::endl;
+  for (PrecondLinkPortMap::iterator precond_iter = precond_links_.begin ();
+    precond_iter != precond_links_.end (); precond_iter++)
+  {
+    strm << "  " << "Cond " << precond_iter->first.first;
+    strm << " -> " << "Task " << precond_iter->first.second << "(";
+    strm << precond_iter->second << ")" << std::endl;
+  }
+
+  // Print all effect links.
+  strm << "Effect Links: " << std::endl;
+  for (EffectLinkPortMap::iterator effect_iter = effect_links_.begin ();
+    effect_iter != effect_links_.end (); effect_iter++)
+  {
+    strm << "  " << "Task " << effect_iter->first.first << "(";
+    strm << effect_iter->second << ") -> " << "Cond ";
+    strm << effect_iter->first.second << std::endl;
+  }
+  strm << std::endl;
+};
+
+void SANet::Network::update (int max_steps)
+{
+  // Flag for whether network changed on last step, initially true.
+  bool net_changed = true;
+
+  // Set step limit.
+  int step_limit = step_ + max_steps;
+
+  // Run spreading activation until step limit is reached or no changes made.
+  while (net_changed && (step_ < step_limit)) {
+    // Update step.
+    step_++;
+
+    // Reset net_changed flag.
+    net_changed = false;
+
+#if defined (SANET_DEBUG)
+    std::cout << std::endl << "DEBUG in SANet::Network::update()... step_=" << step_ << std::endl << std::endl;
+#endif /* SANET_DEBUG */
+    // Update all task nodes.
+    for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+      node_iter != task_nodes_.end (); node_iter++)
+    {
+      // Update node, setting net_changed flag if node changed.
+      if (node_iter->second->update ()) {
+        net_changed = true;
+      }
+    }
+
+    // Update all condition nodes.
+    for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
+      node_iter != cond_nodes_.end (); node_iter++)
+    {
+      // Update node, setting net_changed flag if node changed.
+      if (node_iter->second->update ()) {
+        net_changed = true;
+      }
+    }
+  }
+};
+
+// Update a condition's current value (probability of being true).
+void SANet::Network::update_cond_val (CondID cond_id, Probability true_prob)
+{
+  CondNodeMap::iterator iter = this->cond_nodes_.find (cond_id);
+  if (iter == this->cond_nodes_.end ())
+    throw "SANet::Network::update_cond_val (): Unknown condition node.";
+  iter->second->set_init_prob (true_prob);
+};
+
+// Update a condition's (goal) utility.
+void SANet::Network::update_cond_util (CondID cond_id, Probability utility)
+{
+  // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  throw "Plan monitoring/updating/replanning not yet implemented: SANet::SANet::Network::updated_cond_val ().";
+};
+
+// Update all condition utilities based on new goal set.
+void SANet::Network::update_goals (GoalMap goals)
+{
+  // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  throw "Plan monitoring/updating/replanning not yet implemented: SANet::SANet::Network::update_goals ().";
+};
+
+// Get a condition's current value (probability of being true).
+Probability SANet::Network::get_cond_val (CondID cond_id)
+{
+  CondNodeMap::iterator iter = this->cond_nodes_.find (cond_id);
+  if (iter == this->cond_nodes_.end ())
+    throw "SANet::Network::get_cond_val (): Unknown condition node.";
+  return iter->second->get_init_prob ();
+};
+
+// Get all goals.
+const GoalMap& SANet::Network::get_goals (void)
+{
+  return this->goals_;
+};
+
+// Get a task's name.
+std::string SANet::Network::get_task_name (TaskID task_id)
+{
+  // Find task node.
+  TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
+  if (task_iter == task_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+
+  return task_iter->second->get_name ();
+};
+
+// Get a condition's name.
+std::string SANet::Network::get_cond_name (CondID cond_id)
+{
+  // Find condition node.
+  CondNodeMap::iterator cond_iter = cond_nodes_.find (cond_id);
+  if (cond_iter == cond_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+
+  return cond_iter->second->get_name ();
+};
+
+// Get a condition's type/kind.
+CondKind SANet::Network::get_cond_type (CondID cond_id)
+{
+  // Find condition node.
+  CondNodeMap::iterator cond_iter = cond_nodes_.find (cond_id);
+  if (cond_iter == cond_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+
+  return cond_iter->second->get_cond_kind ();
+};
+
+// Get a task's current expected utility.
+Utility SANet::Network::get_task_current_eu (TaskID task_id)
+{
+  // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  throw "Plan monitoring/updating/replanning not yet implemented: SANet::SANet::Network::get_task_current_eu ().";
+};
+
+// Get a task's future expected utility.
+Utility SANet::Network::get_task_future_eu (TaskID task_id)
+{
+  TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
+  if (task_iter == task_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+  return task_iter->second->get_utility (this->step_);
+};
+
+// Get all preconditions of a task.
+CondSet SANet::Network::get_preconds (TaskID task_id)
+{
+  // Find task node.
+  TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
+  if (task_iter == task_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+
+  // Create set of preconditions from pre-nodes set.
+  CondSet preconds;
+  preconds.clear ();
+  LinkMap pre_links = task_iter->second->get_pre ();
+  for (LinkMap::iterator iter = pre_links.begin (); iter != pre_links.end ();
+    iter++)
+  {
+    Condition cond;
+    cond.id = iter->first;
+    CondNode* cond_node = this->cond_nodes_.find(iter->first)->second;
+    cond.kind = cond_node->get_cond_kind();
+
+    if (iter->second > 0)
+      cond.value = true;
+    else
+      cond.value = false;
+    preconds.insert (cond);
+  }
+
+  return preconds;
+};
+
+// Get all effects of a task.
+CondSet SANet::Network::get_effects (TaskID task_id)
+{
+  // Find task node.
+  TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
+  if (task_iter == task_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+
+  // Create set of effects from pre-nodes set.
+  CondSet effects;
+  effects.clear ();
+  LinkMap post_links = task_iter->second->get_post ();
+  for (LinkMap::iterator iter = post_links.begin (); iter != post_links.end ();
+    iter++)
+  {
+    Condition cond;
+    cond.id = iter->first;
+  // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+#if defined (SANET_STANDALONE)
+    cond.kind = SANet::DATA;
+#else  // SANET_STANDALONE not defined
+    cond.kind = SA_POP::DATA;
+#endif  /* SANET_STANDALONE */
+  // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    if (iter->second > 0)
+      cond.value = true;
+    else
+      cond.value = false;
+    effects.insert (cond);
+  }
+
+  return effects;
+};
+
+// Get the duration of a task.
+TimeValue SANet::Network::get_duration (TaskID task_id)
+{
+	TaskNode *temp = this->task_nodes_.find(task_id)->second;
+  return NULL_TIME;
+}
+
+// Get all tasks that satisfy a condition.
+TaskSet SANet::Network::get_satisfying_tasks (Condition cond)
+{
+  // Find condition node.
+  CondNodeMap::iterator cond_iter = this->cond_nodes_.find (cond.id);
+  if (cond_iter == this->cond_nodes_.end ()) {
+    throw UnknownNode ();
+  }
+
+  // Create set of tasks from pre-nodes set.
+  TaskSet tasks;
+  tasks.clear ();
+  LinkMap pre_links = cond_iter->second->get_pre ();
+  for (LinkMap::iterator iter = pre_links.begin (); iter != pre_links.end ();
+    iter++)
+  {
+    // Add tasks with positive link weights for true condition or
+    // tasks with negative link weights for false condition.
+    if (cond.value) {
+      if (iter->second > 0)
+        tasks.insert (iter->first);
+    } else {
+      if (iter->second < 0)
+        tasks.insert (iter->first);
+    }
+  }
+
+  return tasks;
+};
+
+// Get effect link port.
+PortID SANet::Network::get_effect_port (TaskID task_id, CondID cond_id)
+{
+ // Find port, throwing exception if not found.
+  EffectLinkPortMap::iterator iter = this->effect_links_.find (
+    std::make_pair (task_id, cond_id));
+  if (iter == this->effect_links_.end ()) {
+    throw UnknownNode ();
+  }
+
+  return iter->second;
+};
+
+// Get precondition link port.
+PortID SANet::Network::get_precond_port (CondID cond_id, TaskID task_id)
+{
+ // Find port, throwing exception if not found.
+  PrecondLinkPortMap::iterator iter = this->precond_links_.find (
+    std::make_pair (cond_id, task_id));
+  if (iter == this->precond_links_.end ()) {
+    throw UnknownNode ();
+  }
+
+  return iter->second;
+};
+
+// Get ports for a causal link.
+LinkPorts SANet::Network::get_clink_ports (TaskID task1_id, CondID cond_id,
+                                    TaskID task2_id)
+{
+  return std::make_pair (this->get_effect_port (task1_id, cond_id),
+    this->get_precond_port (cond_id, task2_id));
+};
diff --git a/SA_POP/SANet/SANet.h b/SA_POP/SANet/SANet.h
new file mode 100644
index 00000000000..50a8eb8c98f
--- /dev/null
+++ b/SA_POP/SANet/SANet.h
@@ -0,0 +1,328 @@
+// -*- C++ -*-
+
+//=============================================================================
+/**
+ * @file  SANet.h
+ *
+ * This file contains the Network class definition for spreading activation
+ * networks.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_NETWORK_H_
+#define SA_NETWORK_H_
+
+#include <iostream>
+#include <map>
+#include <stdexcept>
+#include "SANet_Types.h"
+#include "SANode.h"
+
+namespace SANet {
+  /// Map from task node ID to pointer.
+  typedef std::map<TaskID, TaskNode *> TaskNodeMap;
+
+  /// Map from condition node ID to pointer.
+  typedef std::map<CondID, CondNode *> CondNodeMap;
+
+  /// Map of precondition links to ports.
+  typedef std::map<PrecondLink, PortID> PrecondLinkPortMap;
+
+  /// Map of effect links to ports.
+  typedef std::map<EffectLink, PortID> EffectLinkPortMap;
+
+  /**
+   * @class Network
+   *
+   * @brief Spreading activation network class.
+   */
+  class Network {
+  public:
+    /// Constructor.
+    Network (void);
+
+    /// Destructor.
+    virtual ~Network ();
+
+
+
+    // ************************************************************************
+    // Network creations methods.
+    // ************************************************************************
+
+    /// Add a new task node to the network.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param name  Node name.
+     *
+     * @param atten_factor  Attenuation factor (to bias toward shorter plans).
+     *
+     * @param cost  Cost of performing task.
+     *
+     * @param prior_prob  Prior probability of success.
+     */
+    virtual void add_task (TaskID ID, std::string name,
+      MultFactor atten_factor, TaskCost cost, Probability prior_prob);
+
+    /// Add a new condition node to the network.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param name  Node name.
+     *
+     * @param atten_factor  Attenuation factor (to bias toward shorter plans).
+     *
+     * @param true_prob  Initial probability that value is true.
+     *
+     * @param false_prob  Initial probability that value is false.
+     *
+     * @param cond_kind The type of condition
+     *
+     * @param goal_util  Initial utility (positive for goals, zero otherwise).
+     */
+    virtual void add_cond (CondID ID, std::string name,
+      MultFactor atten_factor, Probability true_prob, Probability false_prob,
+      Utility goal_util, CondKind cond_kind);
+
+    /// Add condition to task link.
+    /**
+     * @param cond_ID  Condition node ID.
+     *
+     * @param task_ID  Task node ID.
+     *
+     * @param true_prob  Conditional probability of task success given
+     * condition node = true.
+     *
+     * @param false_prob  Conditional probability of task success given
+     * condition node = false.
+     *
+     * @param port_ID  ID of port (on task) associated with this condition
+     *                 (used for data nodes).
+     */
+    virtual void add_precond_link (CondID cond_ID, TaskID task_ID,
+      Probability true_prob, Probability false_prob, PortID port_ID = "");
+
+    /// Add task to condition link.
+    /**
+     * @param cond_ID  Condition node ID.
+     *
+     * @param task_ID  Task node ID.
+     *
+     * @param weight  Link weight (probability task sets condition to
+     * true, or negative of the probability task sets condition to false).
+     *
+     * @param port_ID  ID of port (on task) associated with this condition
+     *                 (used for data nodes).
+     */
+    virtual void add_effect_link (TaskID task_ID, CondID cond_ID,
+      LinkWeight weight, PortID port_ID = "");
+
+
+
+    // ************************************************************************
+    // Print methods.
+    // ************************************************************************
+
+    /// Print network.
+    /**
+     * @param strm  Output stream on which to print network representation.
+     *
+     * @param verbose  Whether to print verbose representation.
+     */
+    virtual void print (std::basic_ostream<char, std::char_traits<char> >& strm
+      = std::cout, bool verbose = false);
+
+    /// Print links and ports.
+    /**
+     * @param strm  Output stream on which to print network representation.
+     *
+     * @param verbose  Whether to print verbose representation.
+     */
+    virtual void print_link_ports (std::basic_ostream<char,
+      std::char_traits<char> >& strm = std::cout, bool verbose = false);
+
+
+
+    // ************************************************************************
+    // Network update methods (spreading activation, environment/system state
+    // changes, and goal changes).
+    // ************************************************************************
+
+    /// Run spreading activation.
+    /**
+     * @param max_steps  Maximum steps for which to run spreading activation.
+     */
+    virtual void update (int max_steps);
+
+    /// Update a condition's current value (probability of being true).
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @param true_prob  New probability that condition is true.
+     */
+    virtual void update_cond_val (CondID cond_id, Probability true_prob);
+
+    /// Update a condition's (goal) utility.
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @param utility  New goal utility of condition.
+     */
+    virtual void update_cond_util (CondID cond_id, Utility utility);
+
+    /// Update all condition utilities based on new goal set.
+    /**
+     * @param goals  Set of goal condition ids and associated utilities.
+     */
+    virtual void update_goals (GoalMap goals);
+
+
+
+    // ************************************************************************
+    // General task/condition accessor methods.
+    // ************************************************************************
+
+    /// Get a task's name.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Task name.
+     */
+    virtual std::string get_task_name (TaskID task_id);
+
+    /// Get a condition's name.
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @return  Condition name.
+     */
+    virtual std::string get_cond_name (CondID cond_id);
+
+    /// Get a condition's type/kind.
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @return  Condition type.
+     */
+    virtual CondKind get_cond_type (CondID cond_id);
+
+    /// Get a condition's current value (probability of being true).
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @return  Probability that condition is true.
+     */
+    virtual Probability get_cond_val (CondID cond_id);
+
+    /// Get all goals.
+    /**
+     * @return  Set of condition ids and associated utilities.
+     */
+    virtual const GoalMap& get_goals (void);
+
+    /// Get a task's current expected utility.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Current task expected utility.
+     */
+    virtual Utility get_task_current_eu (TaskID task_id);
+
+    /// Get a task's future expected utility.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Future task expected utility.
+     */
+    virtual Utility get_task_future_eu (TaskID task_id);
+
+    /// Get all preconditions of a task.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Set of all preconditions with associated values.
+     */
+    virtual CondSet get_preconds (TaskID task_id);
+
+    /// Get all effects of a task.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  Set of all effects with associated values.
+     */
+    virtual CondSet get_effects (TaskID task_id);
+
+    /// Get all tasks that satisfy a condition.
+    /**
+     * @param cond_id  The condition id.
+     *
+     * @return  Set of all tasks that satisfy the given condition.
+     */
+    virtual TaskSet get_satisfying_tasks (Condition cond);
+
+    /// Get the name of the port associated with a precondition of a task.
+    /**
+     * @param cond_id  The precondition id.
+     *
+     * @param task_id  The task id.
+     *
+     * @return  Port id.
+     */
+    virtual PortID get_precond_port (CondID cond_id, TaskID task_id);
+
+    /// Get the name of the port associated with an effect of a task.
+    /**
+     * @param task_id  The task id.
+     *
+     * @param cond_id  The effect condition id.
+     *
+     * @return  Port id.
+     */
+    virtual PortID get_effect_port (TaskID task_id, CondID cond_id);
+
+    /// Get ports for a causal link.
+    /**
+     * @param task1_id  ID of start task node in causal link.
+     *
+     * @param cond_id  ID of condition node in both precondition and effect
+     *                 links.
+     *
+     * @param task2_id  ID of end task node in causal link.
+     */
+    virtual LinkPorts get_clink_ports (TaskID task1_id, CondID cond_id,
+      TaskID task2_id);
+
+	/// Get the duration of a task
+	/**
+	 * @param task_id ID of the Task
+	 *
+	 * @return duration of the task
+	 */
+	virtual TimeValue get_duration (TaskID task_id);
+
+  protected:
+    /// Map from ID to node pointer for all task nodes in network.
+    TaskNodeMap task_nodes_;
+
+    /// Map from ID to node pointer for all condition nodes in network.
+    CondNodeMap cond_nodes_;
+
+    /// Map from precondition links to associated ports.
+    PrecondLinkPortMap precond_links_;
+
+    /// Map from effect links to associated ports.
+    EffectLinkPortMap effect_links_;
+
+    /// Goals.
+    GoalMap goals_;
+
+    /// Current step.
+    int step_;
+  };
+};
+
+
+#endif /* SA_NETWORK_H_ */
diff --git a/SA_POP/SANet/SANetFileIn.cpp b/SA_POP/SANet/SANetFileIn.cpp
new file mode 100644
index 00000000000..6105985f440
--- /dev/null
+++ b/SA_POP/SANet/SANetFileIn.cpp
@@ -0,0 +1,219 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SANetFileIn.cpp
+ *
+ * This file contains the SANetFileIn class implementation for the input adapter
+ * that initializes a SANet object using an XML SANet file.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SANet_Types.h"
+#include "SANetFileIn.h"
+
+#if !defined (SANET_STANDALONE)
+#include "Builder.h"
+#endif
+
+#include "Utils/XML_Helper.h"
+#include "XML_SANet.hpp"
+
+using namespace SANet;
+
+// Constructor.
+SANetFileIn::SANetFileIn (void)
+{
+  // Nothing to do.
+};
+
+// Destructor.
+SANetFileIn::~SANetFileIn (void)
+{
+  // Nothing to do.
+};
+
+// Build network from XML file.
+Network *SANetFileIn::build_net (std::string filename)
+{
+  CIAO::Config_Handlers::XML_Helper helper;
+  if (!helper.is_initialized ())
+    return 0;
+
+  // Parse file with Xerces.
+  XERCES_CPP_NAMESPACE::DOMDocument *dom =
+#if defined (SA_POP_HAS_CIAO)
+    helper.create_dom (filename.c_str ());
+#else
+    helper.create_dom (filename.c_str (), "");
+#endif  /* SA_POP_HAS_CIAO */
+  if (!dom)
+    return 0;
+
+  SANet::XML::Network xml_net = SANet::XML::network (dom);
+
+  SANet::Network *net = new SANet::Network ();
+
+  // Get task nodes.
+  for (SANet::XML::Network::taskNode_iterator iter = xml_net.begin_taskNode ();
+    iter != xml_net.end_taskNode (); iter++)
+  {
+    TaskID nodeID = (*iter).nodeID ();
+    Probability priorProb = (*iter).priorProb ();
+    MultFactor attenFactor = (*iter).attenFactor ();
+    TaskCost cost = (*iter).cost ();
+//    TimeValue dur = 
+    char name[SANet::SANetFileIn::STR_BUF_SIZE];
+    wcstombs (name, (*iter).name ().c_str (), SANet::SANetFileIn::STR_BUF_SIZE);
+    
+    net->add_task (nodeID, name, attenFactor, cost, priorProb);
+  }
+
+  // Get condition nodes.
+  for (SANet::XML::Network::condNode_iterator iter = xml_net.begin_condNode ();
+    iter != xml_net.end_condNode (); iter++)
+  {
+    CondID nodeID = (*iter).nodeID ();
+    Probability probTrue = (*iter).probTrue ();
+    Utility utility = (*iter).utility ();
+    MultFactor attenFactor = (*iter).attenFactor ();
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//    CondKind
+    char name[SANet::SANetFileIn::STR_BUF_SIZE];
+    wcstombs (name, (*iter).name ().c_str (), SANet::SANetFileIn::STR_BUF_SIZE);
+
+	SANet::XML::CondKind cond_kind = (*iter).kind();
+  ::SA_POP::CondKind cond;
+  if(cond_kind==cond_kind.ENVIRON) cond=::SA_POP::ENVIRON;
+  else if(cond_kind==cond_kind.SYSTEM) cond=::SA_POP::SYSTEM;
+  else cond=::SA_POP::DATA;
+   
+    net->add_cond (nodeID, name, attenFactor,
+      probTrue, 1.0 - probTrue, utility, cond);
+  }
+
+  // Get precondition->task links.
+  for (SANet::XML::Network::precondLink_iterator iter = xml_net.begin_precondLink ();
+    iter != xml_net.end_precondLink (); iter++)
+  {
+    CondID condID = (*iter).condID ();
+    TaskID taskID = (*iter).taskID ();
+    Probability trueProb = (*iter).trueProb ();
+    Probability falseProb = (*iter).falseProb ();
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    char portID[SANet::SANetFileIn::STR_BUF_SIZE];
+    wcstombs (portID, (*iter).portID ().c_str (), SANet::SANetFileIn::STR_BUF_SIZE);
+
+    net->add_precond_link (condID, taskID, trueProb, falseProb);
+  }
+
+  // Get task->effect links.
+  for (SANet::XML::Network::effectLink_iterator iter = xml_net.begin_effectLink ();
+    iter != xml_net.end_effectLink (); iter++)
+  {
+    TaskID taskID = (*iter).taskID ();
+    CondID condID = (*iter).condID ();
+    Probability weight = (*iter).weight ();
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    char portID[SANet::SANetFileIn::STR_BUF_SIZE];
+    wcstombs (portID, (*iter).portID ().c_str (), SANet::SANetFileIn::STR_BUF_SIZE);
+
+    net->add_effect_link (taskID, condID, weight);
+  }
+
+  return net;
+};
+
+#if !defined (SANET_STANDALONE)
+// Build network from XML file.
+void SANetFileIn::build_net (std::string filename, SA_POP::Builder *builder)
+{
+  CIAO::Config_Handlers::XML_Helper helper;
+  if (!helper.is_initialized ())
+    return;
+
+  // Parse file with Xerces.
+  XERCES_CPP_NAMESPACE::DOMDocument *dom =
+#if defined (SA_POP_HAS_CIAO)
+    helper.create_dom (filename.c_str ());
+#else
+    helper.create_dom (filename.c_str (), "");
+#endif  /* SA_POP_HAS_CIAO */
+  if (!dom)
+    return;
+
+  SANet::XML::Network xml_net = SANet::XML::network (dom);
+
+  // Get task nodes.
+  for (SANet::XML::Network::taskNode_iterator iter = xml_net.begin_taskNode ();
+    iter != xml_net.end_taskNode (); iter++)
+  {
+    TaskID nodeID = (*iter).nodeID ();
+    Probability priorProb = (*iter).priorProb ();
+    MultFactor attenFactor = (*iter).attenFactor ();
+    TaskCost cost = (*iter).cost ();
+
+    char name[SANet::SANetFileIn::STR_BUF_SIZE];
+    wcstombs (name, (*iter).name ().c_str (), SANet::SANetFileIn::STR_BUF_SIZE);
+    
+    builder->add_task (nodeID, priorProb, name);
+  }
+
+  // Get condition nodes.
+  for (SANet::XML::Network::condNode_iterator iter = xml_net.begin_condNode ();
+    iter != xml_net.end_condNode (); iter++)
+  {
+    CondID nodeID = (*iter).nodeID ();
+    Probability probTrue = (*iter).probTrue ();
+    Utility utility = (*iter).utility ();
+    MultFactor attenFactor = (*iter).attenFactor ();
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//    CondKind
+    char name[SANet::SANetFileIn::STR_BUF_SIZE];
+    wcstombs (name, (*iter).name ().c_str (), SANet::SANetFileIn::STR_BUF_SIZE);
+	SANet::XML::CondKind cond_kind = (*iter).kind();
+	SA_POP::CondKind cond;
+	if(cond_kind==cond_kind.ENVIRON) cond=::SA_POP::ENVIRON;
+	else if(cond_kind==cond_kind.SYSTEM) cond=::SA_POP::SYSTEM;
+  else cond=::SA_POP::DATA;
+	builder->add_cond (nodeID, utility, probTrue, name, cond);
+  }
+
+  // Get precondition->task links.
+  for (SANet::XML::Network::precondLink_iterator iter = xml_net.begin_precondLink ();
+    iter != xml_net.end_precondLink (); iter++)
+  {
+    CondID condID = (*iter).condID ();
+    TaskID taskID = (*iter).taskID ();
+    Probability trueProb = (*iter).trueProb ();
+    Probability falseProb = (*iter).falseProb ();
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    char portID[SANet::SANetFileIn::STR_BUF_SIZE];
+    wcstombs (portID, (*iter).portID ().c_str (), SANet::SANetFileIn::STR_BUF_SIZE);
+
+    builder->set_precond (condID, taskID, portID, trueProb, falseProb);
+  }
+
+  // Get task->effect links.
+  for (SANet::XML::Network::effectLink_iterator iter = xml_net.begin_effectLink ();
+    iter != xml_net.end_effectLink (); iter++)
+  {
+    TaskID taskID = (*iter).taskID ();
+    CondID condID = (*iter).condID ();
+    Probability weight = (*iter).weight ();
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    char portID[SANet::SANetFileIn::STR_BUF_SIZE];
+    wcstombs (portID, (*iter).portID ().c_str (), SANet::SANetFileIn::STR_BUF_SIZE);
+
+    builder->set_effect (taskID, condID, portID, weight);
+  }
+};
+#endif /* SANET_STANDALONE */
diff --git a/SA_POP/SANet/SANetFileIn.h b/SA_POP/SANet/SANetFileIn.h
new file mode 100644
index 00000000000..97e019644e0
--- /dev/null
+++ b/SA_POP/SANet/SANetFileIn.h
@@ -0,0 +1,64 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SANetFileIn.h
+ *
+ * This file contains the SANetFileIn class definition for the input adapter
+ * that initializes a SANet object using an XML SANet file.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SANET_SANET_FILE_IN_H_
+#define SANET_SANET_FILE_IN_H_
+
+#include "SANet_Types.h"
+#include "SANet.h"
+
+#if !defined (SANET_STANDALONE)
+#include "Builder.h"
+#endif
+
+namespace SANet {
+
+  /**
+   * @class SANetFileIn
+   *
+   * @brief Input adapter that initializes a SANet object using an XML
+   *        SANet file.
+   */
+  class SANetFileIn {
+  public:
+    /// Constructor.
+    SANetFileIn (void);
+
+    /// Destructor.
+    virtual ~SANetFileIn (void);
+
+    /// Buffer size for string conversion.
+    const static size_t STR_BUF_SIZE = 129;
+
+    /// Create network from XML file.
+    /**
+     * @param filename  Name of XML SANet network file.
+     *
+     * @return  New SANet network.
+     */
+    virtual Network *build_net (std::string filename);
+
+#if !defined (SANET_STANDALONE)
+    /// Build network from XML file.
+    /**
+     * @param filename  Name of XML SANet network file.
+     *
+     * @param builder  SA-POP builder to use in building the SANet network.
+     */
+    virtual void build_net (std::string filename, SA_POP::Builder *builder);
+#endif /* SANET_STANDALONE not defined */
+  };
+};  /* SANet namespace */
+
+#endif /* SANET_SANET_FILE_IN_H_ */
diff --git a/SA_POP/SANet/SANet_Exceptions.cpp b/SA_POP/SANet/SANet_Exceptions.cpp
new file mode 100644
index 00000000000..e394a8767f7
--- /dev/null
+++ b/SA_POP/SANet/SANet_Exceptions.cpp
@@ -0,0 +1,47 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SANet_Exceptions.cpp
+ *
+ * This file contains the exception implementations for spreading activation
+ * networks.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SANet_Exceptions.h"
+
+using namespace SANet;
+
+Invalid_Step::Invalid_Step (void)
+: std::invalid_argument ("Invalid step argument")
+{
+  // Nothing to do.
+};
+
+Update_Error::Update_Error (void)
+: std::logic_error ("Update error")
+{
+  // Nothing to do.
+};
+
+Duplicate_ID::Duplicate_ID (void)
+: std::invalid_argument ("Duplicate ID provided for node creation")
+{
+  // Nothing to do.
+};
+
+Insertion_Error::Insertion_Error (void)
+: std::logic_error ("Error while attempting to insert a value in map or set")
+{
+  // Nothing to do.
+};
+
+UnknownNode::UnknownNode (void)
+: std::invalid_argument ("Unknown node lookup")
+{
+  // Nothing to do.
+};
diff --git a/SA_POP/SANet/SANet_Exceptions.h b/SA_POP/SANet/SANet_Exceptions.h
new file mode 100644
index 00000000000..1934cdbc789
--- /dev/null
+++ b/SA_POP/SANet/SANet_Exceptions.h
@@ -0,0 +1,79 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SANet_Exceptions.h
+ *
+ * This file contains the exception definitions for spreading activation
+ * networks.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SANET_EXCEPTIONS_H_
+#define SANET_EXCEPTIONS_H_
+
+#include <stdexcept>
+
+namespace SANet {
+  /**
+   * @class Invalid_Step
+   *
+   * @brief Exception class for invalid step arguments.
+   */
+  class Invalid_Step : public std::invalid_argument {
+  public:
+    /// Constructor.
+    Invalid_Step (void);
+  };
+
+  /**
+   * @class Update_Error
+   *
+   * @brief Exception class for unrecoverable update errors.
+   */
+  class Update_Error : public std::logic_error {
+  public:
+    /// Constructor.
+    Update_Error (void);
+  };
+
+  /**
+   * @class Duplicate_ID
+   *
+   * @brief Exception class for duplicate ID value during node creation.
+   */
+  class Duplicate_ID : public std::invalid_argument {
+  public:
+    /// Constructor.
+    Duplicate_ID (void);
+  };
+
+  /**
+   * @class Insertion_Error
+   *
+   * @brief Exception class for unknown errors during map/set insertion.
+   */
+  class Insertion_Error : public std::logic_error {
+  public:
+    /// Constructor.
+    Insertion_Error (void);
+  };
+
+  /**
+   * @class UnknownNode
+   *
+   * @brief Exception class for unknown node error when looking up a node.
+   */
+  class UnknownNode : public std::invalid_argument {
+  public:
+    /// Constructor.
+    UnknownNode (void);
+  };
+
+};  /* SANet namespace */
+
+
+#endif /* SANET_EXCEPTIONS_H_ */
diff --git a/SA_POP/SANet/SANet_Types.h b/SA_POP/SANet/SANet_Types.h
new file mode 100644
index 00000000000..c4f20f090f9
--- /dev/null
+++ b/SA_POP/SANet/SANet_Types.h
@@ -0,0 +1,208 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SANet_Types.h
+ *
+ * This file contains the definitions of types used throughout SANet.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SANET_TYPES_H_
+#define SANET_TYPES_H_
+
+#include <string>
+#include <set>
+#include <list>
+#include <map>
+#include <utility>
+
+
+#if !defined (SANET_STANDALONE)
+
+#include "SA_POP_Types.h"
+
+namespace SANet {
+  /// Type of a node id (tasks and conditions).
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef SA_POP::NodeID NodeID;
+
+  /// Type of a condition id.
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef SA_POP::CondID CondID;
+
+  /// Type of a condition value.
+  typedef SA_POP::CondValue CondValue;
+
+  /// Type of a condition kind/type.
+  typedef SA_POP::CondKind CondKind;
+
+  /// Type of a condition.
+  typedef SA_POP::Condition Condition;
+
+  /// Type of a task ID.
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef SA_POP::TaskID TaskID;
+
+  /// NULL task ID (for unknown/uninitialized tasks).
+  const TaskID NULL_TASK_ID = SA_POP::NULL_TASK_ID;
+
+  /// NULL condition ID (for unknown/uninitialized conditions).
+  const CondID NULL_COND_ID = SA_POP::NULL_TASK_ID;
+
+  /// Type of a port id.
+  typedef SA_POP::PortID PortID;
+
+  /// Type of an expected utility calculation (basetype for others).
+  /// (N.B. this must be a double or float to handle [0,1] range probabilities
+  /// and multiplication factors).
+  typedef SA_POP::EUCalc EUCalc;
+          
+  /// Type of a condition utility.
+  typedef SA_POP::Utility Utility;
+
+  /// Type of a probability.
+  typedef SA_POP::Probability Probability;
+
+  /// Type of a (precondition or effect) link weight.
+  typedef SA_POP::LinkWeight LinkWeight;
+
+  /// Type of a task cost.
+  typedef SA_POP::TaskCost TaskCost;
+
+  /// Type of a multiplicative factor (e.g. attenuation factor).
+  typedef SA_POP::MultFactor MultFactor;
+
+  /// Type of a precondition link.
+  typedef SA_POP::PrecondLink PrecondLink;
+
+  /// Type of an effect link.
+  typedef SA_POP::EffectLink EffectLink;
+
+  /// Type of a pair of ports for a link.
+  typedef SA_POP::LinkPorts LinkPorts;
+
+  /// Type of a list of tasks.
+  typedef SA_POP::TaskList TaskList;
+
+  /// Type of a set of goal conditions with associated utilities.
+  typedef SA_POP::GoalMap GoalMap;
+
+  /// Type of a set of tasks with associated expected utilities.
+  typedef SA_POP::TaskEUMap TaskEUMap;
+
+  /// Type of a set of conditions (condition & value).
+  typedef SA_POP::CondSet CondSet;
+
+  /// Type of a set of task ids.
+  typedef SA_POP::TaskSet TaskSet;
+
+    /// Type of duration
+  typedef SA_POP::TimeValue TimeValue;
+
+    /// NULL time (for unknown or unconstrained times).
+  #define NULL_TIME -1
+
+};  /* SANet namespace */
+
+#endif /* SANET_STANDALONE not defined */
+
+
+#if defined (SANET_STANDALONE)
+
+namespace SANet {
+
+  /// Type of a node id (tasks and conditions).
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef int NodeID;
+
+  /// Type of a condition id.
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef NodeID CondID;
+
+  /// Type of a condition value.
+  typedef bool CondValue;
+
+  /// Type of a condition kind/type.
+  enum CondKind {ENVIRON, SYSTEM, DATA};
+
+  /// Type of a condition.
+  struct Condition {
+    CondID id;
+    CondValue value;
+    CondKind kind;
+    bool operator== (const Condition &s) const { return this->id == s.id; };
+    bool operator!= (const Condition &s) const { return !(*this == s); };
+    bool operator< (const Condition &s) const { return this->id < s.id; };
+  };
+
+  /// Type of a task ID.
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef NodeID TaskID;
+
+  /// NULL task ID (for unknown/uninitialized tasks).
+  const TaskID NULL_TASK_ID = 0;
+
+  /// NULL condition ID (for unknown/uninitialized conditions).
+  const CondID NULL_COND_ID = 0;
+
+  /// Type of a port id.
+  typedef std::string PortID;
+
+  /// Type of an expected utility calculation (basetype for others).
+  /// (N.B. this must be a double or float to handle [0,1] range probabilities
+  /// and multiplication factors).
+  typedef double EUCalc;
+          
+  /// Type of a condition utility.
+  typedef EUCalc Utility;
+
+  /// Type of a probability.
+  typedef EUCalc Probability;
+
+  /// Type of a (precondition or effect) link weight.
+  typedef EUCalc LinkWeight;
+
+  /// Type of a task cost.
+  typedef EUCalc TaskCost;
+
+  /// Type of a multiplicative factor (e.g. attenuation factor).
+  typedef EUCalc MultFactor;
+
+  /// Type of duration
+  typedef int TimeValue;
+
+  /// NULL time (for unknown or unconstrained times).
+  #define NULL_TIME -1
+
+  /// Type of a precondition link.
+  typedef std::pair<CondID, TaskID> PrecondLink;
+
+  /// Type of an effect link.
+  typedef std::pair<TaskID, CondID> EffectLink;
+
+  /// Type of a pair of ports for a link.
+  typedef std::pair<PortID, PortID> LinkPorts;
+
+  /// Type of a list of tasks.
+  typedef std::list<TaskID> TaskList;
+
+  /// Type of a set of goal conditions with associated utilities.
+  typedef std::map<CondID, Utility> GoalMap;
+
+  /// Type of a set of tasks with associated expected utilities.
+  typedef std::map<TaskID, Utility> TaskEUMap;
+
+  /// Type of a set of conditions (condition & value).
+  typedef std::set<Condition> CondSet;
+
+  /// Type of a set of task ids.
+  typedef std::set<TaskID> TaskSet;
+
+};  /* SANet namespace */
+#endif /* SANET_STANDALONE */
+
+#endif /* SANET_TYPES_H_ */
diff --git a/SA_POP/SANet/SANode.cpp b/SA_POP/SANet/SANode.cpp
new file mode 100644
index 00000000000..4ce882526d0
--- /dev/null
+++ b/SA_POP/SANet/SANode.cpp
@@ -0,0 +1,1020 @@
+// -*- C++ -*-
+
+//=============================================================================
+/**
+ * @file  SANode.cpp
+ *
+ * This file contains the Node, CondNode, & TaskNode class
+ * implementations for spreading activation network nodes.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SANode.h"
+#include "SANet_Exceptions.h"
+#include <utility>
+#include <iostream>
+
+using namespace SANet;
+
+Node::Node (NodeID ID, std::string name, MultFactor atten_factor)
+: ID_ (ID),
+  name_ (name),
+  atten_factor_ (atten_factor),
+  step_ (0),
+  prob_changed_ (false),
+  util_changed_ (false)
+{
+  // Initialize probability and utility info.
+  pos_util_.utility = 0;
+  pos_util_.common.clear ();
+  neg_util_.utility = 0;
+  neg_util_.common.clear ();
+  true_prob_.probability = 0;
+  true_prob_.common.clear ();
+  false_prob_.probability = 0;
+  false_prob_.common.clear ();
+
+  // Initialize (empty) pre and post node maps and links.
+  pre_nodes_.clear ();
+  pre_links_.clear ();
+  post_nodes_.clear ();
+  post_links_.clear ();
+};
+
+Node::~Node ()
+{
+  // Nothing to do.
+};
+
+Utility_Info Node::get_reward (int step)
+{
+  // Check to ensure step is the current step, or else throw exception
+  if (step != step_) {
+    throw Invalid_Step ();
+  }
+
+  // Return positive utility info.
+  return pos_util_;
+};
+
+Probability_Info Node::get_prob (int step, bool value)
+{
+  // Check to ensure step is the current step, or else throw exception
+  if (step != step_) {
+    throw Invalid_Step ();
+  }
+
+  // Return probability for true if value is true.
+  if (value) {
+    return true_prob_;
+  }
+  // Otherwise return probability for false.
+  return false_prob_;
+};
+
+bool Node::prob_changed (void)
+{
+  return prob_changed_;
+};
+
+bool Node::util_changed (void)
+{
+  return util_changed_;
+};
+
+std::string Node::get_name (void)
+{
+  return name_;
+};
+
+NodeID Node::get_ID (void)
+{
+  return ID_;
+};
+
+// Get pre-links (nodes with links to this node).
+const LinkMap& Node::get_pre (void)
+{
+  return this->pre_links_;
+};
+
+// Get post-links (nodes with links from this node).
+const LinkMap& Node::get_post (void)
+{
+  return this->post_links_;  
+};
+
+TaskNode::TaskNode (NodeID ID, std::string name, MultFactor atten_factor,
+                          TaskCost cost, Probability prior_prob)
+: Node (ID, name, atten_factor),
+  cost_ (cost),
+  prior_prob_ (prior_prob)
+{
+  // Nothing to do.
+};
+
+TaskNode::~TaskNode (void)
+{
+  // Nothing to do.
+};
+
+bool TaskNode::update (void)
+{
+  // Reset change flags.
+  prob_changed_ = false;
+  util_changed_ = false;
+
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // Probability flag is not being set correctly, so run to max steps...
+  prob_changed_ = true;
+  util_changed_ = true;
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+  // Flag for detection of loops.
+  bool is_loop = false;
+
+  // Variables for current node and link in updates.
+  CondNode *cur_node;
+  CondID cur_ID;
+  LinkMap::iterator link_iter;
+  LinkWeight cur_weight;
+  MultFactor cur_mult;
+
+  // Variables for current probability value.
+  Probability_Info cur_prob;
+  ProbabilityMap::iterator true_prob_iter;
+  ProbabilityMap::iterator false_prob_iter;
+  ProbabilityMap::iterator prev_prob_iter;
+
+  // Reset probability info.
+  true_prob_.probability = prior_prob_;
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // clearing common probabilities set removes self (if "loop" found where
+  // this node is receiving utility from same goal on multiple paths).  so
+  // will never realize that nothing has changed.
+  // and (possible) common probabilities are never removed from the set once
+  // detected so this does not need to be cleared as long as any
+  // changed probabilities are appropriately changed in common set... right??? 
+  true_prob_.common.clear ();
+
+  // Update probability.
+  for (NodeMap::iterator node_iter = pre_nodes_.begin ();
+    node_iter != pre_nodes_.end (); node_iter++)
+  {
+    // Get current node info.
+    cur_ID = node_iter->first;
+    cur_node = (CondNode *) node_iter->second;
+
+    // Get current link info.
+    link_iter = pre_links_.find(cur_ID);
+    if (link_iter == pre_links_.end ()) {
+      throw Update_Error ();
+    }
+    cur_weight = link_iter->second;
+
+    // Get current probability info.
+    try {
+      if (cur_weight >= 0) {
+        cur_prob = cur_node->get_prob (step_, true);
+      } else {
+        cur_prob = cur_node->get_prob (step_, false);
+      }
+    } catch (Invalid_Step e) {
+      std::cerr << "Error in task node update:  Invalid step value.";
+      std::cerr << std::endl;
+      return false;
+    } catch (...) {
+      std::cerr << "Unexpected exception thrown in task node update.";
+      std::cerr << std::endl;
+      return false;
+    }
+
+    // Get conditional probability of success for true precondition.
+    true_prob_iter = pre_true_probs_.find (cur_ID);
+    if (true_prob_iter == pre_true_probs_.end ()) {
+      throw Update_Error ();
+    }
+
+    // Get conditional probability of success for false precondition.
+    false_prob_iter = pre_false_probs_.find (cur_ID);
+    if (false_prob_iter == pre_false_probs_.end ()) {
+      throw Update_Error ();
+    }
+
+    // Update true probability depending on sign of link weight.
+    if (cur_weight >= 0) {
+      // Update conditional probability of success given this node.
+      cur_prob.probability = ((cur_prob.probability * true_prob_iter->second) +
+        ((1 - cur_prob.probability) * false_prob_iter->second));
+
+      // Update probability.
+      true_prob_.probability = true_prob_.probability * cur_prob.probability /
+        prior_prob_;
+    } else {
+      // Update conditional probability of success given this node.
+      cur_prob.probability = ((cur_prob.probability * false_prob_iter->second)
+        + ((1 - cur_prob.probability) * true_prob_iter->second));
+
+      // Update probability.
+      true_prob_.probability = true_prob_.probability * cur_prob.probability /
+        prior_prob_;
+    }
+
+    // Update prob_changed_ flag if necessary.
+    if (cur_node->prob_changed ()) {
+      prob_changed_ = true;
+    }
+
+    // Update common probabilities and handle duplicates.
+    for (ProbabilityMap::iterator prob_iter = cur_prob.common.begin ();
+      prob_iter != cur_prob.common.end (); prob_iter++)
+    {
+      prev_prob_iter = true_prob_.common.find (prob_iter->first);
+
+      // If a common probability is already in the probability map,
+      // divide from probability, otherwise add it to the probability map.
+      if (prev_prob_iter != true_prob_.common.end ())
+      {
+#if defined (SANET_DEBUG)
+          std::cout << std::endl << "DEBUG in TaskNode::update()... (" << ID_ << ") Duplicate common probability found:" << std::endl;
+          std::cout << "Probability from " << prev_prob_iter->first << " = " << prev_prob_iter->second << std::endl << std::endl;
+#endif /* SANET_DEBUG */
+        true_prob_.probability = true_prob_.probability / 
+          prev_prob_iter->second;
+      } else {
+        true_prob_.common.insert (std::make_pair (prob_iter->first,
+          prob_iter->second));
+      }
+    }
+  }
+
+  // Variables for current utility updates.
+  Utility_Info cur_util;
+  UtilityMap::iterator prev_util_iter;
+
+  // Reset utility info.
+  pos_util_.utility = 0;
+  pos_util_.common.clear ();
+  neg_util_.utility = 0;
+  neg_util_.common.clear ();
+
+  // Update utility.
+  for (NodeMap::iterator node_iter = post_nodes_.begin ();
+    node_iter != post_nodes_.end (); node_iter++)
+  {
+    // Get current node info.
+    cur_ID = node_iter->first;
+    cur_node = (CondNode *) node_iter->second;
+
+    // Update util_changed_ flag if necessary.
+    if (cur_node->util_changed ()) {
+      util_changed_ = true;
+    }
+
+    // Get current link info.
+    link_iter = post_links_.find(cur_ID);
+    if (link_iter == post_links_.end ()) {
+      throw Update_Error ();
+    }
+    cur_weight = link_iter->second;
+
+    // Set multiplier as attenuation factor times link weight, probability
+    // that task will succeed, and probability that effect node has the
+    // opposite value from what task would change it to.
+    if (cur_weight >= 0) {
+      cur_mult = atten_factor_ * cur_weight * true_prob_.probability *
+        cur_node->get_prob (step_, false).probability;
+    } else {
+      cur_mult = atten_factor_ * cur_weight * true_prob_.probability *
+        cur_node->get_prob (step_, true).probability;
+    }
+
+    // Get current utility info.
+    try {
+      cur_util = cur_node->get_reward (step_);
+    } catch (Invalid_Step e) {
+      std::cerr << "Error in task node update:  Invalid step value.";
+      std::cerr << std::endl;
+      return false;
+    } catch (...) {
+      std::cerr << "Unexpected exception thrown in task node update.";
+      std::cerr << std::endl;
+      return false;
+    }
+
+    // Updated utility based on current multiplier.
+    cur_util.utility = cur_mult * cur_util.utility;
+
+    // Update positive or negative utilities depending on sign of link weight.
+    if (cur_weight >= 0) {
+      // Add utility to expected utility value.
+      pos_util_.utility += cur_util.utility;
+
+      // Update all component utilities based on link weight, and handle
+      // utilities from common goals.
+      for (UtilityMap::iterator util_iter = cur_util.common.begin ();
+        util_iter != cur_util.common.end (); util_iter++)
+      {
+        util_iter->second = cur_mult * util_iter->second;
+        prev_util_iter = pos_util_.common.find (util_iter->first);
+
+        // If a utility from this goal is already in the utility map,
+        // delete smaller utility value, otherwise add the utility from this
+        // goal to the utility map.
+        if (prev_util_iter != pos_util_.common.end ())
+        {
+#if defined (SANET_DEBUG)
+            std::cout << std::endl << "DEBUG in TaskNode::update()... (" << ID_ << ") Duplicate utility from goal found:" << std::endl;
+            std::cout << "Utility from " << prev_util_iter->first << " = " << prev_util_iter->second << std::endl << std::endl;
+#endif /* SANET_DEBUG */
+          if (prev_util_iter->second < util_iter->second) {
+            pos_util_.utility -= prev_util_iter->second;
+          } else {
+            pos_util_.utility -= util_iter->second;
+          }
+          // Set loop flag.
+          is_loop = true;
+        } else {
+          pos_util_.common.insert (std::make_pair (util_iter->first,
+            util_iter->second));
+        }
+      }
+    } else {
+      // Add utility to expected utility value.
+      neg_util_.utility += cur_util.utility;
+
+      // Update all component utilities based on link weight, and handle
+      // utilities from common goals.
+      for (UtilityMap::iterator util_iter = cur_util.common.begin ();
+        util_iter != cur_util.common.end (); util_iter++)
+      {
+        util_iter->second = cur_mult * util_iter->second;
+        prev_util_iter = neg_util_.common.find (util_iter->first);
+
+        // If a utility from this goal is already in the utility map,
+        // delete larger (less negative) utility value, otherwise add the
+        // utility from this goal to the utility map.
+        if (prev_util_iter != neg_util_.common.end ())
+        {
+          if (prev_util_iter->second > util_iter->second) {
+            neg_util_.utility -= prev_util_iter->second;
+          } else {
+            neg_util_.utility -= util_iter->second;
+          }
+          // Set loop flag.
+          is_loop = true;
+        } else {
+          neg_util_.common.insert (std::make_pair (util_iter->first,
+            util_iter->second));
+        }
+      }
+    }
+  }
+
+//*****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG**** 
+  // Include cost in current expected utility.
+//  pos_util_.utility -= cost_;
+//*****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG****DEBUG**** 
+
+  // If a loop was detected, add current probability to common probabilities.
+  if (is_loop) {
+#if defined (SANET_DEBUG)
+    if (DEBUG) {
+      std::cout << std::endl << "DEBUG in TaskNode::update()... (" << ID_ << ") Loop detected, adding this node to common probabilities" << std::endl << std::endl;
+#endif /* SANET_DEBUG */
+    // Update common probabilities for true probability.
+    ProbabilityMap::iterator prob_iter = true_prob_.common.find (ID_);
+    if (prob_iter != true_prob_.common.end ()) {
+      if (prob_iter->second != true_prob_.probability) {
+        prob_iter->second = true_prob_.probability;
+        prob_changed_ = true;
+      }
+    } else {
+      true_prob_.common.insert (std::make_pair (ID_,
+        true_prob_.probability));
+      // Update prob_changed_ flag.
+      prob_changed_ = true;
+    }
+  }
+
+  // Set false probability (i.e. probability of task failure) to 1 minus
+  // probability of success.
+  false_prob_.probability = 1 - true_prob_.probability;
+
+  // Update step (at end of step for task node).
+  step_++;
+
+  // Return boolean changed value based on change flags.
+  return (prob_changed_ || util_changed_);
+
+};
+
+Utility TaskNode::get_utility (int step)
+{
+  // Check to ensure step is the current step, or else throw exception
+  if (step != step_) {
+    throw Invalid_Step ();
+  }
+
+  // Variable for summing expected utility.
+  Utility utility = 0;
+
+  // Add positive expected utility, negative expected utility values, and
+  // subtract cost.
+  utility += pos_util_.utility + neg_util_.utility - cost_;
+
+  return utility;
+};
+
+void TaskNode::print (std::basic_ostream<char, std::char_traits<char> >&
+                         strm, bool verbose)
+{
+  // Print node name and ID.
+  strm << "Task Node \"" << name_ << "\":" << std::endl;
+  strm << "  ID: " << ID_ << std::endl;
+
+  // Print cost and expected utility.
+  strm << "  Cost: " << cost_ << std::endl;
+  strm << "  Expected Utility: " << get_utility (step_) << std::endl;
+
+  // If verbose, print positive and negative component utilities from goals.
+  if (verbose) {
+    // Print positive utility and its component utilities.
+    strm << "  Positive utility received: " << pos_util_.utility << std::endl;
+    for (UtilityMap::iterator iter = pos_util_.common.begin ();
+      iter != pos_util_.common.end (); iter++)
+    {
+      strm << "    Component expected utility from goal " << iter->first;
+      strm << " = " << iter->second;
+      strm << std::endl;
+    }
+
+    // Print negative utility and its component utilities.
+    strm << "  Negative utility received: " << neg_util_.utility << std::endl;
+    for (UtilityMap::iterator iter = neg_util_.common.begin ();
+      iter != neg_util_.common.end (); iter++)
+    {
+      strm << "    Component expected utility from goal " << iter->first;
+      strm << " = " << iter->second;
+      strm << std::endl;
+    }
+  }
+
+  // Print probability of task success.
+  strm << "  Probability (success): " << true_prob_.probability << std::endl;
+
+  // If verbose, print common utility
+  if (verbose) {
+    for (ProbabilityMap::iterator iter = true_prob_.common.begin ();
+      iter != true_prob_.common.end (); iter++)
+    {
+      strm << "    Component probability (possible loops only) from ";
+      strm << iter->first << " = " << iter->second;
+      strm << std::endl;
+    }
+  }
+
+  // If verbose, print probability of task failure.
+  if (verbose) {
+    strm << "  Probability (failure): " << false_prob_.probability;
+    strm << std::endl;
+  }
+
+  // Current link map iterator input and output link printing loops.
+  LinkMap::iterator cur_link_iter;
+
+  // Print node input links.
+  strm << "  In Links (preconditions):" << std::endl;
+  for (NodeMap::iterator node_iter = pre_nodes_.begin ();
+    node_iter != pre_nodes_.end (); node_iter++)
+  {
+    // Print input node name and ID.
+    strm << "    " << node_iter->first << " ";
+    strm << "(" << node_iter->second->get_name () << "); ";
+
+    // Find link for this node.
+    cur_link_iter = pre_links_.find (node_iter->first);
+
+    // If this node couldn't be found in pre_links_ print error,
+    // otherwise print link weight.
+    if (cur_link_iter == pre_links_.end ()) {
+      strm << "ERROR: weight not found";
+    } else {
+      strm << "weight = " << cur_link_iter->second;
+    }
+    strm << std::endl;
+
+    // If verbose, print conditional probabilities of success for precondition.
+    if (verbose) {
+      strm << "      Conditional probability if true: ";
+      strm << pre_true_probs_.find (node_iter->first)->second << std::endl;
+      strm << "      Conditional probability if false: ";
+      strm << pre_false_probs_.find (node_iter->first)->second << std::endl;
+    }
+  }
+
+  // Print node output links.
+  strm << "  Out Links (effects):" << std::endl;
+  for (NodeMap::iterator node_iter = post_nodes_.begin ();
+    node_iter != post_nodes_.end (); node_iter++)
+  {
+    // Print output node name and ID.
+    strm << "    " << node_iter->first << " ";
+    strm << "(" << node_iter->second->get_name () << "); ";
+
+    // Find link for this node.
+    cur_link_iter = post_links_.find (node_iter->first);
+
+    // If this node couldn't be found in post_links_ print error,
+    // otherwise print link weight.
+    if (cur_link_iter == post_links_.end ()) {
+      strm << "ERROR: weight not found";
+    } else {
+      strm << "weight = " << cur_link_iter->second;
+    }
+    strm << std::endl;
+  }
+};
+
+void TaskNode::add_precond (CondID ID, CondNode *node, Probability true_prob,
+                               Probability false_prob)
+{
+  // Add node to pre-nodes.
+  pre_nodes_.insert (std::make_pair (ID, node));
+
+  // Add probabilities.
+  pre_true_probs_.insert (std::make_pair (ID, true_prob));
+  pre_false_probs_.insert (std::make_pair (ID, false_prob));
+
+  // Add link weight.
+  LinkWeight weight = (true_prob - false_prob)/(true_prob + false_prob);
+  pre_links_.insert (std::make_pair (ID, weight));
+
+  // Add link for precondition node.
+  node->add_post_link (ID_, this, weight);
+};
+
+void TaskNode::add_effect (CondID ID, CondNode *node, LinkWeight weight)
+{
+  // Add node to post-nodes.
+  post_nodes_.insert (std::make_pair (ID, node));
+
+  // Add link weight.
+  post_links_.insert (std::make_pair (ID, weight));
+
+  // Add link for precondition node.
+  node->add_pre_link (ID_, this, weight);
+};
+
+CondNode::CondNode (CondID ID, std::string name, MultFactor atten_factor,
+                      Probability true_prob, Probability false_prob, Utility goal_util, CondKind condkind)
+: Node (ID, name, atten_factor),
+  goal_util_ (goal_util),
+  init_true_prob_ (true_prob),
+  true_prob_from_ (ID),
+  false_prob_from_ (ID),
+  cond_kind_ (condkind)
+{
+  // Set initial probabilities.
+  true_prob_.probability = true_prob;
+  false_prob_.probability = false_prob;
+
+  // Set prob_changed_ flag.
+  prob_changed_ = true;
+
+  // If this node is a goal, set util_changed_ flag and add goal utility
+  // to positive utilities.
+  if (goal_util > 0) {
+    util_changed_ = true;
+    pos_util_.utility = goal_util;
+    pos_util_.common.insert (std::make_pair (ID, goal_util));
+  }
+};
+
+CondNode::~CondNode (void)
+{
+  // Nothing to do.
+};
+
+// Get initial/current probability.
+Probability CondNode::get_init_prob (bool value)
+{
+  if (value)
+    return this->init_true_prob_;
+
+  return (1.0 - this->init_true_prob_);
+};
+
+// Update initial/current probability.
+void CondNode::set_init_prob (Probability init_true_prob)
+{
+  this->init_true_prob_ = init_true_prob;
+  this->prob_changed_ = true;
+};
+
+void CondNode::print (std::basic_ostream<char, std::char_traits<char> >&
+                         strm, bool verbose)
+{
+  // Print node name and ID.
+  strm << "Condition Node \"" << name_ << "\":" << std::endl;
+  strm << "  ID: " << ID_ << std::endl;
+
+  // Print goal utility.
+  strm << "  Goal utility: " << goal_util_ << std::endl;
+
+  // Print positive utility.
+  strm << "  Expected utility for true value: " << pos_util_.utility;
+  strm << std::endl;
+
+  // If verbose, print component utilities from all goals.
+  if (verbose) {
+    for (UtilityMap::iterator iter = pos_util_.common.begin ();
+      iter != pos_util_.common.end (); iter++)
+    {
+      strm << "    Component expected utility from goal " << iter->first;
+      strm << " = " << iter->second;
+      strm << std::endl;
+    }
+  }
+
+  // Print negative utility.
+  strm << "  Expected utility for false value: " << neg_util_.utility;
+  strm << std::endl;
+
+  // If verbose, print component utilities from all goals.
+  if (verbose) {
+    for (UtilityMap::iterator iter = neg_util_.common.begin ();
+      iter != neg_util_.common.end (); iter++)
+    {
+      strm << "    Component expected utility from goal " << iter->first;
+      strm << " = " << iter->second;
+      strm << std::endl;
+    }
+  }
+
+  // Print probability (maximum) that condition is true.
+  strm << "  Probability (true): " << true_prob_.probability << std::endl;
+
+  // If verbose, print component probabilities for loops.
+  if (verbose) {
+    for (ProbabilityMap::iterator iter = true_prob_.common.begin ();
+      iter != true_prob_.common.end (); iter++)
+    {
+      strm << "    Component probability (possible loops only) from ";
+      strm << iter->first << " = " << iter->second;
+      strm << std::endl;
+    }
+  }
+
+  // Print probability (maximum) that condition is false.
+  strm << "  Probability (false): " << false_prob_.probability << std::endl;
+
+  // If verbose, print component probabilities for loops.
+  if (verbose) {
+    for (ProbabilityMap::iterator iter = false_prob_.common.begin ();
+      iter != false_prob_.common.end (); iter++)
+    {
+      strm << "    Component probability (possible loops only) from ";
+      strm << iter->first << " = " << iter->second;
+      strm << std::endl;
+    }
+  }
+
+  // Current link map iterator input and output link printing loops.
+  LinkMap::iterator cur_link_iter;
+
+  // Print node input links.
+  strm << "  In Links (tasks that change this condition):" << std::endl;
+  for (NodeMap::iterator node_iter = pre_nodes_.begin ();
+    node_iter != pre_nodes_.end (); node_iter++)
+  {
+    // Print input node name and ID.
+    strm << "    " << node_iter->first << " ";
+    strm << "(" << node_iter->second->get_name () << "); ";
+
+    // Find link for this node.
+    cur_link_iter = pre_links_.find (node_iter->first);
+
+    // If this node couldn't be found in pre_links_ print error,
+    // otherwise print link weight.
+    if (cur_link_iter == pre_links_.end ()) {
+      strm << "ERROR: weight not found";
+    } else {
+      strm << "weight = " << cur_link_iter->second;
+    }
+    strm << std::endl;
+  }
+
+  // Print node output links.
+  strm << "  Out Links (tasks that have this precondition):" << std::endl;
+  for (NodeMap::iterator node_iter = post_nodes_.begin ();
+    node_iter != post_nodes_.end (); node_iter++)
+  {
+    // Print output node name and ID.
+    strm << "    " << node_iter->first << " ";
+    strm << "(" << node_iter->second->get_name () << "); ";
+
+    // Find link for this node.
+    cur_link_iter = post_links_.find (node_iter->first);
+
+    // If this node couldn't be found in post_links_ print error,
+    // otherwise print link weight.
+    if (cur_link_iter == post_links_.end ()) {
+      strm << "ERROR: weight not found";
+    } else {
+      strm << "weight = " << cur_link_iter->second;
+    }
+    strm << std::endl;
+  }
+};
+
+bool CondNode::update (void)
+{
+  // Reset change flags.
+  prob_changed_ = false;
+  util_changed_ = false;
+
+  // Update step (at beginning of step for condition node).
+  step_++;
+
+  // Flag for detection of loops.
+  bool is_loop = false;
+
+  // Variables for current node and link in updates.
+  TaskNode *cur_node;
+  TaskID cur_ID;
+  LinkMap::iterator link_iter;
+  LinkWeight cur_weight;
+  MultFactor cur_mult;
+
+  // Reset utility info.
+  pos_util_.utility = 0;
+  pos_util_.common.clear ();
+  neg_util_.utility = 0;
+  neg_util_.common.clear ();
+  // If this node is a goal, set add goal utility to positive utilities.
+  if (goal_util_ > 0) {
+    pos_util_.utility = goal_util_;
+    pos_util_.common.insert (std::make_pair (ID_, goal_util_));
+  };
+
+  // Variables for current utility updates.
+  Utility_Info cur_util;
+  UtilityMap::iterator prev_util_iter;
+
+  // Update utility.
+  for (NodeMap::iterator node_iter = post_nodes_.begin ();
+    node_iter != post_nodes_.end (); node_iter++)
+  {
+    // Get current node info.
+    cur_ID = node_iter->first;
+    cur_node = (TaskNode *) node_iter->second;
+
+    // Update util_changed_ flag if necessary.
+    if (cur_node->util_changed ()) {
+      util_changed_ = true;
+    }
+
+    // Get current link info.
+    link_iter = post_links_.find(cur_ID);
+    if (link_iter == post_links_.end ()) {
+      throw Update_Error ();
+    }
+    cur_weight = link_iter->second;
+
+    // Set multiplier as attenuation factor times link weight.
+    cur_mult = atten_factor_ * cur_weight;
+
+    // Get current utility info.
+    try {
+      cur_util = cur_node->get_reward (step_);
+    } catch (Invalid_Step e) {
+      std::cerr << "Error in condition node update:  Invalid step value.";
+      std::cerr << std::endl;
+      return false;
+    } catch (...) {
+      std::cerr << "Unexpected exception thrown in condition node update.";
+      std::cerr << std::endl;
+      return false;
+    }
+
+    // Updated utility based on current multiplier.
+    cur_util.utility = cur_mult * cur_util.utility;
+
+    // Update positive or negative utilities depending on sign of link weight.
+    if (cur_weight >= 0) {
+      // Add utility to expected utility value.
+      pos_util_.utility += cur_util.utility;
+
+      // Update all component utilities based on link weight, and handle
+      // utilities from common goals.
+      for (UtilityMap::iterator util_iter = cur_util.common.begin ();
+        util_iter != cur_util.common.end (); util_iter++)
+      {
+        util_iter->second = cur_mult * util_iter->second;
+        prev_util_iter = pos_util_.common.find (util_iter->first);
+
+        // If a utility from this goal is already in the utility map,
+        // delete smaller utility value, otherwise add the utility from this
+        // goal to the utility map.
+        if (prev_util_iter != pos_util_.common.end ())
+        {
+#if defined (SANET_DEBUG)
+            std::cout << std::endl << "DEBUG in CondNode::update()... (" << ID_ << ") Duplicate utility from goal found:" << std::endl;
+            std::cout << "Utility from " << prev_util_iter->first << " = " << prev_util_iter->second << std::endl << std::endl;
+#endif /* SANET_DEBUG */
+          if (prev_util_iter->second < util_iter->second) {
+            pos_util_.utility -= prev_util_iter->second;
+          } else {
+            pos_util_.utility -= util_iter->second;
+          }
+          // Set loop flag.
+          is_loop = true;
+        } else {
+          pos_util_.common.insert (std::make_pair (util_iter->first,
+            util_iter->second));
+        }
+      }
+    } else {
+      // Add utility to expected utility value.
+      neg_util_.utility += cur_util.utility;
+
+      // Update all component utilities based on link weight, and handle
+      // utilities from common goals.
+      for (UtilityMap::iterator util_iter = cur_util.common.begin ();
+        util_iter != cur_util.common.end (); util_iter++)
+      {
+        util_iter->second = cur_mult * util_iter->second;
+        prev_util_iter = neg_util_.common.find (util_iter->first);
+
+        // If a utility from this goal is already in the utility map,
+        // delete larger (less negative) utility value, otherwise add the
+        // utility from this goal to the utility map.
+        if (prev_util_iter != neg_util_.common.end ())
+        {
+          if (prev_util_iter->second > util_iter->second) {
+            neg_util_.utility -= prev_util_iter->second;
+          } else {
+            neg_util_.utility -= util_iter->second;
+          }
+          // Set loop flag.
+          is_loop = true;
+        } else {
+          neg_util_.common.insert (std::make_pair (util_iter->first,
+            util_iter->second));
+        }
+      }
+    }
+  }
+
+  // Variables for current probability value.
+  Probability_Info cur_prob;
+  ProbabilityMap::iterator prob_iter;
+
+  // Update probability.
+  for (NodeMap::iterator node_iter = pre_nodes_.begin ();
+    node_iter != pre_nodes_.end (); node_iter++)
+  {
+    // Get current node info.
+    cur_ID = node_iter->first;
+    cur_node = (TaskNode *) node_iter->second;
+
+    // Get current link info.
+    link_iter = pre_links_.find(cur_ID);
+    if (link_iter == pre_links_.end ()) {
+      throw Update_Error ();
+    }
+    cur_weight = link_iter->second;
+
+    // Set multiplier as absolute value of link weight.
+    if (cur_weight >= 0) {
+      cur_mult = cur_weight;
+    } else {
+      cur_mult = -1 * cur_weight;
+    }
+
+    // Get current probability info.
+    try {
+      cur_prob = cur_node->get_prob (step_);
+    } catch (Invalid_Step e) {
+      std::cerr << "Error in condition node update:  Invalid step value.";
+      std::cerr << std::endl;
+      return false;
+    } catch (...) {
+      std::cerr << "Unexpected exception thrown in condition node update.";
+      std::cerr << std::endl;
+      return false;
+    }
+
+    // Update probability based on current multiplier.
+    cur_prob.probability = cur_mult * cur_prob.probability;
+
+    // Update true or false probability depending on sign of link weight.
+    if (cur_weight >= 0) {
+      // Change true probability if this probability is higher than previous.
+      if (cur_prob.probability > true_prob_.probability) {
+        true_prob_ = cur_prob;
+        true_prob_from_ = cur_ID;
+
+        // Update prob_changed_ flag.
+        prob_changed_ = true;
+      }
+      // Otherwise check for newly detected common probabilities if current
+      // probability is from this node.
+      else if (true_prob_from_ == cur_ID) {
+        for (prob_iter = cur_prob.common.begin ();
+          prob_iter != cur_prob.common.end (); prob_iter++)
+        {
+          // If this common probability is not in current common probability
+          // map, add it.
+          if (true_prob_.common.find (prob_iter->first) ==
+            true_prob_.common.end ())
+          {
+            // Add common probability.
+            true_prob_.common.insert (std::make_pair (prob_iter->first,
+              prob_iter->second));
+
+            // Update prob_changed_ flag.
+            prob_changed_ = true;
+          }
+        }
+      }
+    } else {
+      // Change false probability if this probability is higher than previous.
+      if (cur_prob.probability > false_prob_.probability) {
+        false_prob_ = cur_prob;
+        false_prob_from_ = cur_ID;
+
+        // Update prob_changed_ flag.
+        prob_changed_ = true;
+      }
+      // Otherwise check for newly detected common probabilities if current
+      // probability is from this node.
+      else if (false_prob_from_ == cur_ID) {
+        for (prob_iter = cur_prob.common.begin ();
+          prob_iter != cur_prob.common.end (); prob_iter++)
+        {
+          // If this common probability is not in current common probability
+          // map, add it.
+          if (false_prob_.common.find (prob_iter->first) ==
+            false_prob_.common.end ())
+          {
+            // Add common probability.
+            false_prob_.common.insert (std::make_pair (prob_iter->first,
+              prob_iter->second));
+
+            // Update prob_changed_ flag.
+            prob_changed_ = true;
+          }
+        }
+      }
+    }
+  }
+
+  // If a loop was detected, add current probability to common probabilities.
+  if (is_loop) {
+#if defined (SANET_DEBUG)
+      std::cout << std::endl << "DEBUG in CondNode::update()... (" << ID_ << ") Loop detected, adding this node to common probabilities" << std::endl << std::endl;
+#endif /* SANET_DEBUG */
+    // Update common probabilities for true probability.
+    prob_iter = true_prob_.common.find (ID_);
+    if (prob_iter != true_prob_.common.end ()) {
+      prob_iter->second = true_prob_.probability;
+    } else {
+      true_prob_.common.insert (std::make_pair (ID_,
+        true_prob_.probability));
+      // Update prob_changed_ flag.
+      prob_changed_ = true;
+    }
+  }
+
+  // Return boolean changed value based on change flags.
+  return (prob_changed_ || util_changed_);
+};
+
+void CondNode::add_pre_link (TaskID ID, TaskNode *node, LinkWeight weight)
+{
+  // Add node to pre-nodes.
+  pre_nodes_.insert (std::make_pair (ID, node));
+
+  // Add link weight.
+  pre_links_.insert (std::make_pair (ID, weight));
+};
+
+void CondNode::add_post_link (TaskID ID, TaskNode *node, LinkWeight weight)
+{
+  // Add node to post-nodes.
+  post_nodes_.insert (std::make_pair (ID, node));
+
+  // Add link weight.
+  post_links_.insert (std::make_pair (ID, weight));
+};
+
+/// Get the kind
+CondKind CondNode::get_cond_kind()
+{
+  return this->cond_kind_;
+}
+
diff --git a/SA_POP/SANet/SANode.h b/SA_POP/SANet/SANode.h
new file mode 100644
index 00000000000..92788ddb91e
--- /dev/null
+++ b/SA_POP/SANet/SANode.h
@@ -0,0 +1,393 @@
+// -*- C++ -*-
+
+//=============================================================================
+/**
+ * @file  SANode.h
+ *
+ * This file contains the Node, CondNode, TaskNode and class
+ * definitions for spreading activation network nodes.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_NODE_H_
+#define SA_NODE_H_
+
+#include <map>
+#include <string>
+#include <stdexcept>
+#include <iostream>
+#include "SANet_Types.h"
+
+namespace SANet {
+  // Forward declaration of Node class.
+  class Node;
+
+  /// Map from node ID to pointer.
+  typedef std::map<NodeID, Node *> NodeMap;
+
+  /// Map from node ID to link weight or conditional probability.
+  typedef std::map<NodeID, LinkWeight> LinkMap;
+
+  /// Map from node ID to expected utility.
+  typedef std::map<NodeID, Utility> UtilityMap;
+
+  /// Expected utility info for a single node (at a particular step).
+  typedef struct {
+    /// Composite utility value.
+    Utility utility;
+
+    /// Map of goal node ID's to expected utilities (to avoid loops).
+    UtilityMap common;
+  } Utility_Info;
+
+  /// Probability map from node ID to probability (positive ID's indicate
+  /// probability node value is true and negative ID's indicate probability
+  /// node value is false).
+  typedef std::map<CondID, Probability> ProbabilityMap;
+
+  /// Probability info for a single node (at a particular step).
+  struct Probability_Info {
+    /// Composite probability value for the node (maximum probability for
+    /// condition nodes or conditional probability divided by prior
+    /// probability for task nodes).
+    Probability probability;
+		
+    /// Map of node ID's to component probabilities needed to avoid loops.
+    ProbabilityMap common;
+  };
+
+
+
+  /**
+   * @class Node
+   *
+   * @brief Abstract base class for nodes in the network.
+   */
+  class Node {
+  public:
+    /// Constructor.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param name  Node name.
+     *
+     * @param atten_factor  Attenuation factor (to bias toward shorter plans).
+     */
+    Node (NodeID ID, std::string name, MultFactor atten_factor);
+
+    /// Destructor.
+    virtual ~Node ();
+
+    /// Get (positive) expected utility info (from goals) for a given step.
+    /**
+     * @param step  Step for which to get reward map.
+     *
+     * @return  Positive expected utility info.
+     */
+    virtual Utility_Info get_reward (int step);
+
+    /// Get (maximum) probability info for a given step and true/false value.
+    /**
+     * @param step  Step for which to get probability info.
+     *
+     * @param value  Value for which to get probability (default = true).
+     *
+     * @return  Probability info.
+     */
+    virtual Probability_Info get_prob (int step, bool value = true);
+
+    /// Update node to next step.
+    /**
+     * @return  True if node changed probability or utility, false otherwise.
+     */
+    virtual bool update (void) = 0;
+
+    /// Did node change probability info on last update?
+    /**
+     * @return  True if node changed probability info, false otherwise.
+     */
+    virtual bool prob_changed (void);
+
+    /// Did node change utility info on last update?
+    /**
+     * @return  True if node changed utility info, false otherwise.
+     */
+    virtual bool util_changed (void);
+
+    /// Get node name.
+    /**
+     * @return  Name of node.
+     */
+    virtual std::string get_name (void);
+
+    /// Get node ID.
+    /**
+     * @return  ID of node.
+     */
+    virtual NodeID get_ID (void);
+
+    /// Get pre-links (nodes with links to this node).
+    /**
+     * @return  Map of pre-node IDs to link weights.
+     */
+    virtual const LinkMap& get_pre (void);
+
+    /// Get post-links (nodes with links from this node).
+    /**
+     * @return  Map of post-node IDs to link weights.
+     */
+    virtual const LinkMap& get_post (void);
+
+    /// Print node.
+    /**
+     * @param strm  Output stream on which to print node representation.
+     *
+     * @param verbose  Whether to print verbose representation.
+     */
+    virtual void print (std::basic_ostream<char, std::char_traits<char> >& strm
+      = std::cout, bool verbose = false) = 0;
+
+  protected:
+    /// Unique ID of node (for identification within network).
+    NodeID ID_;
+
+    /// Name of node (descriptive only).
+    std::string name_;
+
+    /// Attenuation factor (to bias toward shorter plans).
+    MultFactor atten_factor_;
+
+    /// Current step.
+    int step_;
+
+    /// Nodes with links TO this node.
+    NodeMap pre_nodes_;
+
+    /// Nodes with links FROM this node.
+    NodeMap post_nodes_;
+
+    /// Link weights for pre-nodes.
+    LinkMap pre_links_;
+
+    /// Link weights for post-nodes.
+    LinkMap post_links_;
+
+    /// Flag for whether probability info was changed on last update.
+    bool prob_changed_;
+
+    /// Flag for whether utility info was changed on last update.
+    bool util_changed_;
+
+    /// Positive expected utility info.
+    Utility_Info pos_util_;
+
+    /// Negative expected utility info.
+    Utility_Info neg_util_;
+
+    /// Probability that value is true (equivalent to success for tasks).
+    Probability_Info true_prob_;
+
+    /// Probability that value is false (equivalent to failure for tasks).
+    Probability_Info false_prob_;
+  };
+
+  // Forward declaration of CondNode class.
+  class CondNode;
+
+  /**
+   * @class TaskNode
+   *
+   * @brief Task nodes in the network.
+   */
+  class TaskNode : public Node {
+  public:
+    /// Constructor.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param name  Node name.
+     *
+     * @param atten_factor  Attenuation factor (to bias toward shorter plans).
+     *
+     * @param cost  Cost of performing task.
+     *
+     * @param prior_prob  Prior probability of success.
+     */
+    TaskNode (TaskID ID, std::string name, MultFactor atten_factor, TaskCost cost,
+      Probability prior_prob);
+
+    /// Destructor.
+    virtual ~TaskNode (void);
+
+    /// Print node.
+    /**
+     * @param strm  Output stream on which to print node representation.
+     *
+     * @param verbose  Whether to print verbose representation.
+     */
+    virtual void print (std::basic_ostream<char, std::char_traits<char> >& strm
+      = std::cout, bool verbose = false);
+
+    /// Update node to next step.
+    /**
+     * @return  True if node changed probability or utility, false otherwise.
+     */
+    virtual bool update (void);
+
+    /// Get expected utility for a given step.
+    /**
+     * @param step  Step for which to get expected utility.
+     *
+     * @return  Expected utility.
+     */
+    virtual Utility get_utility (int step);
+
+    /// Add precondition link.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param node  Node pointer.
+     *
+     * @param true_prob  Conditional probability of success given
+     * node = true.
+     *
+     * @param false_prob  Conditional probability of success given
+     * node = false.
+     */
+    virtual void add_precond (CondID ID, CondNode *node, Probability true_prob,
+      Probability false_prob);
+
+    /// Add effect link.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param node  Node pointer.
+     *
+     * @param weight  Link weight (probability task sets condition to
+     * true, or negative of the probability task sets condition to false).
+     */
+    virtual void add_effect (CondID ID, CondNode *node, LinkWeight weight);
+
+  protected:
+    /// Unconditional prior probability of success.
+    Probability prior_prob_;
+
+    /// Cost of performing task.
+    TaskCost cost_;
+
+    /// Conditional probabilities of success for pre-nodes having true values.
+    LinkMap pre_true_probs_;
+
+    /// Conditional probabilities of success for pre-nodes having false values.
+    LinkMap pre_false_probs_;
+  };
+
+  /**
+   * @class CondNode
+   *
+   * @brief Condition nodes in the network.
+   */
+  class CondNode : public Node {
+  public:
+    /// Constructor.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param name  Node name.
+     *
+     * @param atten_factor  Attenuation factor (to bias toward shorter plans).
+     *
+     * @param true_prob  Initial probability that value is true.
+     *
+     * @param false_prob  Initial probability that value is false.
+     *
+     * @param goal_util  Initial utility (positive for goals, zero otherwise).
+     *
+     * @param cond_kind  The type of condition.
+     *
+     */
+    CondNode (CondID ID, std::string name, MultFactor atten_factor,
+       Probability true_prob, Probability false_prob, Utility goal_util, CondKind cond_kind);
+
+    /// Destructor.
+    virtual ~CondNode (void);
+
+    /// Get initial/current probability.
+    /**
+     * @param value  Value for which to get probability (default = true).
+     *
+     * @return  Initial probability of given value.
+     */
+    virtual Probability get_init_prob (bool value = true);
+
+    /// Update initial/current probability.
+    /**
+     * @param init_true_prob  Initial/current probability of truth.
+     */
+    virtual void set_init_prob (Probability init_true_prob);
+
+    /// Print node.
+    /**
+     * @param strm  Output stream on which to print node representation.
+     *
+     * @param verbose  Whether to print verbose representation.
+     */
+    virtual void print (std::basic_ostream<char, std::char_traits<char> >& strm
+      = std::cout, bool verbose = false);
+
+    /// Update node to next step.
+    /**
+     * @return  True if node changed probability or utility, false otherwise.
+     */
+    virtual bool update (void);
+
+    /// Add pre-link.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param node  Node pointer.
+     *
+     * @param weight  Link weight.
+     */
+    virtual void add_pre_link (TaskID ID, TaskNode *node, LinkWeight weight);
+
+    /// Add post-link.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param node  Node pointer.
+     *
+     * @param weight  Link weight.
+     */
+    virtual void add_post_link (TaskID ID, TaskNode *node, LinkWeight weight);
+
+    /// Get the kind/type of condition.
+    /**
+     * @return The kind of the condition.
+     */
+    virtual CondKind get_cond_kind();
+
+  protected:
+    /// Goal utility for this node.
+    Utility goal_util_;
+
+    /// Initial probability (of truth/success) for this node.
+    Probability init_true_prob_;
+
+    /// Which node (ID) the current true probability value came from.
+    TaskID true_prob_from_;
+
+    /// Which node (ID) the current false probability value came from.
+    TaskID false_prob_from_;
+
+    /// Kind/type of the condition.
+    CondKind cond_kind_;
+  };
+
+
+};
+
+
+#endif /* SA_NODE_H_ */
diff --git a/SA_POP/SANet/XML_SANet.cpp b/SA_POP/SANet/XML_SANet.cpp
new file mode 100644
index 00000000000..6739be66f72
--- /dev/null
+++ b/SA_POP/SANet/XML_SANet.cpp
@@ -0,0 +1,3467 @@
+#include "XML_SANet.hpp"
+
+namespace SANet
+{
+  namespace XML
+  {
+    // NodeID
+    // 
+
+    NodeID::
+    NodeID (::XMLSchema::int_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    NodeID::
+    NodeID (::SANet::XML::NodeID const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SANet::XML::NodeID& NodeID::
+    operator= (::SANet::XML::NodeID const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // PortID
+    // 
+
+    PortID::
+    PortID (::XMLSchema::string< wchar_t > const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    PortID::
+    PortID (::SANet::XML::PortID const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SANet::XML::PortID& PortID::
+    operator= (::SANet::XML::PortID const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // TaskCost
+    // 
+
+    TaskCost::
+    TaskCost (::XMLSchema::double_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    TaskCost::
+    TaskCost (::SANet::XML::TaskCost const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SANet::XML::TaskCost& TaskCost::
+    operator= (::SANet::XML::TaskCost const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // CondUtil
+    // 
+
+    CondUtil::
+    CondUtil (::XMLSchema::double_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    CondUtil::
+    CondUtil (::SANet::XML::CondUtil const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SANet::XML::CondUtil& CondUtil::
+    operator= (::SANet::XML::CondUtil const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // CondKind
+    // 
+
+    CondKind::Value CondKind::
+    integral () const
+    {
+      return v_;
+    }
+
+    bool
+    operator== (::SANet::XML::CondKind const& a, ::SANet::XML::CondKind const& b)
+    {
+      return a.v_ == b.v_;
+    }
+
+    bool
+    operator!= (::SANet::XML::CondKind const& a, ::SANet::XML::CondKind const& b)
+    {
+      return a.v_ != b.v_;
+    }
+
+    CondKind::
+    CondKind (CondKind::Value v)
+    : v_ (v)
+    {
+    }
+
+    // Probability
+    // 
+
+    Probability::
+    Probability (::XMLSchema::double_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    Probability::
+    Probability (::SANet::XML::Probability const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SANet::XML::Probability& Probability::
+    operator= (::SANet::XML::Probability const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // LinkWeight
+    // 
+
+    LinkWeight::
+    LinkWeight (::XMLSchema::double_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    LinkWeight::
+    LinkWeight (::SANet::XML::LinkWeight const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SANet::XML::LinkWeight& LinkWeight::
+    operator= (::SANet::XML::LinkWeight const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // MultFactor
+    // 
+
+    MultFactor::
+    MultFactor (::XMLSchema::double_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    MultFactor::
+    MultFactor (::SANet::XML::MultFactor const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SANet::XML::MultFactor& MultFactor::
+    operator= (::SANet::XML::MultFactor const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // TaskNode
+    // 
+
+    TaskNode::
+    TaskNode (::SANet::XML::NodeID const& nodeID__,
+              ::XMLSchema::string< wchar_t > const& name__,
+              ::SANet::XML::Probability const& priorProb__,
+              ::SANet::XML::MultFactor const& attenFactor__,
+              ::SANet::XML::TaskCost const& cost__)
+    : 
+    ::XSCRT::Type (), 
+    nodeID_ (new ::SANet::XML::NodeID (nodeID__)),
+    name_ (new ::XMLSchema::string< wchar_t > (name__)),
+    priorProb_ (new ::SANet::XML::Probability (priorProb__)),
+    attenFactor_ (new ::SANet::XML::MultFactor (attenFactor__)),
+    cost_ (new ::SANet::XML::TaskCost (cost__)),
+    regulator__ ()
+    {
+      nodeID_->container (this);
+      name_->container (this);
+      priorProb_->container (this);
+      attenFactor_->container (this);
+      cost_->container (this);
+    }
+
+    TaskNode::
+    TaskNode (::SANet::XML::TaskNode const& s)
+    :
+    ::XSCRT::Type (),
+    nodeID_ (new ::SANet::XML::NodeID (*s.nodeID_)),
+    name_ (new ::XMLSchema::string< wchar_t > (*s.name_)),
+    priorProb_ (new ::SANet::XML::Probability (*s.priorProb_)),
+    attenFactor_ (new ::SANet::XML::MultFactor (*s.attenFactor_)),
+    cost_ (new ::SANet::XML::TaskCost (*s.cost_)),
+    regulator__ ()
+    {
+      nodeID_->container (this);
+      name_->container (this);
+      priorProb_->container (this);
+      attenFactor_->container (this);
+      cost_->container (this);
+    }
+
+    ::SANet::XML::TaskNode& TaskNode::
+    operator= (::SANet::XML::TaskNode const& s)
+    {
+      nodeID (s.nodeID ());
+
+      name (s.name ());
+
+      priorProb (s.priorProb ());
+
+      attenFactor (s.attenFactor ());
+
+      cost (s.cost ());
+
+      return *this;
+    }
+
+
+    // TaskNode
+    // 
+    ::SANet::XML::NodeID const& TaskNode::
+    nodeID () const
+    {
+      return *nodeID_;
+    }
+
+    void TaskNode::
+    nodeID (::SANet::XML::NodeID const& e)
+    {
+      *nodeID_ = e;
+    }
+
+    // TaskNode
+    // 
+    ::XMLSchema::string< wchar_t > const& TaskNode::
+    name () const
+    {
+      return *name_;
+    }
+
+    void TaskNode::
+    name (::XMLSchema::string< wchar_t > const& e)
+    {
+      *name_ = e;
+    }
+
+    // TaskNode
+    // 
+    ::SANet::XML::Probability const& TaskNode::
+    priorProb () const
+    {
+      return *priorProb_;
+    }
+
+    void TaskNode::
+    priorProb (::SANet::XML::Probability const& e)
+    {
+      *priorProb_ = e;
+    }
+
+    // TaskNode
+    // 
+    ::SANet::XML::MultFactor const& TaskNode::
+    attenFactor () const
+    {
+      return *attenFactor_;
+    }
+
+    void TaskNode::
+    attenFactor (::SANet::XML::MultFactor const& e)
+    {
+      *attenFactor_ = e;
+    }
+
+    // TaskNode
+    // 
+    ::SANet::XML::TaskCost const& TaskNode::
+    cost () const
+    {
+      return *cost_;
+    }
+
+    void TaskNode::
+    cost (::SANet::XML::TaskCost const& e)
+    {
+      *cost_ = e;
+    }
+
+
+    // CondNode
+    // 
+
+    CondNode::
+    CondNode (::SANet::XML::NodeID const& nodeID__,
+              ::XMLSchema::string< wchar_t > const& name__,
+              ::SANet::XML::Probability const& probTrue__,
+              ::SANet::XML::CondUtil const& utility__,
+              ::SANet::XML::CondKind const& kind__,
+              ::SANet::XML::MultFactor const& attenFactor__)
+    : 
+    ::XSCRT::Type (), 
+    nodeID_ (new ::SANet::XML::NodeID (nodeID__)),
+    name_ (new ::XMLSchema::string< wchar_t > (name__)),
+    probTrue_ (new ::SANet::XML::Probability (probTrue__)),
+    utility_ (new ::SANet::XML::CondUtil (utility__)),
+    kind_ (new ::SANet::XML::CondKind (kind__)),
+    attenFactor_ (new ::SANet::XML::MultFactor (attenFactor__)),
+    regulator__ ()
+    {
+      nodeID_->container (this);
+      name_->container (this);
+      probTrue_->container (this);
+      utility_->container (this);
+      kind_->container (this);
+      attenFactor_->container (this);
+    }
+
+    CondNode::
+    CondNode (::SANet::XML::CondNode const& s)
+    :
+    ::XSCRT::Type (),
+    nodeID_ (new ::SANet::XML::NodeID (*s.nodeID_)),
+    name_ (new ::XMLSchema::string< wchar_t > (*s.name_)),
+    probTrue_ (new ::SANet::XML::Probability (*s.probTrue_)),
+    utility_ (new ::SANet::XML::CondUtil (*s.utility_)),
+    kind_ (new ::SANet::XML::CondKind (*s.kind_)),
+    attenFactor_ (new ::SANet::XML::MultFactor (*s.attenFactor_)),
+    regulator__ ()
+    {
+      nodeID_->container (this);
+      name_->container (this);
+      probTrue_->container (this);
+      utility_->container (this);
+      kind_->container (this);
+      attenFactor_->container (this);
+    }
+
+    ::SANet::XML::CondNode& CondNode::
+    operator= (::SANet::XML::CondNode const& s)
+    {
+      nodeID (s.nodeID ());
+
+      name (s.name ());
+
+      probTrue (s.probTrue ());
+
+      utility (s.utility ());
+
+      kind (s.kind ());
+
+      attenFactor (s.attenFactor ());
+
+      return *this;
+    }
+
+
+    // CondNode
+    // 
+    ::SANet::XML::NodeID const& CondNode::
+    nodeID () const
+    {
+      return *nodeID_;
+    }
+
+    void CondNode::
+    nodeID (::SANet::XML::NodeID const& e)
+    {
+      *nodeID_ = e;
+    }
+
+    // CondNode
+    // 
+    ::XMLSchema::string< wchar_t > const& CondNode::
+    name () const
+    {
+      return *name_;
+    }
+
+    void CondNode::
+    name (::XMLSchema::string< wchar_t > const& e)
+    {
+      *name_ = e;
+    }
+
+    // CondNode
+    // 
+    ::SANet::XML::Probability const& CondNode::
+    probTrue () const
+    {
+      return *probTrue_;
+    }
+
+    void CondNode::
+    probTrue (::SANet::XML::Probability const& e)
+    {
+      *probTrue_ = e;
+    }
+
+    // CondNode
+    // 
+    ::SANet::XML::CondUtil const& CondNode::
+    utility () const
+    {
+      return *utility_;
+    }
+
+    void CondNode::
+    utility (::SANet::XML::CondUtil const& e)
+    {
+      *utility_ = e;
+    }
+
+    // CondNode
+    // 
+    ::SANet::XML::CondKind const& CondNode::
+    kind () const
+    {
+      return *kind_;
+    }
+
+    void CondNode::
+    kind (::SANet::XML::CondKind const& e)
+    {
+      *kind_ = e;
+    }
+
+    // CondNode
+    // 
+    ::SANet::XML::MultFactor const& CondNode::
+    attenFactor () const
+    {
+      return *attenFactor_;
+    }
+
+    void CondNode::
+    attenFactor (::SANet::XML::MultFactor const& e)
+    {
+      *attenFactor_ = e;
+    }
+
+
+    // PrecondLink
+    // 
+
+    PrecondLink::
+    PrecondLink (::SANet::XML::NodeID const& condID__,
+                 ::SANet::XML::NodeID const& taskID__,
+                 ::SANet::XML::PortID const& portID__,
+                 ::SANet::XML::Probability const& trueProb__,
+                 ::SANet::XML::Probability const& falseProb__)
+    : 
+    ::XSCRT::Type (), 
+    condID_ (new ::SANet::XML::NodeID (condID__)),
+    taskID_ (new ::SANet::XML::NodeID (taskID__)),
+    portID_ (new ::SANet::XML::PortID (portID__)),
+    trueProb_ (new ::SANet::XML::Probability (trueProb__)),
+    falseProb_ (new ::SANet::XML::Probability (falseProb__)),
+    regulator__ ()
+    {
+      condID_->container (this);
+      taskID_->container (this);
+      portID_->container (this);
+      trueProb_->container (this);
+      falseProb_->container (this);
+    }
+
+    PrecondLink::
+    PrecondLink (::SANet::XML::PrecondLink const& s)
+    :
+    ::XSCRT::Type (),
+    condID_ (new ::SANet::XML::NodeID (*s.condID_)),
+    taskID_ (new ::SANet::XML::NodeID (*s.taskID_)),
+    portID_ (new ::SANet::XML::PortID (*s.portID_)),
+    trueProb_ (new ::SANet::XML::Probability (*s.trueProb_)),
+    falseProb_ (new ::SANet::XML::Probability (*s.falseProb_)),
+    regulator__ ()
+    {
+      condID_->container (this);
+      taskID_->container (this);
+      portID_->container (this);
+      trueProb_->container (this);
+      falseProb_->container (this);
+    }
+
+    ::SANet::XML::PrecondLink& PrecondLink::
+    operator= (::SANet::XML::PrecondLink const& s)
+    {
+      condID (s.condID ());
+
+      taskID (s.taskID ());
+
+      portID (s.portID ());
+
+      trueProb (s.trueProb ());
+
+      falseProb (s.falseProb ());
+
+      return *this;
+    }
+
+
+    // PrecondLink
+    // 
+    ::SANet::XML::NodeID const& PrecondLink::
+    condID () const
+    {
+      return *condID_;
+    }
+
+    void PrecondLink::
+    condID (::SANet::XML::NodeID const& e)
+    {
+      *condID_ = e;
+    }
+
+    // PrecondLink
+    // 
+    ::SANet::XML::NodeID const& PrecondLink::
+    taskID () const
+    {
+      return *taskID_;
+    }
+
+    void PrecondLink::
+    taskID (::SANet::XML::NodeID const& e)
+    {
+      *taskID_ = e;
+    }
+
+    // PrecondLink
+    // 
+    ::SANet::XML::PortID const& PrecondLink::
+    portID () const
+    {
+      return *portID_;
+    }
+
+    void PrecondLink::
+    portID (::SANet::XML::PortID const& e)
+    {
+      *portID_ = e;
+    }
+
+    // PrecondLink
+    // 
+    ::SANet::XML::Probability const& PrecondLink::
+    trueProb () const
+    {
+      return *trueProb_;
+    }
+
+    void PrecondLink::
+    trueProb (::SANet::XML::Probability const& e)
+    {
+      *trueProb_ = e;
+    }
+
+    // PrecondLink
+    // 
+    ::SANet::XML::Probability const& PrecondLink::
+    falseProb () const
+    {
+      return *falseProb_;
+    }
+
+    void PrecondLink::
+    falseProb (::SANet::XML::Probability const& e)
+    {
+      *falseProb_ = e;
+    }
+
+
+    // EffectLink
+    // 
+
+    EffectLink::
+    EffectLink (::SANet::XML::NodeID const& taskID__,
+                ::SANet::XML::NodeID const& condID__,
+                ::SANet::XML::PortID const& portID__,
+                ::SANet::XML::LinkWeight const& weight__)
+    : 
+    ::XSCRT::Type (), 
+    taskID_ (new ::SANet::XML::NodeID (taskID__)),
+    condID_ (new ::SANet::XML::NodeID (condID__)),
+    portID_ (new ::SANet::XML::PortID (portID__)),
+    weight_ (new ::SANet::XML::LinkWeight (weight__)),
+    regulator__ ()
+    {
+      taskID_->container (this);
+      condID_->container (this);
+      portID_->container (this);
+      weight_->container (this);
+    }
+
+    EffectLink::
+    EffectLink (::SANet::XML::EffectLink const& s)
+    :
+    ::XSCRT::Type (),
+    taskID_ (new ::SANet::XML::NodeID (*s.taskID_)),
+    condID_ (new ::SANet::XML::NodeID (*s.condID_)),
+    portID_ (new ::SANet::XML::PortID (*s.portID_)),
+    weight_ (new ::SANet::XML::LinkWeight (*s.weight_)),
+    regulator__ ()
+    {
+      taskID_->container (this);
+      condID_->container (this);
+      portID_->container (this);
+      weight_->container (this);
+    }
+
+    ::SANet::XML::EffectLink& EffectLink::
+    operator= (::SANet::XML::EffectLink const& s)
+    {
+      taskID (s.taskID ());
+
+      condID (s.condID ());
+
+      portID (s.portID ());
+
+      weight (s.weight ());
+
+      return *this;
+    }
+
+
+    // EffectLink
+    // 
+    ::SANet::XML::NodeID const& EffectLink::
+    taskID () const
+    {
+      return *taskID_;
+    }
+
+    void EffectLink::
+    taskID (::SANet::XML::NodeID const& e)
+    {
+      *taskID_ = e;
+    }
+
+    // EffectLink
+    // 
+    ::SANet::XML::NodeID const& EffectLink::
+    condID () const
+    {
+      return *condID_;
+    }
+
+    void EffectLink::
+    condID (::SANet::XML::NodeID const& e)
+    {
+      *condID_ = e;
+    }
+
+    // EffectLink
+    // 
+    ::SANet::XML::PortID const& EffectLink::
+    portID () const
+    {
+      return *portID_;
+    }
+
+    void EffectLink::
+    portID (::SANet::XML::PortID const& e)
+    {
+      *portID_ = e;
+    }
+
+    // EffectLink
+    // 
+    ::SANet::XML::LinkWeight const& EffectLink::
+    weight () const
+    {
+      return *weight_;
+    }
+
+    void EffectLink::
+    weight (::SANet::XML::LinkWeight const& e)
+    {
+      *weight_ = e;
+    }
+
+
+    // Network
+    // 
+
+    Network::
+    Network (::SANet::XML::MultFactor const& defaultAttenFactor__,
+             ::SANet::XML::TaskCost const& defaultTaskCost__,
+             ::SANet::XML::CondUtil const& defaultCondUtil__,
+             ::SANet::XML::Probability const& defaultCondProbTrue__,
+             ::SANet::XML::LinkWeight const& linkThresh__)
+    : 
+    ::XSCRT::Type (), 
+    defaultAttenFactor_ (new ::SANet::XML::MultFactor (defaultAttenFactor__)),
+    defaultTaskCost_ (new ::SANet::XML::TaskCost (defaultTaskCost__)),
+    defaultCondUtil_ (new ::SANet::XML::CondUtil (defaultCondUtil__)),
+    defaultCondProbTrue_ (new ::SANet::XML::Probability (defaultCondProbTrue__)),
+    linkThresh_ (new ::SANet::XML::LinkWeight (linkThresh__)),
+    regulator__ ()
+    {
+      defaultAttenFactor_->container (this);
+      defaultTaskCost_->container (this);
+      defaultCondUtil_->container (this);
+      defaultCondProbTrue_->container (this);
+      linkThresh_->container (this);
+    }
+
+    Network::
+    Network (::SANet::XML::Network const& s)
+    :
+    ::XSCRT::Type (),
+    defaultAttenFactor_ (new ::SANet::XML::MultFactor (*s.defaultAttenFactor_)),
+    defaultTaskCost_ (new ::SANet::XML::TaskCost (*s.defaultTaskCost_)),
+    defaultCondUtil_ (new ::SANet::XML::CondUtil (*s.defaultCondUtil_)),
+    defaultCondProbTrue_ (new ::SANet::XML::Probability (*s.defaultCondProbTrue_)),
+    linkThresh_ (new ::SANet::XML::LinkWeight (*s.linkThresh_)),
+    regulator__ ()
+    {
+      defaultAttenFactor_->container (this);
+      defaultTaskCost_->container (this);
+      defaultCondUtil_->container (this);
+      defaultCondProbTrue_->container (this);
+      linkThresh_->container (this);
+      {
+        for (taskNode_const_iterator i (s.taskNode_.begin ());i != s.taskNode_.end ();++i) add_taskNode (*i);
+      }
+
+      {
+        for (condNode_const_iterator i (s.condNode_.begin ());i != s.condNode_.end ();++i) add_condNode (*i);
+      }
+
+      {
+        for (precondLink_const_iterator i (s.precondLink_.begin ());i != s.precondLink_.end ();++i) add_precondLink (*i);
+      }
+
+      {
+        for (effectLink_const_iterator i (s.effectLink_.begin ());i != s.effectLink_.end ();++i) add_effectLink (*i);
+      }
+    }
+
+    ::SANet::XML::Network& Network::
+    operator= (::SANet::XML::Network const& s)
+    {
+      defaultAttenFactor (s.defaultAttenFactor ());
+
+      defaultTaskCost (s.defaultTaskCost ());
+
+      defaultCondUtil (s.defaultCondUtil ());
+
+      defaultCondProbTrue (s.defaultCondProbTrue ());
+
+      linkThresh (s.linkThresh ());
+
+      taskNode_.clear ();
+      {
+        for (taskNode_const_iterator i (s.taskNode_.begin ());i != s.taskNode_.end ();++i) add_taskNode (*i);
+      }
+
+      condNode_.clear ();
+      {
+        for (condNode_const_iterator i (s.condNode_.begin ());i != s.condNode_.end ();++i) add_condNode (*i);
+      }
+
+      precondLink_.clear ();
+      {
+        for (precondLink_const_iterator i (s.precondLink_.begin ());i != s.precondLink_.end ();++i) add_precondLink (*i);
+      }
+
+      effectLink_.clear ();
+      {
+        for (effectLink_const_iterator i (s.effectLink_.begin ());i != s.effectLink_.end ();++i) add_effectLink (*i);
+      }
+
+      return *this;
+    }
+
+
+    // Network
+    // 
+    ::SANet::XML::MultFactor const& Network::
+    defaultAttenFactor () const
+    {
+      return *defaultAttenFactor_;
+    }
+
+    void Network::
+    defaultAttenFactor (::SANet::XML::MultFactor const& e)
+    {
+      *defaultAttenFactor_ = e;
+    }
+
+    // Network
+    // 
+    ::SANet::XML::TaskCost const& Network::
+    defaultTaskCost () const
+    {
+      return *defaultTaskCost_;
+    }
+
+    void Network::
+    defaultTaskCost (::SANet::XML::TaskCost const& e)
+    {
+      *defaultTaskCost_ = e;
+    }
+
+    // Network
+    // 
+    ::SANet::XML::CondUtil const& Network::
+    defaultCondUtil () const
+    {
+      return *defaultCondUtil_;
+    }
+
+    void Network::
+    defaultCondUtil (::SANet::XML::CondUtil const& e)
+    {
+      *defaultCondUtil_ = e;
+    }
+
+    // Network
+    // 
+    ::SANet::XML::Probability const& Network::
+    defaultCondProbTrue () const
+    {
+      return *defaultCondProbTrue_;
+    }
+
+    void Network::
+    defaultCondProbTrue (::SANet::XML::Probability const& e)
+    {
+      *defaultCondProbTrue_ = e;
+    }
+
+    // Network
+    // 
+    ::SANet::XML::LinkWeight const& Network::
+    linkThresh () const
+    {
+      return *linkThresh_;
+    }
+
+    void Network::
+    linkThresh (::SANet::XML::LinkWeight const& e)
+    {
+      *linkThresh_ = e;
+    }
+
+    // Network
+    // 
+    Network::taskNode_iterator Network::
+    begin_taskNode ()
+    {
+      return taskNode_.begin ();
+    }
+
+    Network::taskNode_iterator Network::
+    end_taskNode ()
+    {
+      return taskNode_.end ();
+    }
+
+    Network::taskNode_const_iterator Network::
+    begin_taskNode () const
+    {
+      return taskNode_.begin ();
+    }
+
+    Network::taskNode_const_iterator Network::
+    end_taskNode () const
+    {
+      return taskNode_.end ();
+    }
+
+    void Network::
+    add_taskNode (::SANet::XML::TaskNode const& e)
+    {
+      taskNode_.push_back (e);
+    }
+
+    size_t Network::
+    count_taskNode(void) const
+    {
+      return taskNode_.size ();
+    }
+
+    // Network
+    // 
+    Network::condNode_iterator Network::
+    begin_condNode ()
+    {
+      return condNode_.begin ();
+    }
+
+    Network::condNode_iterator Network::
+    end_condNode ()
+    {
+      return condNode_.end ();
+    }
+
+    Network::condNode_const_iterator Network::
+    begin_condNode () const
+    {
+      return condNode_.begin ();
+    }
+
+    Network::condNode_const_iterator Network::
+    end_condNode () const
+    {
+      return condNode_.end ();
+    }
+
+    void Network::
+    add_condNode (::SANet::XML::CondNode const& e)
+    {
+      condNode_.push_back (e);
+    }
+
+    size_t Network::
+    count_condNode(void) const
+    {
+      return condNode_.size ();
+    }
+
+    // Network
+    // 
+    Network::precondLink_iterator Network::
+    begin_precondLink ()
+    {
+      return precondLink_.begin ();
+    }
+
+    Network::precondLink_iterator Network::
+    end_precondLink ()
+    {
+      return precondLink_.end ();
+    }
+
+    Network::precondLink_const_iterator Network::
+    begin_precondLink () const
+    {
+      return precondLink_.begin ();
+    }
+
+    Network::precondLink_const_iterator Network::
+    end_precondLink () const
+    {
+      return precondLink_.end ();
+    }
+
+    void Network::
+    add_precondLink (::SANet::XML::PrecondLink const& e)
+    {
+      precondLink_.push_back (e);
+    }
+
+    size_t Network::
+    count_precondLink(void) const
+    {
+      return precondLink_.size ();
+    }
+
+    // Network
+    // 
+    Network::effectLink_iterator Network::
+    begin_effectLink ()
+    {
+      return effectLink_.begin ();
+    }
+
+    Network::effectLink_iterator Network::
+    end_effectLink ()
+    {
+      return effectLink_.end ();
+    }
+
+    Network::effectLink_const_iterator Network::
+    begin_effectLink () const
+    {
+      return effectLink_.begin ();
+    }
+
+    Network::effectLink_const_iterator Network::
+    end_effectLink () const
+    {
+      return effectLink_.end ();
+    }
+
+    void Network::
+    add_effectLink (::SANet::XML::EffectLink const& e)
+    {
+      effectLink_.push_back (e);
+    }
+
+    size_t Network::
+    count_effectLink(void) const
+    {
+      return effectLink_.size ();
+    }
+  }
+}
+
+namespace SANet
+{
+  namespace XML
+  {
+    // NodeID
+    //
+
+    NodeID::
+    NodeID (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    NodeID::
+    NodeID (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // PortID
+    //
+
+    PortID::
+    PortID (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    PortID::
+    PortID (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // TaskCost
+    //
+
+    TaskCost::
+    TaskCost (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    TaskCost::
+    TaskCost (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // CondUtil
+    //
+
+    CondUtil::
+    CondUtil (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    CondUtil::
+    CondUtil (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // CondKind
+    //
+
+    CondKind::
+    CondKind (::XSCRT::XML::Element< wchar_t > const& e)
+    : ::XSCRT::Type (e)
+    {
+      ::std::basic_string< wchar_t > v (e.value ());
+
+      if (v == L"ENVIRON") v_ = ENVIRON_l;
+      else if (v == L"SYSTEM") v_ = SYSTEM_l;
+      else if (v == L"DATA") v_ = DATA_l;
+      else 
+      {
+      }
+    }
+
+    CondKind::
+    CondKind (::XSCRT::XML::Attribute< wchar_t > const& a)
+    : ::XSCRT::Type (a)
+    {
+      ::std::basic_string< wchar_t > v (a.value ());
+
+      if (v == L"ENVIRON") v_ = ENVIRON_l;
+      else if (v == L"SYSTEM") v_ = SYSTEM_l;
+      else if (v == L"DATA") v_ = DATA_l;
+      else 
+      {
+      }
+    }
+
+    CondKind const CondKind::ENVIRON (CondKind::ENVIRON_l);
+    CondKind const CondKind::SYSTEM (CondKind::SYSTEM_l);
+    CondKind const CondKind::DATA (CondKind::DATA_l);
+
+    // Probability
+    //
+
+    Probability::
+    Probability (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    Probability::
+    Probability (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // LinkWeight
+    //
+
+    LinkWeight::
+    LinkWeight (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    LinkWeight::
+    LinkWeight (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // MultFactor
+    //
+
+    MultFactor::
+    MultFactor (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    MultFactor::
+    MultFactor (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // TaskNode
+    //
+
+    TaskNode::
+    TaskNode (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"nodeID")
+        {
+          nodeID_ = ::std::auto_ptr< ::SANet::XML::NodeID > (new ::SANet::XML::NodeID (e));
+          nodeID_->container (this);
+        }
+
+        else if (n == L"name")
+        {
+          name_ = ::std::auto_ptr< ::XMLSchema::string< wchar_t > > (new ::XMLSchema::string< wchar_t > (e));
+          name_->container (this);
+        }
+
+        else if (n == L"priorProb")
+        {
+          priorProb_ = ::std::auto_ptr< ::SANet::XML::Probability > (new ::SANet::XML::Probability (e));
+          priorProb_->container (this);
+        }
+
+        else if (n == L"attenFactor")
+        {
+          attenFactor_ = ::std::auto_ptr< ::SANet::XML::MultFactor > (new ::SANet::XML::MultFactor (e));
+          attenFactor_->container (this);
+        }
+
+        else if (n == L"cost")
+        {
+          cost_ = ::std::auto_ptr< ::SANet::XML::TaskCost > (new ::SANet::XML::TaskCost (e));
+          cost_->container (this);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // CondNode
+    //
+
+    CondNode::
+    CondNode (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"nodeID")
+        {
+          nodeID_ = ::std::auto_ptr< ::SANet::XML::NodeID > (new ::SANet::XML::NodeID (e));
+          nodeID_->container (this);
+        }
+
+        else if (n == L"name")
+        {
+          name_ = ::std::auto_ptr< ::XMLSchema::string< wchar_t > > (new ::XMLSchema::string< wchar_t > (e));
+          name_->container (this);
+        }
+
+        else if (n == L"probTrue")
+        {
+          probTrue_ = ::std::auto_ptr< ::SANet::XML::Probability > (new ::SANet::XML::Probability (e));
+          probTrue_->container (this);
+        }
+
+        else if (n == L"utility")
+        {
+          utility_ = ::std::auto_ptr< ::SANet::XML::CondUtil > (new ::SANet::XML::CondUtil (e));
+          utility_->container (this);
+        }
+
+        else if (n == L"kind")
+        {
+          kind_ = ::std::auto_ptr< ::SANet::XML::CondKind > (new ::SANet::XML::CondKind (e));
+          kind_->container (this);
+        }
+
+        else if (n == L"attenFactor")
+        {
+          attenFactor_ = ::std::auto_ptr< ::SANet::XML::MultFactor > (new ::SANet::XML::MultFactor (e));
+          attenFactor_->container (this);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // PrecondLink
+    //
+
+    PrecondLink::
+    PrecondLink (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"condID")
+        {
+          condID_ = ::std::auto_ptr< ::SANet::XML::NodeID > (new ::SANet::XML::NodeID (e));
+          condID_->container (this);
+        }
+
+        else if (n == L"taskID")
+        {
+          taskID_ = ::std::auto_ptr< ::SANet::XML::NodeID > (new ::SANet::XML::NodeID (e));
+          taskID_->container (this);
+        }
+
+        else if (n == L"portID")
+        {
+          portID_ = ::std::auto_ptr< ::SANet::XML::PortID > (new ::SANet::XML::PortID (e));
+          portID_->container (this);
+        }
+
+        else if (n == L"trueProb")
+        {
+          trueProb_ = ::std::auto_ptr< ::SANet::XML::Probability > (new ::SANet::XML::Probability (e));
+          trueProb_->container (this);
+        }
+
+        else if (n == L"falseProb")
+        {
+          falseProb_ = ::std::auto_ptr< ::SANet::XML::Probability > (new ::SANet::XML::Probability (e));
+          falseProb_->container (this);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // EffectLink
+    //
+
+    EffectLink::
+    EffectLink (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"taskID")
+        {
+          taskID_ = ::std::auto_ptr< ::SANet::XML::NodeID > (new ::SANet::XML::NodeID (e));
+          taskID_->container (this);
+        }
+
+        else if (n == L"condID")
+        {
+          condID_ = ::std::auto_ptr< ::SANet::XML::NodeID > (new ::SANet::XML::NodeID (e));
+          condID_->container (this);
+        }
+
+        else if (n == L"portID")
+        {
+          portID_ = ::std::auto_ptr< ::SANet::XML::PortID > (new ::SANet::XML::PortID (e));
+          portID_->container (this);
+        }
+
+        else if (n == L"weight")
+        {
+          weight_ = ::std::auto_ptr< ::SANet::XML::LinkWeight > (new ::SANet::XML::LinkWeight (e));
+          weight_->container (this);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // Network
+    //
+
+    Network::
+    Network (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"defaultAttenFactor")
+        {
+          defaultAttenFactor_ = ::std::auto_ptr< ::SANet::XML::MultFactor > (new ::SANet::XML::MultFactor (e));
+          defaultAttenFactor_->container (this);
+        }
+
+        else if (n == L"defaultTaskCost")
+        {
+          defaultTaskCost_ = ::std::auto_ptr< ::SANet::XML::TaskCost > (new ::SANet::XML::TaskCost (e));
+          defaultTaskCost_->container (this);
+        }
+
+        else if (n == L"defaultCondUtil")
+        {
+          defaultCondUtil_ = ::std::auto_ptr< ::SANet::XML::CondUtil > (new ::SANet::XML::CondUtil (e));
+          defaultCondUtil_->container (this);
+        }
+
+        else if (n == L"defaultCondProbTrue")
+        {
+          defaultCondProbTrue_ = ::std::auto_ptr< ::SANet::XML::Probability > (new ::SANet::XML::Probability (e));
+          defaultCondProbTrue_->container (this);
+        }
+
+        else if (n == L"linkThresh")
+        {
+          linkThresh_ = ::std::auto_ptr< ::SANet::XML::LinkWeight > (new ::SANet::XML::LinkWeight (e));
+          linkThresh_->container (this);
+        }
+
+        else if (n == L"taskNode")
+        {
+          ::SANet::XML::TaskNode t (e);
+          add_taskNode (t);
+        }
+
+        else if (n == L"condNode")
+        {
+          ::SANet::XML::CondNode t (e);
+          add_condNode (t);
+        }
+
+        else if (n == L"precondLink")
+        {
+          ::SANet::XML::PrecondLink t (e);
+          add_precondLink (t);
+        }
+
+        else if (n == L"effectLink")
+        {
+          ::SANet::XML::EffectLink t (e);
+          add_effectLink (t);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+  }
+}
+
+namespace SANet
+{
+  namespace XML
+  {
+    ::SANet::XML::Network
+    network (xercesc::DOMDocument const* d)
+    {
+      std::cout << "In create netwokr!\n";
+      ::XSCRT::XML::Element< wchar_t > e (d->getDocumentElement ());
+      std::cout << "Got the element from the network!\n";
+      if (e.name () == L"network")
+      {
+        
+        ::SANet::XML::Network r (e);
+        std::cout << "Done creating the network\n";
+        return r;
+      }
+
+      else
+      {
+        std::wcout << "The network name is not equal to network, but it is " << e.name().c_str() << std::endl;
+        throw 1;
+      }
+    }
+  }
+}
+
+#include "XMLSchema/TypeInfo.hpp"
+
+namespace SANet
+{
+  namespace XML
+  {
+    namespace
+    {
+      ::XMLSchema::TypeInfoInitializer < wchar_t > XMLSchemaTypeInfoInitializer_ (::XSCRT::extended_type_info_map ());
+
+      struct NodeIDTypeInfoInitializer
+      {
+        NodeIDTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (NodeID));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::int_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      NodeIDTypeInfoInitializer NodeIDTypeInfoInitializer_;
+
+      struct PortIDTypeInfoInitializer
+      {
+        PortIDTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (PortID));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::string< wchar_t >));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      PortIDTypeInfoInitializer PortIDTypeInfoInitializer_;
+
+      struct TaskCostTypeInfoInitializer
+      {
+        TaskCostTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (TaskCost));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::double_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      TaskCostTypeInfoInitializer TaskCostTypeInfoInitializer_;
+
+      struct CondUtilTypeInfoInitializer
+      {
+        CondUtilTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (CondUtil));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::double_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      CondUtilTypeInfoInitializer CondUtilTypeInfoInitializer_;
+
+      struct CondKindTypeInfoInitializer
+      {
+        CondKindTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (CondKind));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      CondKindTypeInfoInitializer CondKindTypeInfoInitializer_;
+
+      struct ProbabilityTypeInfoInitializer
+      {
+        ProbabilityTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (Probability));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::double_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ProbabilityTypeInfoInitializer ProbabilityTypeInfoInitializer_;
+
+      struct LinkWeightTypeInfoInitializer
+      {
+        LinkWeightTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (LinkWeight));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::double_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      LinkWeightTypeInfoInitializer LinkWeightTypeInfoInitializer_;
+
+      struct MultFactorTypeInfoInitializer
+      {
+        MultFactorTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (MultFactor));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::double_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      MultFactorTypeInfoInitializer MultFactorTypeInfoInitializer_;
+
+      struct TaskNodeTypeInfoInitializer
+      {
+        TaskNodeTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (TaskNode));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      TaskNodeTypeInfoInitializer TaskNodeTypeInfoInitializer_;
+
+      struct CondNodeTypeInfoInitializer
+      {
+        CondNodeTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (CondNode));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      CondNodeTypeInfoInitializer CondNodeTypeInfoInitializer_;
+
+      struct PrecondLinkTypeInfoInitializer
+      {
+        PrecondLinkTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (PrecondLink));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      PrecondLinkTypeInfoInitializer PrecondLinkTypeInfoInitializer_;
+
+      struct EffectLinkTypeInfoInitializer
+      {
+        EffectLinkTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (EffectLink));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      EffectLinkTypeInfoInitializer EffectLinkTypeInfoInitializer_;
+
+      struct NetworkTypeInfoInitializer
+      {
+        NetworkTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (Network));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      NetworkTypeInfoInitializer NetworkTypeInfoInitializer_;
+    }
+  }
+}
+
+namespace SANet
+{
+  namespace XML
+  {
+    namespace Traversal
+    {
+      // NodeID
+      //
+      //
+
+      void NodeID::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void NodeID::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void NodeID::
+      pre (Type&)
+      {
+      }
+
+      void NodeID::
+      pre (Type const&)
+      {
+      }
+
+      void NodeID::
+      post (Type&)
+      {
+      }
+
+      void NodeID::
+      post (Type const&)
+      {
+      }
+
+      // PortID
+      //
+      //
+
+      void PortID::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void PortID::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void PortID::
+      pre (Type&)
+      {
+      }
+
+      void PortID::
+      pre (Type const&)
+      {
+      }
+
+      void PortID::
+      post (Type&)
+      {
+      }
+
+      void PortID::
+      post (Type const&)
+      {
+      }
+
+      // TaskCost
+      //
+      //
+
+      void TaskCost::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void TaskCost::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void TaskCost::
+      pre (Type&)
+      {
+      }
+
+      void TaskCost::
+      pre (Type const&)
+      {
+      }
+
+      void TaskCost::
+      post (Type&)
+      {
+      }
+
+      void TaskCost::
+      post (Type const&)
+      {
+      }
+
+      // CondUtil
+      //
+      //
+
+      void CondUtil::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void CondUtil::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void CondUtil::
+      pre (Type&)
+      {
+      }
+
+      void CondUtil::
+      pre (Type const&)
+      {
+      }
+
+      void CondUtil::
+      post (Type&)
+      {
+      }
+
+      void CondUtil::
+      post (Type const&)
+      {
+      }
+
+      // Probability
+      //
+      //
+
+      void Probability::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void Probability::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void Probability::
+      pre (Type&)
+      {
+      }
+
+      void Probability::
+      pre (Type const&)
+      {
+      }
+
+      void Probability::
+      post (Type&)
+      {
+      }
+
+      void Probability::
+      post (Type const&)
+      {
+      }
+
+      // LinkWeight
+      //
+      //
+
+      void LinkWeight::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void LinkWeight::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void LinkWeight::
+      pre (Type&)
+      {
+      }
+
+      void LinkWeight::
+      pre (Type const&)
+      {
+      }
+
+      void LinkWeight::
+      post (Type&)
+      {
+      }
+
+      void LinkWeight::
+      post (Type const&)
+      {
+      }
+
+      // MultFactor
+      //
+      //
+
+      void MultFactor::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void MultFactor::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void MultFactor::
+      pre (Type&)
+      {
+      }
+
+      void MultFactor::
+      pre (Type const&)
+      {
+      }
+
+      void MultFactor::
+      post (Type&)
+      {
+      }
+
+      void MultFactor::
+      post (Type const&)
+      {
+      }
+
+      // TaskNode
+      //
+      //
+
+      void TaskNode::
+      traverse (Type& o)
+      {
+        pre (o);
+        nodeID (o);
+        name (o);
+        priorProb (o);
+        attenFactor (o);
+        cost (o);
+        post (o);
+      }
+
+      void TaskNode::
+      traverse (Type const& o)
+      {
+        pre (o);
+        nodeID (o);
+        name (o);
+        priorProb (o);
+        attenFactor (o);
+        cost (o);
+        post (o);
+      }
+
+      void TaskNode::
+      pre (Type&)
+      {
+      }
+
+      void TaskNode::
+      pre (Type const&)
+      {
+      }
+
+      void TaskNode::
+      nodeID (Type& o)
+      {
+        dispatch (o.nodeID ());
+      }
+
+      void TaskNode::
+      nodeID (Type const& o)
+      {
+        dispatch (o.nodeID ());
+      }
+
+      void TaskNode::
+      name (Type& o)
+      {
+        dispatch (o.name ());
+      }
+
+      void TaskNode::
+      name (Type const& o)
+      {
+        dispatch (o.name ());
+      }
+
+      void TaskNode::
+      priorProb (Type& o)
+      {
+        dispatch (o.priorProb ());
+      }
+
+      void TaskNode::
+      priorProb (Type const& o)
+      {
+        dispatch (o.priorProb ());
+      }
+
+      void TaskNode::
+      attenFactor (Type& o)
+      {
+        dispatch (o.attenFactor ());
+      }
+
+      void TaskNode::
+      attenFactor (Type const& o)
+      {
+        dispatch (o.attenFactor ());
+      }
+
+      void TaskNode::
+      cost (Type& o)
+      {
+        dispatch (o.cost ());
+      }
+
+      void TaskNode::
+      cost (Type const& o)
+      {
+        dispatch (o.cost ());
+      }
+
+      void TaskNode::
+      post (Type&)
+      {
+      }
+
+      void TaskNode::
+      post (Type const&)
+      {
+      }
+
+      // CondNode
+      //
+      //
+
+      void CondNode::
+      traverse (Type& o)
+      {
+        pre (o);
+        nodeID (o);
+        name (o);
+        probTrue (o);
+        utility (o);
+        kind (o);
+        attenFactor (o);
+        post (o);
+      }
+
+      void CondNode::
+      traverse (Type const& o)
+      {
+        pre (o);
+        nodeID (o);
+        name (o);
+        probTrue (o);
+        utility (o);
+        kind (o);
+        attenFactor (o);
+        post (o);
+      }
+
+      void CondNode::
+      pre (Type&)
+      {
+      }
+
+      void CondNode::
+      pre (Type const&)
+      {
+      }
+
+      void CondNode::
+      nodeID (Type& o)
+      {
+        dispatch (o.nodeID ());
+      }
+
+      void CondNode::
+      nodeID (Type const& o)
+      {
+        dispatch (o.nodeID ());
+      }
+
+      void CondNode::
+      name (Type& o)
+      {
+        dispatch (o.name ());
+      }
+
+      void CondNode::
+      name (Type const& o)
+      {
+        dispatch (o.name ());
+      }
+
+      void CondNode::
+      probTrue (Type& o)
+      {
+        dispatch (o.probTrue ());
+      }
+
+      void CondNode::
+      probTrue (Type const& o)
+      {
+        dispatch (o.probTrue ());
+      }
+
+      void CondNode::
+      utility (Type& o)
+      {
+        dispatch (o.utility ());
+      }
+
+      void CondNode::
+      utility (Type const& o)
+      {
+        dispatch (o.utility ());
+      }
+
+      void CondNode::
+      kind (Type& o)
+      {
+        dispatch (o.kind ());
+      }
+
+      void CondNode::
+      kind (Type const& o)
+      {
+        dispatch (o.kind ());
+      }
+
+      void CondNode::
+      attenFactor (Type& o)
+      {
+        dispatch (o.attenFactor ());
+      }
+
+      void CondNode::
+      attenFactor (Type const& o)
+      {
+        dispatch (o.attenFactor ());
+      }
+
+      void CondNode::
+      post (Type&)
+      {
+      }
+
+      void CondNode::
+      post (Type const&)
+      {
+      }
+
+      // PrecondLink
+      //
+      //
+
+      void PrecondLink::
+      traverse (Type& o)
+      {
+        pre (o);
+        condID (o);
+        taskID (o);
+        portID (o);
+        trueProb (o);
+        falseProb (o);
+        post (o);
+      }
+
+      void PrecondLink::
+      traverse (Type const& o)
+      {
+        pre (o);
+        condID (o);
+        taskID (o);
+        portID (o);
+        trueProb (o);
+        falseProb (o);
+        post (o);
+      }
+
+      void PrecondLink::
+      pre (Type&)
+      {
+      }
+
+      void PrecondLink::
+      pre (Type const&)
+      {
+      }
+
+      void PrecondLink::
+      condID (Type& o)
+      {
+        dispatch (o.condID ());
+      }
+
+      void PrecondLink::
+      condID (Type const& o)
+      {
+        dispatch (o.condID ());
+      }
+
+      void PrecondLink::
+      taskID (Type& o)
+      {
+        dispatch (o.taskID ());
+      }
+
+      void PrecondLink::
+      taskID (Type const& o)
+      {
+        dispatch (o.taskID ());
+      }
+
+      void PrecondLink::
+      portID (Type& o)
+      {
+        dispatch (o.portID ());
+      }
+
+      void PrecondLink::
+      portID (Type const& o)
+      {
+        dispatch (o.portID ());
+      }
+
+      void PrecondLink::
+      trueProb (Type& o)
+      {
+        dispatch (o.trueProb ());
+      }
+
+      void PrecondLink::
+      trueProb (Type const& o)
+      {
+        dispatch (o.trueProb ());
+      }
+
+      void PrecondLink::
+      falseProb (Type& o)
+      {
+        dispatch (o.falseProb ());
+      }
+
+      void PrecondLink::
+      falseProb (Type const& o)
+      {
+        dispatch (o.falseProb ());
+      }
+
+      void PrecondLink::
+      post (Type&)
+      {
+      }
+
+      void PrecondLink::
+      post (Type const&)
+      {
+      }
+
+      // EffectLink
+      //
+      //
+
+      void EffectLink::
+      traverse (Type& o)
+      {
+        pre (o);
+        taskID (o);
+        condID (o);
+        portID (o);
+        weight (o);
+        post (o);
+      }
+
+      void EffectLink::
+      traverse (Type const& o)
+      {
+        pre (o);
+        taskID (o);
+        condID (o);
+        portID (o);
+        weight (o);
+        post (o);
+      }
+
+      void EffectLink::
+      pre (Type&)
+      {
+      }
+
+      void EffectLink::
+      pre (Type const&)
+      {
+      }
+
+      void EffectLink::
+      taskID (Type& o)
+      {
+        dispatch (o.taskID ());
+      }
+
+      void EffectLink::
+      taskID (Type const& o)
+      {
+        dispatch (o.taskID ());
+      }
+
+      void EffectLink::
+      condID (Type& o)
+      {
+        dispatch (o.condID ());
+      }
+
+      void EffectLink::
+      condID (Type const& o)
+      {
+        dispatch (o.condID ());
+      }
+
+      void EffectLink::
+      portID (Type& o)
+      {
+        dispatch (o.portID ());
+      }
+
+      void EffectLink::
+      portID (Type const& o)
+      {
+        dispatch (o.portID ());
+      }
+
+      void EffectLink::
+      weight (Type& o)
+      {
+        dispatch (o.weight ());
+      }
+
+      void EffectLink::
+      weight (Type const& o)
+      {
+        dispatch (o.weight ());
+      }
+
+      void EffectLink::
+      post (Type&)
+      {
+      }
+
+      void EffectLink::
+      post (Type const&)
+      {
+      }
+
+      // Network
+      //
+      //
+
+      void Network::
+      traverse (Type& o)
+      {
+        pre (o);
+        defaultAttenFactor (o);
+        defaultTaskCost (o);
+        defaultCondUtil (o);
+        defaultCondProbTrue (o);
+        linkThresh (o);
+        taskNode (o);
+        condNode (o);
+        precondLink (o);
+        effectLink (o);
+        post (o);
+      }
+
+      void Network::
+      traverse (Type const& o)
+      {
+        pre (o);
+        defaultAttenFactor (o);
+        defaultTaskCost (o);
+        defaultCondUtil (o);
+        defaultCondProbTrue (o);
+        linkThresh (o);
+        taskNode (o);
+        condNode (o);
+        precondLink (o);
+        effectLink (o);
+        post (o);
+      }
+
+      void Network::
+      pre (Type&)
+      {
+      }
+
+      void Network::
+      pre (Type const&)
+      {
+      }
+
+      void Network::
+      defaultAttenFactor (Type& o)
+      {
+        dispatch (o.defaultAttenFactor ());
+      }
+
+      void Network::
+      defaultAttenFactor (Type const& o)
+      {
+        dispatch (o.defaultAttenFactor ());
+      }
+
+      void Network::
+      defaultTaskCost (Type& o)
+      {
+        dispatch (o.defaultTaskCost ());
+      }
+
+      void Network::
+      defaultTaskCost (Type const& o)
+      {
+        dispatch (o.defaultTaskCost ());
+      }
+
+      void Network::
+      defaultCondUtil (Type& o)
+      {
+        dispatch (o.defaultCondUtil ());
+      }
+
+      void Network::
+      defaultCondUtil (Type const& o)
+      {
+        dispatch (o.defaultCondUtil ());
+      }
+
+      void Network::
+      defaultCondProbTrue (Type& o)
+      {
+        dispatch (o.defaultCondProbTrue ());
+      }
+
+      void Network::
+      defaultCondProbTrue (Type const& o)
+      {
+        dispatch (o.defaultCondProbTrue ());
+      }
+
+      void Network::
+      linkThresh (Type& o)
+      {
+        dispatch (o.linkThresh ());
+      }
+
+      void Network::
+      linkThresh (Type const& o)
+      {
+        dispatch (o.linkThresh ());
+      }
+
+      void Network::
+      taskNode (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        Network::Type::taskNode_iterator b (o.begin_taskNode()), e (o.end_taskNode());
+
+        if (b != e)
+        {
+          taskNode_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) taskNode_next (o);
+          }
+
+          taskNode_post (o);
+        }
+      }
+
+      void Network::
+      taskNode (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        Network::Type::taskNode_const_iterator b (o.begin_taskNode()), e (o.end_taskNode());
+
+        if (b != e)
+        {
+          taskNode_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) taskNode_next (o);
+          }
+
+          taskNode_post (o);
+        }
+      }
+
+      void Network::
+      taskNode_pre (Type&)
+      {
+      }
+
+      void Network::
+      taskNode_pre (Type const&)
+      {
+      }
+
+      void Network::
+      taskNode_next (Type&)
+      {
+      }
+
+      void Network::
+      taskNode_next (Type const&)
+      {
+      }
+
+      void Network::
+      taskNode_post (Type&)
+      {
+      }
+
+      void Network::
+      taskNode_post (Type const&)
+      {
+      }
+
+      void Network::
+      condNode (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        Network::Type::condNode_iterator b (o.begin_condNode()), e (o.end_condNode());
+
+        if (b != e)
+        {
+          condNode_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) condNode_next (o);
+          }
+
+          condNode_post (o);
+        }
+      }
+
+      void Network::
+      condNode (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        Network::Type::condNode_const_iterator b (o.begin_condNode()), e (o.end_condNode());
+
+        if (b != e)
+        {
+          condNode_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) condNode_next (o);
+          }
+
+          condNode_post (o);
+        }
+      }
+
+      void Network::
+      condNode_pre (Type&)
+      {
+      }
+
+      void Network::
+      condNode_pre (Type const&)
+      {
+      }
+
+      void Network::
+      condNode_next (Type&)
+      {
+      }
+
+      void Network::
+      condNode_next (Type const&)
+      {
+      }
+
+      void Network::
+      condNode_post (Type&)
+      {
+      }
+
+      void Network::
+      condNode_post (Type const&)
+      {
+      }
+
+      void Network::
+      precondLink (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        Network::Type::precondLink_iterator b (o.begin_precondLink()), e (o.end_precondLink());
+
+        if (b != e)
+        {
+          precondLink_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) precondLink_next (o);
+          }
+
+          precondLink_post (o);
+        }
+      }
+
+      void Network::
+      precondLink (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        Network::Type::precondLink_const_iterator b (o.begin_precondLink()), e (o.end_precondLink());
+
+        if (b != e)
+        {
+          precondLink_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) precondLink_next (o);
+          }
+
+          precondLink_post (o);
+        }
+      }
+
+      void Network::
+      precondLink_pre (Type&)
+      {
+      }
+
+      void Network::
+      precondLink_pre (Type const&)
+      {
+      }
+
+      void Network::
+      precondLink_next (Type&)
+      {
+      }
+
+      void Network::
+      precondLink_next (Type const&)
+      {
+      }
+
+      void Network::
+      precondLink_post (Type&)
+      {
+      }
+
+      void Network::
+      precondLink_post (Type const&)
+      {
+      }
+
+      void Network::
+      effectLink (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        Network::Type::effectLink_iterator b (o.begin_effectLink()), e (o.end_effectLink());
+
+        if (b != e)
+        {
+          effectLink_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) effectLink_next (o);
+          }
+
+          effectLink_post (o);
+        }
+      }
+
+      void Network::
+      effectLink (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        Network::Type::effectLink_const_iterator b (o.begin_effectLink()), e (o.end_effectLink());
+
+        if (b != e)
+        {
+          effectLink_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) effectLink_next (o);
+          }
+
+          effectLink_post (o);
+        }
+      }
+
+      void Network::
+      effectLink_pre (Type&)
+      {
+      }
+
+      void Network::
+      effectLink_pre (Type const&)
+      {
+      }
+
+      void Network::
+      effectLink_next (Type&)
+      {
+      }
+
+      void Network::
+      effectLink_next (Type const&)
+      {
+      }
+
+      void Network::
+      effectLink_post (Type&)
+      {
+      }
+
+      void Network::
+      effectLink_post (Type const&)
+      {
+      }
+
+      void Network::
+      post (Type&)
+      {
+      }
+
+      void Network::
+      post (Type const&)
+      {
+      }
+    }
+  }
+}
+
+namespace SANet
+{
+  namespace XML
+  {
+    namespace Writer
+    {
+      // NodeID
+      //
+      //
+
+      NodeID::
+      NodeID (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      NodeID::
+      NodeID ()
+      {
+      }
+
+      void NodeID::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::int_, wchar_t >::traverse (o);
+        Traversal::NodeID::traverse (o);
+      }
+
+      // PortID
+      //
+      //
+
+      PortID::
+      PortID (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      PortID::
+      PortID ()
+      {
+      }
+
+      void PortID::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >::traverse (o);
+        Traversal::PortID::traverse (o);
+      }
+
+      // TaskCost
+      //
+      //
+
+      TaskCost::
+      TaskCost (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      TaskCost::
+      TaskCost ()
+      {
+      }
+
+      void TaskCost::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >::traverse (o);
+        Traversal::TaskCost::traverse (o);
+      }
+
+      // CondUtil
+      //
+      //
+
+      CondUtil::
+      CondUtil (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      CondUtil::
+      CondUtil ()
+      {
+      }
+
+      void CondUtil::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >::traverse (o);
+        Traversal::CondUtil::traverse (o);
+      }
+
+      // CondKind
+      //
+      //
+
+      CondKind::
+      CondKind (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      CondKind::
+      CondKind ()
+      {
+      }
+
+      void CondKind::
+      traverse (Type const& o)
+      {
+        ::std::basic_string< wchar_t > s;
+
+        if (o == ::SANet::XML::CondKind::ENVIRON) s = L"ENVIRON";
+        else if (o == ::SANet::XML::CondKind::SYSTEM) s = L"SYSTEM";
+        else if (o == ::SANet::XML::CondKind::DATA) s = L"DATA";
+        else 
+        {
+        }
+
+        if (::XSCRT::XML::Attribute< wchar_t >* a = attr_ ())
+        {
+          a->value (s);
+        }
+
+        else
+        {
+          top_().value (s);
+        }
+      }
+
+      // Probability
+      //
+      //
+
+      Probability::
+      Probability (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      Probability::
+      Probability ()
+      {
+      }
+
+      void Probability::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >::traverse (o);
+        Traversal::Probability::traverse (o);
+      }
+
+      // LinkWeight
+      //
+      //
+
+      LinkWeight::
+      LinkWeight (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      LinkWeight::
+      LinkWeight ()
+      {
+      }
+
+      void LinkWeight::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >::traverse (o);
+        Traversal::LinkWeight::traverse (o);
+      }
+
+      // MultFactor
+      //
+      //
+
+      MultFactor::
+      MultFactor (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      MultFactor::
+      MultFactor ()
+      {
+      }
+
+      void MultFactor::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >::traverse (o);
+        Traversal::MultFactor::traverse (o);
+      }
+
+      // TaskNode
+      //
+      //
+
+      TaskNode::
+      TaskNode (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      TaskNode::
+      TaskNode ()
+      {
+      }
+
+      void TaskNode::
+      traverse (Type const& o)
+      {
+        Traversal::TaskNode::traverse (o);
+      }
+
+      void TaskNode::
+      nodeID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"nodeID", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::TaskNode::nodeID (o);
+        pop_ ();
+      }
+
+      void TaskNode::
+      name (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"name", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::TaskNode::name (o);
+        pop_ ();
+      }
+
+      void TaskNode::
+      priorProb (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"priorProb", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::TaskNode::priorProb (o);
+        pop_ ();
+      }
+
+      void TaskNode::
+      attenFactor (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"attenFactor", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::TaskNode::attenFactor (o);
+        pop_ ();
+      }
+
+      void TaskNode::
+      cost (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"cost", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::TaskNode::cost (o);
+        pop_ ();
+      }
+
+      // CondNode
+      //
+      //
+
+      CondNode::
+      CondNode (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      CondNode::
+      CondNode ()
+      {
+      }
+
+      void CondNode::
+      traverse (Type const& o)
+      {
+        Traversal::CondNode::traverse (o);
+      }
+
+      void CondNode::
+      nodeID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"nodeID", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::CondNode::nodeID (o);
+        pop_ ();
+      }
+
+      void CondNode::
+      name (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"name", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::CondNode::name (o);
+        pop_ ();
+      }
+
+      void CondNode::
+      probTrue (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"probTrue", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::CondNode::probTrue (o);
+        pop_ ();
+      }
+
+      void CondNode::
+      utility (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"utility", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::CondNode::utility (o);
+        pop_ ();
+      }
+
+      void CondNode::
+      kind (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"kind", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::CondNode::kind (o);
+        pop_ ();
+      }
+
+      void CondNode::
+      attenFactor (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"attenFactor", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::CondNode::attenFactor (o);
+        pop_ ();
+      }
+
+      // PrecondLink
+      //
+      //
+
+      PrecondLink::
+      PrecondLink (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      PrecondLink::
+      PrecondLink ()
+      {
+      }
+
+      void PrecondLink::
+      traverse (Type const& o)
+      {
+        Traversal::PrecondLink::traverse (o);
+      }
+
+      void PrecondLink::
+      condID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"condID", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::PrecondLink::condID (o);
+        pop_ ();
+      }
+
+      void PrecondLink::
+      taskID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"taskID", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::PrecondLink::taskID (o);
+        pop_ ();
+      }
+
+      void PrecondLink::
+      portID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"portID", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::PrecondLink::portID (o);
+        pop_ ();
+      }
+
+      void PrecondLink::
+      trueProb (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"trueProb", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::PrecondLink::trueProb (o);
+        pop_ ();
+      }
+
+      void PrecondLink::
+      falseProb (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"falseProb", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::PrecondLink::falseProb (o);
+        pop_ ();
+      }
+
+      // EffectLink
+      //
+      //
+
+      EffectLink::
+      EffectLink (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      EffectLink::
+      EffectLink ()
+      {
+      }
+
+      void EffectLink::
+      traverse (Type const& o)
+      {
+        Traversal::EffectLink::traverse (o);
+      }
+
+      void EffectLink::
+      taskID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"taskID", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::EffectLink::taskID (o);
+        pop_ ();
+      }
+
+      void EffectLink::
+      condID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"condID", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::EffectLink::condID (o);
+        pop_ ();
+      }
+
+      void EffectLink::
+      portID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"portID", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::EffectLink::portID (o);
+        pop_ ();
+      }
+
+      void EffectLink::
+      weight (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"weight", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::EffectLink::weight (o);
+        pop_ ();
+      }
+
+      // Network
+      //
+      //
+
+      Network::
+      Network (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      Network::
+      Network ()
+      {
+      }
+
+      void Network::
+      traverse (Type const& o)
+      {
+        Traversal::Network::traverse (o);
+      }
+
+      void Network::
+      defaultAttenFactor (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"defaultAttenFactor", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::Network::defaultAttenFactor (o);
+        pop_ ();
+      }
+
+      void Network::
+      defaultTaskCost (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"defaultTaskCost", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::Network::defaultTaskCost (o);
+        pop_ ();
+      }
+
+      void Network::
+      defaultCondUtil (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"defaultCondUtil", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::Network::defaultCondUtil (o);
+        pop_ ();
+      }
+
+      void Network::
+      defaultCondProbTrue (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"defaultCondProbTrue", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::Network::defaultCondProbTrue (o);
+        pop_ ();
+      }
+
+      void Network::
+      linkThresh (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"linkThresh", L"http://www.vanderbilt.edu/SANet", top_ ()));
+        Traversal::Network::linkThresh (o);
+        pop_ ();
+      }
+
+      void Network::
+      taskNode_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"taskNode", L"http://www.vanderbilt.edu/SANet", top_ ()));
+      }
+
+      void Network::
+      taskNode_next (Type const& o)
+      {
+        taskNode_post (o);
+        taskNode_pre (o);
+      }
+
+      void Network::
+      taskNode_post (Type const&)
+      {
+        pop_ ();
+      }
+
+      void Network::
+      condNode_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"condNode", L"http://www.vanderbilt.edu/SANet", top_ ()));
+      }
+
+      void Network::
+      condNode_next (Type const& o)
+      {
+        condNode_post (o);
+        condNode_pre (o);
+      }
+
+      void Network::
+      condNode_post (Type const&)
+      {
+        pop_ ();
+      }
+
+      void Network::
+      precondLink_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"precondLink", L"http://www.vanderbilt.edu/SANet", top_ ()));
+      }
+
+      void Network::
+      precondLink_next (Type const& o)
+      {
+        precondLink_post (o);
+        precondLink_pre (o);
+      }
+
+      void Network::
+      precondLink_post (Type const&)
+      {
+        pop_ ();
+      }
+
+      void Network::
+      effectLink_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"effectLink", L"http://www.vanderbilt.edu/SANet", top_ ()));
+      }
+
+      void Network::
+      effectLink_next (Type const& o)
+      {
+        effectLink_post (o);
+        effectLink_pre (o);
+      }
+
+      void Network::
+      effectLink_post (Type const&)
+      {
+        pop_ ();
+      }
+    }
+  }
+}
+
+namespace SANet
+{
+  namespace XML
+  {
+    void
+    network (::SANet::XML::Network const& s, xercesc::DOMDocument* d)
+    {
+      ::XSCRT::XML::Element< wchar_t > e (d->getDocumentElement ());
+      if (e.name () != L"network")
+      {
+        throw 1;
+      }
+
+      struct W : virtual ::SANet::XML::Writer::Network,
+      virtual ::SANet::XML::Writer::MultFactor,
+      virtual ::SANet::XML::Writer::TaskCost,
+      virtual ::SANet::XML::Writer::CondUtil,
+      virtual ::SANet::XML::Writer::Probability,
+      virtual ::SANet::XML::Writer::LinkWeight,
+      virtual ::SANet::XML::Writer::TaskNode,
+      virtual ::SANet::XML::Writer::NodeID,
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >,
+      virtual ::SANet::XML::Writer::CondNode,
+      virtual ::SANet::XML::Writer::CondKind,
+      virtual ::SANet::XML::Writer::PrecondLink,
+      virtual ::SANet::XML::Writer::PortID,
+      virtual ::SANet::XML::Writer::EffectLink,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        W (::XSCRT::XML::Element< wchar_t >& e)
+        : ::XSCRT::Writer< wchar_t > (e)
+        {
+        }
+      };
+
+      W w (e);
+      w.dispatch (s);
+    }
+  }
+}
+
diff --git a/SA_POP/SANet/XML_SANet.hpp b/SA_POP/SANet/XML_SANet.hpp
new file mode 100644
index 00000000000..865926a9a36
--- /dev/null
+++ b/SA_POP/SANet/XML_SANet.hpp
@@ -0,0 +1,1830 @@
+#ifndef XML_SANET_HPP
+#define XML_SANET_HPP
+
+// Forward declarations.
+//
+namespace SANet
+{
+  namespace XML
+  {
+    class NodeID;
+    class PortID;
+    class TaskCost;
+    class CondUtil;
+    class CondKind;
+    class Probability;
+    class LinkWeight;
+    class MultFactor;
+    class TaskNode;
+    class CondNode;
+    class PrecondLink;
+    class EffectLink;
+    class Network;
+  }
+}
+
+#include <memory>
+#include <list>
+#include "XMLSchema/Types.hpp"
+
+namespace SANet
+{
+  namespace XML
+  {
+    class NodeID : public ::XMLSchema::int_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::int_ Base__;
+
+      public:
+      NodeID (::XMLSchema::int_ const& b__);
+
+      NodeID (::XSCRT::XML::Element< wchar_t > const&);
+      NodeID (::XSCRT::XML::Attribute< wchar_t > const&);
+      NodeID (NodeID const& s);
+
+      NodeID&
+      operator= (NodeID const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class PortID : public ::XMLSchema::string< wchar_t >
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::string< wchar_t > Base__;
+
+      public:
+      PortID (::XMLSchema::string< wchar_t > const& b__);
+
+      PortID (::XSCRT::XML::Element< wchar_t > const&);
+      PortID (::XSCRT::XML::Attribute< wchar_t > const&);
+      PortID (PortID const& s);
+
+      PortID&
+      operator= (PortID const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class TaskCost : public ::XMLSchema::double_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::double_ Base__;
+
+      public:
+      TaskCost (::XMLSchema::double_ const& b__);
+
+      TaskCost (::XSCRT::XML::Element< wchar_t > const&);
+      TaskCost (::XSCRT::XML::Attribute< wchar_t > const&);
+      TaskCost (TaskCost const& s);
+
+      TaskCost&
+      operator= (TaskCost const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class CondUtil : public ::XMLSchema::double_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::double_ Base__;
+
+      public:
+      CondUtil (::XMLSchema::double_ const& b__);
+
+      CondUtil (::XSCRT::XML::Element< wchar_t > const&);
+      CondUtil (::XSCRT::XML::Attribute< wchar_t > const&);
+      CondUtil (CondUtil const& s);
+
+      CondUtil&
+      operator= (CondUtil const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class CondKind : public ::XSCRT::Type
+    {
+      public:
+      CondKind (::XSCRT::XML::Element< wchar_t > const&);
+      CondKind (::XSCRT::XML::Attribute< wchar_t > const&);
+
+      static CondKind const ENVIRON;
+      static CondKind const SYSTEM;
+      static CondKind const DATA;
+
+      enum Value
+      {
+        ENVIRON_l,SYSTEM_l,DATA_l,
+      };
+
+
+      Value
+      integral () const;
+
+      friend bool 
+      operator== (CondKind const& a, CondKind const& b);
+
+      friend bool 
+      operator!= (CondKind const& a, CondKind const& b);
+
+      private:
+      CondKind (Value v);
+
+      Value v_;
+    };
+
+    bool operator== (CondKind const &a, CondKind const &b);
+
+    bool operator!= (CondKind const &a, CondKind const &b);
+
+
+    class Probability : public ::XMLSchema::double_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::double_ Base__;
+
+      public:
+      Probability (::XMLSchema::double_ const& b__);
+
+      Probability (::XSCRT::XML::Element< wchar_t > const&);
+      Probability (::XSCRT::XML::Attribute< wchar_t > const&);
+      Probability (Probability const& s);
+
+      Probability&
+      operator= (Probability const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class LinkWeight : public ::XMLSchema::double_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::double_ Base__;
+
+      public:
+      LinkWeight (::XMLSchema::double_ const& b__);
+
+      LinkWeight (::XSCRT::XML::Element< wchar_t > const&);
+      LinkWeight (::XSCRT::XML::Attribute< wchar_t > const&);
+      LinkWeight (LinkWeight const& s);
+
+      LinkWeight&
+      operator= (LinkWeight const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class MultFactor : public ::XMLSchema::double_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::double_ Base__;
+
+      public:
+      MultFactor (::XMLSchema::double_ const& b__);
+
+      MultFactor (::XSCRT::XML::Element< wchar_t > const&);
+      MultFactor (::XSCRT::XML::Attribute< wchar_t > const&);
+      MultFactor (MultFactor const& s);
+
+      MultFactor&
+      operator= (MultFactor const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class TaskNode : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // nodeID
+      // 
+      public:
+      ::SANet::XML::NodeID const& nodeID () const;
+      void nodeID (::SANet::XML::NodeID const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::NodeID > nodeID_;
+
+      // name
+      // 
+      public:
+      ::XMLSchema::string< wchar_t > const& name () const;
+      void name (::XMLSchema::string< wchar_t > const& );
+
+      protected:
+      ::std::auto_ptr< ::XMLSchema::string< wchar_t > > name_;
+
+      // priorProb
+      // 
+      public:
+      ::SANet::XML::Probability const& priorProb () const;
+      void priorProb (::SANet::XML::Probability const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::Probability > priorProb_;
+
+      // attenFactor
+      // 
+      public:
+      ::SANet::XML::MultFactor const& attenFactor () const;
+      void attenFactor (::SANet::XML::MultFactor const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::MultFactor > attenFactor_;
+
+      // cost
+      // 
+      public:
+      ::SANet::XML::TaskCost const& cost () const;
+      void cost (::SANet::XML::TaskCost const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::TaskCost > cost_;
+
+      public:
+      TaskNode (::SANet::XML::NodeID const& nodeID__,
+                ::XMLSchema::string< wchar_t > const& name__,
+                ::SANet::XML::Probability const& priorProb__,
+                ::SANet::XML::MultFactor const& attenFactor__,
+                ::SANet::XML::TaskCost const& cost__);
+
+      TaskNode (::XSCRT::XML::Element< wchar_t > const&);
+      TaskNode (TaskNode const& s);
+
+      TaskNode&
+      operator= (TaskNode const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class CondNode : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // nodeID
+      // 
+      public:
+      ::SANet::XML::NodeID const& nodeID () const;
+      void nodeID (::SANet::XML::NodeID const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::NodeID > nodeID_;
+
+      // name
+      // 
+      public:
+      ::XMLSchema::string< wchar_t > const& name () const;
+      void name (::XMLSchema::string< wchar_t > const& );
+
+      protected:
+      ::std::auto_ptr< ::XMLSchema::string< wchar_t > > name_;
+
+      // probTrue
+      // 
+      public:
+      ::SANet::XML::Probability const& probTrue () const;
+      void probTrue (::SANet::XML::Probability const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::Probability > probTrue_;
+
+      // utility
+      // 
+      public:
+      ::SANet::XML::CondUtil const& utility () const;
+      void utility (::SANet::XML::CondUtil const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::CondUtil > utility_;
+
+      // kind
+      // 
+      public:
+      ::SANet::XML::CondKind const& kind () const;
+      void kind (::SANet::XML::CondKind const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::CondKind > kind_;
+
+      // attenFactor
+      // 
+      public:
+      ::SANet::XML::MultFactor const& attenFactor () const;
+      void attenFactor (::SANet::XML::MultFactor const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::MultFactor > attenFactor_;
+
+      public:
+      CondNode (::SANet::XML::NodeID const& nodeID__,
+                ::XMLSchema::string< wchar_t > const& name__,
+                ::SANet::XML::Probability const& probTrue__,
+                ::SANet::XML::CondUtil const& utility__,
+                ::SANet::XML::CondKind const& kind__,
+                ::SANet::XML::MultFactor const& attenFactor__);
+
+      CondNode (::XSCRT::XML::Element< wchar_t > const&);
+      CondNode (CondNode const& s);
+
+      CondNode&
+      operator= (CondNode const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class PrecondLink : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // condID
+      // 
+      public:
+      ::SANet::XML::NodeID const& condID () const;
+      void condID (::SANet::XML::NodeID const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::NodeID > condID_;
+
+      // taskID
+      // 
+      public:
+      ::SANet::XML::NodeID const& taskID () const;
+      void taskID (::SANet::XML::NodeID const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::NodeID > taskID_;
+
+      // portID
+      // 
+      public:
+      ::SANet::XML::PortID const& portID () const;
+      void portID (::SANet::XML::PortID const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::PortID > portID_;
+
+      // trueProb
+      // 
+      public:
+      ::SANet::XML::Probability const& trueProb () const;
+      void trueProb (::SANet::XML::Probability const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::Probability > trueProb_;
+
+      // falseProb
+      // 
+      public:
+      ::SANet::XML::Probability const& falseProb () const;
+      void falseProb (::SANet::XML::Probability const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::Probability > falseProb_;
+
+      public:
+      PrecondLink (::SANet::XML::NodeID const& condID__,
+                   ::SANet::XML::NodeID const& taskID__,
+                   ::SANet::XML::PortID const& portID__,
+                   ::SANet::XML::Probability const& trueProb__,
+                   ::SANet::XML::Probability const& falseProb__);
+
+      PrecondLink (::XSCRT::XML::Element< wchar_t > const&);
+      PrecondLink (PrecondLink const& s);
+
+      PrecondLink&
+      operator= (PrecondLink const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class EffectLink : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // taskID
+      // 
+      public:
+      ::SANet::XML::NodeID const& taskID () const;
+      void taskID (::SANet::XML::NodeID const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::NodeID > taskID_;
+
+      // condID
+      // 
+      public:
+      ::SANet::XML::NodeID const& condID () const;
+      void condID (::SANet::XML::NodeID const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::NodeID > condID_;
+
+      // portID
+      // 
+      public:
+      ::SANet::XML::PortID const& portID () const;
+      void portID (::SANet::XML::PortID const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::PortID > portID_;
+
+      // weight
+      // 
+      public:
+      ::SANet::XML::LinkWeight const& weight () const;
+      void weight (::SANet::XML::LinkWeight const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::LinkWeight > weight_;
+
+      public:
+      EffectLink (::SANet::XML::NodeID const& taskID__,
+                  ::SANet::XML::NodeID const& condID__,
+                  ::SANet::XML::PortID const& portID__,
+                  ::SANet::XML::LinkWeight const& weight__);
+
+      EffectLink (::XSCRT::XML::Element< wchar_t > const&);
+      EffectLink (EffectLink const& s);
+
+      EffectLink&
+      operator= (EffectLink const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class Network : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // defaultAttenFactor
+      // 
+      public:
+      ::SANet::XML::MultFactor const& defaultAttenFactor () const;
+      void defaultAttenFactor (::SANet::XML::MultFactor const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::MultFactor > defaultAttenFactor_;
+
+      // defaultTaskCost
+      // 
+      public:
+      ::SANet::XML::TaskCost const& defaultTaskCost () const;
+      void defaultTaskCost (::SANet::XML::TaskCost const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::TaskCost > defaultTaskCost_;
+
+      // defaultCondUtil
+      // 
+      public:
+      ::SANet::XML::CondUtil const& defaultCondUtil () const;
+      void defaultCondUtil (::SANet::XML::CondUtil const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::CondUtil > defaultCondUtil_;
+
+      // defaultCondProbTrue
+      // 
+      public:
+      ::SANet::XML::Probability const& defaultCondProbTrue () const;
+      void defaultCondProbTrue (::SANet::XML::Probability const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::Probability > defaultCondProbTrue_;
+
+      // linkThresh
+      // 
+      public:
+      ::SANet::XML::LinkWeight const& linkThresh () const;
+      void linkThresh (::SANet::XML::LinkWeight const& );
+
+      protected:
+      ::std::auto_ptr< ::SANet::XML::LinkWeight > linkThresh_;
+
+      // taskNode
+      // 
+      public:
+      typedef ::std::list< ::SANet::XML::TaskNode >::iterator taskNode_iterator;
+      typedef ::std::list< ::SANet::XML::TaskNode >::const_iterator taskNode_const_iterator;
+      taskNode_iterator begin_taskNode ();
+      taskNode_iterator end_taskNode ();
+      taskNode_const_iterator begin_taskNode () const;
+      taskNode_const_iterator end_taskNode () const;
+      void add_taskNode (::SANet::XML::TaskNode const& );
+      size_t count_taskNode (void) const;
+
+      protected:
+      ::std::list< ::SANet::XML::TaskNode > taskNode_;
+
+      // condNode
+      // 
+      public:
+      typedef ::std::list< ::SANet::XML::CondNode >::iterator condNode_iterator;
+      typedef ::std::list< ::SANet::XML::CondNode >::const_iterator condNode_const_iterator;
+      condNode_iterator begin_condNode ();
+      condNode_iterator end_condNode ();
+      condNode_const_iterator begin_condNode () const;
+      condNode_const_iterator end_condNode () const;
+      void add_condNode (::SANet::XML::CondNode const& );
+      size_t count_condNode (void) const;
+
+      protected:
+      ::std::list< ::SANet::XML::CondNode > condNode_;
+
+      // precondLink
+      // 
+      public:
+      typedef ::std::list< ::SANet::XML::PrecondLink >::iterator precondLink_iterator;
+      typedef ::std::list< ::SANet::XML::PrecondLink >::const_iterator precondLink_const_iterator;
+      precondLink_iterator begin_precondLink ();
+      precondLink_iterator end_precondLink ();
+      precondLink_const_iterator begin_precondLink () const;
+      precondLink_const_iterator end_precondLink () const;
+      void add_precondLink (::SANet::XML::PrecondLink const& );
+      size_t count_precondLink (void) const;
+
+      protected:
+      ::std::list< ::SANet::XML::PrecondLink > precondLink_;
+
+      // effectLink
+      // 
+      public:
+      typedef ::std::list< ::SANet::XML::EffectLink >::iterator effectLink_iterator;
+      typedef ::std::list< ::SANet::XML::EffectLink >::const_iterator effectLink_const_iterator;
+      effectLink_iterator begin_effectLink ();
+      effectLink_iterator end_effectLink ();
+      effectLink_const_iterator begin_effectLink () const;
+      effectLink_const_iterator end_effectLink () const;
+      void add_effectLink (::SANet::XML::EffectLink const& );
+      size_t count_effectLink (void) const;
+
+      protected:
+      ::std::list< ::SANet::XML::EffectLink > effectLink_;
+
+      public:
+      Network (::SANet::XML::MultFactor const& defaultAttenFactor__,
+               ::SANet::XML::TaskCost const& defaultTaskCost__,
+               ::SANet::XML::CondUtil const& defaultCondUtil__,
+               ::SANet::XML::Probability const& defaultCondProbTrue__,
+               ::SANet::XML::LinkWeight const& linkThresh__);
+
+      Network (::XSCRT::XML::Element< wchar_t > const&);
+      Network (Network const& s);
+
+      Network&
+      operator= (Network const& s);
+
+      private:
+      char regulator__;
+    };
+  }
+}
+
+namespace SANet
+{
+  namespace XML
+  {
+    ::SANet::XML::Network
+    network (xercesc::DOMDocument const*);
+  }
+}
+
+#include "XMLSchema/Traversal.hpp"
+
+namespace SANet
+{
+  namespace XML
+  {
+    namespace Traversal
+    {
+      struct NodeID : ::XMLSchema::Traversal::Traverser< ::SANet::XML::NodeID >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct PortID : ::XMLSchema::Traversal::Traverser< ::SANet::XML::PortID >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct TaskCost : ::XMLSchema::Traversal::Traverser< ::SANet::XML::TaskCost >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct CondUtil : ::XMLSchema::Traversal::Traverser< ::SANet::XML::CondUtil >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      typedef
+      ::XMLSchema::Traversal::Traverser< ::SANet::XML::CondKind >
+      CondKind;
+
+      struct Probability : ::XMLSchema::Traversal::Traverser< ::SANet::XML::Probability >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct LinkWeight : ::XMLSchema::Traversal::Traverser< ::SANet::XML::LinkWeight >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct MultFactor : ::XMLSchema::Traversal::Traverser< ::SANet::XML::MultFactor >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct TaskNode : ::XMLSchema::Traversal::Traverser< ::SANet::XML::TaskNode >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        nodeID (Type&);
+
+        virtual void
+        nodeID (Type const&);
+
+        virtual void
+        name (Type&);
+
+        virtual void
+        name (Type const&);
+
+        virtual void
+        priorProb (Type&);
+
+        virtual void
+        priorProb (Type const&);
+
+        virtual void
+        attenFactor (Type&);
+
+        virtual void
+        attenFactor (Type const&);
+
+        virtual void
+        cost (Type&);
+
+        virtual void
+        cost (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct CondNode : ::XMLSchema::Traversal::Traverser< ::SANet::XML::CondNode >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        nodeID (Type&);
+
+        virtual void
+        nodeID (Type const&);
+
+        virtual void
+        name (Type&);
+
+        virtual void
+        name (Type const&);
+
+        virtual void
+        probTrue (Type&);
+
+        virtual void
+        probTrue (Type const&);
+
+        virtual void
+        utility (Type&);
+
+        virtual void
+        utility (Type const&);
+
+        virtual void
+        kind (Type&);
+
+        virtual void
+        kind (Type const&);
+
+        virtual void
+        attenFactor (Type&);
+
+        virtual void
+        attenFactor (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct PrecondLink : ::XMLSchema::Traversal::Traverser< ::SANet::XML::PrecondLink >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        condID (Type&);
+
+        virtual void
+        condID (Type const&);
+
+        virtual void
+        taskID (Type&);
+
+        virtual void
+        taskID (Type const&);
+
+        virtual void
+        portID (Type&);
+
+        virtual void
+        portID (Type const&);
+
+        virtual void
+        trueProb (Type&);
+
+        virtual void
+        trueProb (Type const&);
+
+        virtual void
+        falseProb (Type&);
+
+        virtual void
+        falseProb (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct EffectLink : ::XMLSchema::Traversal::Traverser< ::SANet::XML::EffectLink >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        taskID (Type&);
+
+        virtual void
+        taskID (Type const&);
+
+        virtual void
+        condID (Type&);
+
+        virtual void
+        condID (Type const&);
+
+        virtual void
+        portID (Type&);
+
+        virtual void
+        portID (Type const&);
+
+        virtual void
+        weight (Type&);
+
+        virtual void
+        weight (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct Network : ::XMLSchema::Traversal::Traverser< ::SANet::XML::Network >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        defaultAttenFactor (Type&);
+
+        virtual void
+        defaultAttenFactor (Type const&);
+
+        virtual void
+        defaultTaskCost (Type&);
+
+        virtual void
+        defaultTaskCost (Type const&);
+
+        virtual void
+        defaultCondUtil (Type&);
+
+        virtual void
+        defaultCondUtil (Type const&);
+
+        virtual void
+        defaultCondProbTrue (Type&);
+
+        virtual void
+        defaultCondProbTrue (Type const&);
+
+        virtual void
+        linkThresh (Type&);
+
+        virtual void
+        linkThresh (Type const&);
+
+        virtual void
+        taskNode (Type&);
+
+        virtual void
+        taskNode (Type const&);
+
+        virtual void
+        taskNode_pre (Type&);
+
+        virtual void
+        taskNode_pre (Type const&);
+
+        virtual void
+        taskNode_next (Type&);
+
+        virtual void
+        taskNode_next (Type const&);
+
+        virtual void
+        taskNode_post (Type&);
+
+        virtual void
+        taskNode_post (Type const&);
+
+        virtual void
+        condNode (Type&);
+
+        virtual void
+        condNode (Type const&);
+
+        virtual void
+        condNode_pre (Type&);
+
+        virtual void
+        condNode_pre (Type const&);
+
+        virtual void
+        condNode_next (Type&);
+
+        virtual void
+        condNode_next (Type const&);
+
+        virtual void
+        condNode_post (Type&);
+
+        virtual void
+        condNode_post (Type const&);
+
+        virtual void
+        precondLink (Type&);
+
+        virtual void
+        precondLink (Type const&);
+
+        virtual void
+        precondLink_pre (Type&);
+
+        virtual void
+        precondLink_pre (Type const&);
+
+        virtual void
+        precondLink_next (Type&);
+
+        virtual void
+        precondLink_next (Type const&);
+
+        virtual void
+        precondLink_post (Type&);
+
+        virtual void
+        precondLink_post (Type const&);
+
+        virtual void
+        effectLink (Type&);
+
+        virtual void
+        effectLink (Type const&);
+
+        virtual void
+        effectLink_pre (Type&);
+
+        virtual void
+        effectLink_pre (Type const&);
+
+        virtual void
+        effectLink_next (Type&);
+
+        virtual void
+        effectLink_next (Type const&);
+
+        virtual void
+        effectLink_post (Type&);
+
+        virtual void
+        effectLink_post (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+    }
+  }
+}
+
+#include "XMLSchema/Writer.hpp"
+
+namespace SANet
+{
+  namespace XML
+  {
+    namespace Writer
+    {
+      struct NodeID : Traversal::NodeID, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::int_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::NodeID Type;
+        NodeID (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        NodeID ();
+      };
+
+      struct PortID : Traversal::PortID, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::PortID Type;
+        PortID (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        PortID ();
+      };
+
+      struct TaskCost : Traversal::TaskCost, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::TaskCost Type;
+        TaskCost (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        TaskCost ();
+      };
+
+      struct CondUtil : Traversal::CondUtil, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::CondUtil Type;
+        CondUtil (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        CondUtil ();
+      };
+
+      struct CondKind : Traversal::CondKind, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        CondKind (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        CondKind ();
+      };
+
+      struct Probability : Traversal::Probability, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::Probability Type;
+        Probability (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        Probability ();
+      };
+
+      struct LinkWeight : Traversal::LinkWeight, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::LinkWeight Type;
+        LinkWeight (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        LinkWeight ();
+      };
+
+      struct MultFactor : Traversal::MultFactor, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::double_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::MultFactor Type;
+        MultFactor (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        MultFactor ();
+      };
+
+      struct TaskNode : Traversal::TaskNode, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::TaskNode Type;
+        TaskNode (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        nodeID (Type &o)
+        {
+
+          this->nodeID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        nodeID (Type const&);
+
+        virtual void 
+        name (Type &o)
+        {
+
+          this->name (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        name (Type const&);
+
+        virtual void 
+        priorProb (Type &o)
+        {
+
+          this->priorProb (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        priorProb (Type const&);
+
+        virtual void 
+        attenFactor (Type &o)
+        {
+
+          this->attenFactor (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        attenFactor (Type const&);
+
+        virtual void 
+        cost (Type &o)
+        {
+
+          this->cost (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        cost (Type const&);
+
+        protected:
+        TaskNode ();
+      };
+
+      struct CondNode : Traversal::CondNode, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::CondNode Type;
+        CondNode (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        nodeID (Type &o)
+        {
+
+          this->nodeID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        nodeID (Type const&);
+
+        virtual void 
+        name (Type &o)
+        {
+
+          this->name (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        name (Type const&);
+
+        virtual void 
+        probTrue (Type &o)
+        {
+
+          this->probTrue (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        probTrue (Type const&);
+
+        virtual void 
+        utility (Type &o)
+        {
+
+          this->utility (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        utility (Type const&);
+
+        virtual void 
+        kind (Type &o)
+        {
+
+          this->kind (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        kind (Type const&);
+
+        virtual void 
+        attenFactor (Type &o)
+        {
+
+          this->attenFactor (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        attenFactor (Type const&);
+
+        protected:
+        CondNode ();
+      };
+
+      struct PrecondLink : Traversal::PrecondLink, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::PrecondLink Type;
+        PrecondLink (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        condID (Type &o)
+        {
+
+          this->condID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        condID (Type const&);
+
+        virtual void 
+        taskID (Type &o)
+        {
+
+          this->taskID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskID (Type const&);
+
+        virtual void 
+        portID (Type &o)
+        {
+
+          this->portID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        portID (Type const&);
+
+        virtual void 
+        trueProb (Type &o)
+        {
+
+          this->trueProb (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        trueProb (Type const&);
+
+        virtual void 
+        falseProb (Type &o)
+        {
+
+          this->falseProb (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        falseProb (Type const&);
+
+        protected:
+        PrecondLink ();
+      };
+
+      struct EffectLink : Traversal::EffectLink, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::EffectLink Type;
+        EffectLink (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        taskID (Type &o)
+        {
+
+          this->taskID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskID (Type const&);
+
+        virtual void 
+        condID (Type &o)
+        {
+
+          this->condID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        condID (Type const&);
+
+        virtual void 
+        portID (Type &o)
+        {
+
+          this->portID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        portID (Type const&);
+
+        virtual void 
+        weight (Type &o)
+        {
+
+          this->weight (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        weight (Type const&);
+
+        protected:
+        EffectLink ();
+      };
+
+      struct Network : Traversal::Network, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SANet::XML::Network Type;
+        Network (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        defaultAttenFactor (Type &o)
+        {
+
+          this->defaultAttenFactor (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        defaultAttenFactor (Type const&);
+
+        virtual void 
+        defaultTaskCost (Type &o)
+        {
+
+          this->defaultTaskCost (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        defaultTaskCost (Type const&);
+
+        virtual void 
+        defaultCondUtil (Type &o)
+        {
+
+          this->defaultCondUtil (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        defaultCondUtil (Type const&);
+
+        virtual void 
+        defaultCondProbTrue (Type &o)
+        {
+
+          this->defaultCondProbTrue (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        defaultCondProbTrue (Type const&);
+
+        virtual void 
+        linkThresh (Type &o)
+        {
+
+          this->linkThresh (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        linkThresh (Type const&);
+
+        virtual void 
+        taskNode_pre (Type &o)
+        {
+
+          this->taskNode_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskNode_pre (Type const&);
+
+        virtual void 
+        taskNode_next (Type &o)
+        {
+
+          this->taskNode_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskNode_next (Type const&);
+
+        virtual void 
+        taskNode_post (Type &o)
+        {
+
+          this->taskNode_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskNode_post (Type const&);
+
+        virtual void 
+        condNode_pre (Type &o)
+        {
+
+          this->condNode_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        condNode_pre (Type const&);
+
+        virtual void 
+        condNode_next (Type &o)
+        {
+
+          this->condNode_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        condNode_next (Type const&);
+
+        virtual void 
+        condNode_post (Type &o)
+        {
+
+          this->condNode_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        condNode_post (Type const&);
+
+        virtual void 
+        precondLink_pre (Type &o)
+        {
+
+          this->precondLink_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        precondLink_pre (Type const&);
+
+        virtual void 
+        precondLink_next (Type &o)
+        {
+
+          this->precondLink_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        precondLink_next (Type const&);
+
+        virtual void 
+        precondLink_post (Type &o)
+        {
+
+          this->precondLink_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        precondLink_post (Type const&);
+
+        virtual void 
+        effectLink_pre (Type &o)
+        {
+
+          this->effectLink_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        effectLink_pre (Type const&);
+
+        virtual void 
+        effectLink_next (Type &o)
+        {
+
+          this->effectLink_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        effectLink_next (Type const&);
+
+        virtual void 
+        effectLink_post (Type &o)
+        {
+
+          this->effectLink_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        effectLink_post (Type const&);
+
+        protected:
+        Network ();
+      };
+    }
+  }
+}
+
+namespace SANet
+{
+  namespace XML
+  {
+    void
+    network (::SANet::XML::Network const&, xercesc::DOMDocument*);
+  }
+}
+
+#endif // XML_SANET_HPP
diff --git a/SA_POP/SA_Builder.cpp b/SA_POP/SA_Builder.cpp
new file mode 100644
index 00000000000..de79b7d0ee4
--- /dev/null
+++ b/SA_POP/SA_Builder.cpp
@@ -0,0 +1,166 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_Builder.cpp
+ *
+ * This file contains the implementation of the SA_Builder concrete class,
+ * which implements a Builder creating SA_Planner and associated
+ * objects for planning with spreading activation networks and scheduling
+ * with precedence graphs.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SA_POP_Types.h"
+#include "SA_Builder.h"
+#include "Planner.h"
+#include "SANet/SANet.h"
+#include "SA_PlanHeuristics.h"
+#include "SA_PlanStrategy.h"
+#include "SA_SchedStrategy.h"
+#include "SA_WorkingPlan.h"
+#include "TaskMap.h"
+
+using namespace SA_POP;
+
+// Constructor.
+SA_Builder::SA_Builder (void)
+: planner_ (0),
+sanet_ (0),
+cond_choice_ (0),
+task_choice_ (0),
+impl_choice_ (0),
+plan_strat_ (0),
+sched_strat_ (0),
+working_plan_ (0),
+task_map_ (0)
+{
+  this->init ();
+};
+
+// Destructor.
+SA_Builder::~SA_Builder (void)
+{
+  // Nothing to do because client deletes Planner and Planner
+  // handles deletion of the rest of the objects.
+};
+
+// Reset for building a new set of SA-POP objects.
+void SA_Builder::reset (void)
+{
+  // Reset planning object pointers to null.
+  this->planner_ = 0;
+  this->sanet_ = 0;
+  this->cond_choice_ = 0;
+  this->task_choice_ = 0;
+  this->impl_choice_ = 0;
+  this->plan_strat_ = 0;
+  this->sched_strat_ = 0;
+  this->working_plan_ = 0;
+  this->task_map_ = 0;
+
+  // Create and initialize planning objects.
+  this->init ();
+};
+
+// Get Planner object.
+Planner *SA_Builder::get_planner (void)
+{
+  return this->planner_;
+};
+
+// Add a task.
+void SA_Builder::add_task (TaskID id, double prior_prob,
+std::string name)
+{
+  this->sanet_->add_task (id, name, 1, 0, prior_prob);
+};
+
+// Add a condition.
+void SA_Builder::add_cond (CondID id, Utility utility,
+double init_prob_true, std::string name, CondKind cond_kind)
+{
+  this->sanet_->add_cond (id, name, 1,
+    init_prob_true, 1.0 - init_prob_true, utility, cond_kind);
+};
+
+// Add a link between a precondition and task.
+void SA_Builder::set_precond (CondID cond_id, TaskID task_id,
+PortID port, double true_prob, double false_prob)
+{
+  this->sanet_->add_precond_link (cond_id, task_id,
+    true_prob, false_prob, port);
+};
+
+// Add a link between a task and an effect.
+void SA_Builder::set_effect (TaskID task_id, CondID cond_id,
+PortID port, double weight)
+{
+  this->sanet_->add_effect_link (task_id, cond_id, weight, port);
+};
+
+// Add a resource.
+void SA_Builder::add_resource (Resource resource)
+{
+  this->task_map_->add_resource (resource);
+};
+
+// Add an implementation.
+void SA_Builder::add_task_impl (TaskImpl *task_impl)
+{
+  this->task_map_->add_task_impl (task_impl);
+};
+
+// Associate a task with a task implementation.
+void SA_Builder::assoc_task_with_impl (TaskID task_id, TaskImplID task_impl_id,
+                                       TimeValue duration)
+{
+  this->task_map_->assoc_task_with_impl (task_id, task_impl_id, duration);
+};
+
+// Associate a task implementation with its utilization of a resource.
+void SA_Builder::assoc_impl_with_resource (TaskImplID impl_id,
+ResourceID resource_id, ResourceValue resource_usage)
+{
+  this->task_map_->assoc_impl_with_resource (impl_id, resource_id,
+    resource_usage);
+};
+
+// Create SA-POP objects.
+void SA_Builder::init (void)
+{
+  // Create objects.
+  this->planner_ = new Planner ();
+  this->sanet_ = new SANet::Network ();
+  this->cond_choice_ = new SA_CondStrategy (this->planner_);
+  this->task_choice_ = new SA_TaskStrategy (this->planner_);
+  this->impl_choice_ = new SA_ImplStrategy (this->planner_);
+  this->plan_strat_ = new SA_PlanStrategy (this->planner_,
+    this->cond_choice_, this->task_choice_, this->impl_choice_);
+  this->sched_strat_ = new SA_SchedStrategy (this->planner_);
+  this->working_plan_ = new SA_WorkingPlan (this->planner_);
+  this->task_map_ = new TaskMap ();
+
+  // Provide PlanCommand prototypes to objects.
+  this->plan_strat_->set_commands (
+    this->working_plan_->get_AddTaskCmd (),
+    this->working_plan_->get_AssocTaskImplCmd (),
+    this->working_plan_->get_ResolveCLThreatCmd());
+  this->sched_strat_->set_commands (
+    this->working_plan_->get_ResolveSchedOrderCmd (),
+	this->working_plan_->get_AdjustMinTimesCmd (),
+	this->working_plan_->get_AdjustMaxTimesCmd ());
+  this->working_plan_->set_commands (
+    this->plan_strat_->get_AddOpenThreatsCmd ());
+
+  // Provide planning objects to Planner.
+  this->planner_->set_objects (
+    this->sanet_,
+    this->plan_strat_,
+    this->sched_strat_,
+    this->working_plan_,
+    this->task_map_);
+};
diff --git a/SA_POP/SA_Builder.h b/SA_POP/SA_Builder.h
new file mode 100644
index 00000000000..db77243a441
--- /dev/null
+++ b/SA_POP/SA_Builder.h
@@ -0,0 +1,202 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_Builder.h
+ *
+ * This file contains the definition of the SA_Builder concrete class,
+ * which implements a Builder creating SA_Planner and associated
+ * objects for planning with spreading activation networks and scheduling
+ * with precedence graphs.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_SA_BUILDER_H_
+#define SA_POP_SA_BUILDER_H_
+
+#include "SA_POP_Types.h"
+#include "Builder.h"
+#include "Planner.h"
+#include "SANet/SANet.h"
+#include "SA_PlanHeuristics.h"
+#include "SA_PlanStrategy.h"
+#include "SA_SchedStrategy.h"
+#include "SA_WorkingPlan.h"
+#include "TaskMap.h"
+
+
+namespace SA_POP {
+
+  /**
+   * @class SA_Builder
+   *
+   * @brief Builder concrete class for creating SA_Planner and
+   *        associated objects for planning with spreading activation networks
+   *        and scheduling with precedence graphs.
+   */
+  class SA_Builder : public Builder {
+  public:
+    /// Constructor.
+    SA_Builder (void);
+
+    /// Destructor.
+    virtual ~SA_Builder (void);
+
+    /// Reset for building a new set of SA-POP objects.
+    virtual void reset (void);
+
+    /// Get Planner object.
+    /**
+     * @return  Pointer to the configured planner object.
+     */
+    virtual Planner *get_planner (void);
+
+
+    // ************************************************************************
+    // Problem construction methods (tasks, conditions, & links between them).
+    // ************************************************************************
+
+    /// Add a task.
+    /**
+     * @param id  The unique task id.
+     *
+     * @param prior_prob  The prior probability of this task succeeding.
+     *
+     * @param name  The task name.
+     *
+     * @exception Duplicate_Task  The given task id already exists.
+     */
+    virtual void add_task (TaskID id, double prior_prob,
+      std::string name = "");
+
+    /// Add a condition.
+    /**
+     * @param id  The unique condition id.
+     *
+     * @param name  The condition name.
+     *
+     * @param utility  The (goal) utility of the condition.
+     *
+     * @param init_prob_true  The initial probability that the condition
+     *                        is true.
+     *
+     * @param cond_kind  The type of condition.
+     *
+     * @exception Duplicate_Cond  The given condition id already exists.
+     */
+    virtual void add_cond (CondID id, Utility utility = 0,
+      double init_prob_true = 0, std::string name = "", CondKind cond_kind = SA_POP::DATA);
+
+    /// Add a link between a precondition and task.
+    /**
+     * @param cond_id  The precondition id.
+     *
+     * @param task_id  The task id.
+     *
+     * @param port  The receiving port id (on the task for this precondition).
+     *
+     * @param true_prob  Conditional probability of task success given
+     *                   condition = true.
+     *
+     * @param false_prob  Conditional probability of task success given
+     *                    condition = false.
+     *
+     * @exception Unknown_Cond  Unknown condition id.
+     */
+    virtual void set_precond (CondID cond_id, TaskID task_id,
+      PortID port, double true_prob, double false_prob);
+
+    /// Add a link between a task and an effect.
+    /**
+     * @param cond_id  The effect condition id.
+     *
+     * @param task_id  The task id.
+     *
+     * @param port  The sending port id (on the task for this effect).
+     *
+     * @param weight  Positive probability that task sets condition to true, or
+     *                negative of probability that task sets condition to false.
+     */
+    virtual void set_effect (TaskID task_id, CondID cond_id,
+      PortID port, double weight);
+
+
+
+    // ************************************************************************
+    // TaskMap construction methods (resources, task->implementations,
+    // and implementation->resources).
+    // ************************************************************************
+
+    /// Add a resource.
+    /**
+     * @param resource  The resource info.
+     */
+    virtual void add_resource (Resource resource);
+
+    /// Add an implementation.
+    /**
+     * @param task_impl  The task implementation info.
+     */
+    virtual void add_task_impl (TaskImpl *task_impl);
+
+    /// Associate a task with a task implementation.
+    /**
+     * @param task_id  ID of the task.
+     *
+     * @param task_impl_id  ID of the task implementation.
+     *
+     * @param duration  The duration of the task implementation for this task.
+     */
+    virtual void assoc_task_with_impl (TaskID task_id, TaskImplID task_impl_id,
+      TimeValue duration);
+
+    /// Associate a task implementation with its utilization of a resource.
+    /**
+     * @param impl_id  ID of the task implementation.
+     *
+     * @param resource_id  ID of the associated resource.
+     *
+     * @param resource_usage  The quantity of resource used.
+     */
+    virtual void assoc_impl_with_resource (TaskImplID impl_id,
+      ResourceID resource_id, ResourceValue resource_usage);
+
+  protected:
+    /// Planner object to centralize/mediate planning.
+    Planner *planner_;
+
+    /// Spreading activation network.
+    SANet::Network *sanet_;
+
+    /// Condition choice strategy used by PlanStrategy.
+    SA_CondStrategy *cond_choice_;
+
+    /// Task choice strategy used by PlanStrategy.
+    SA_TaskStrategy *task_choice_;
+
+    /// Task implementation choice strategy used by PlanStrategy.
+    SA_ImplStrategy *impl_choice_;
+
+    /// PlanStrategy object for planning.
+    SA_PlanStrategy *plan_strat_;
+
+    /// SchedStrategy object for scheduling.
+    SA_SchedStrategy *sched_strat_;
+
+    /// WorkingPlan object for holding plan in progress.
+    SA_WorkingPlan *working_plan_;
+
+    /// TaskMap object for associating tasks with implementations and resources.
+    TaskMap *task_map_;
+
+
+    /// Create SA-POP objects.
+    virtual void init (void);
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_SA_BUILDER_H_ */
diff --git a/SA_POP/SA_POP.mpc b/SA_POP/SA_POP.mpc
new file mode 100644
index 00000000000..2b6f26701bd
--- /dev/null
+++ b/SA_POP/SA_POP.mpc
@@ -0,0 +1,85 @@
+project(SA_POP_Driver) : ciao_component_dnc, ciao_race_component, taoexe, ciao_plan_generator, ciao_config_handlers, xerces {
+   after += Interactive_Input_Adapter_stub OpString_stub XSC_Config_Handlers
+   exename = driver
+   includes += $(CIAO_ROOT)/RACE/Input_Adapters/Interactive_Input_Adapter $(CIAO_ROOT)/tools/Config_Handlers $(CIAO_ROOT)/RACE/SA_POP
+   libs += Interactive_Input_Adapter_stub \
+           Input_Adapter_stub \
+           Plan_Analyzer_Interface_stub\
+           OpString_stub
+
+   macros = SA_POP_HAS_ACE SA_POP_HAS_CIAO
+
+
+   IDL_Files {
+   }
+
+   Header_Files {
+      Converter.h
+
+      SA_POP_Types.h
+      SA_POP_Exceptions.h
+
+      Builder.h
+      SA_Builder.h
+
+      Planner.h
+
+      TaskMap.h
+      TaskImpl.h
+
+      WorkingPlan.h
+      SA_WorkingPlan.h
+      SchedStrategy.h
+      SA_SchedStrategy.h
+      PlanStrategy.h
+      SA_PlanStrategy.h
+      PlanHeuristics.h
+      SA_PlanHeuristics.h
+      PlanCommands.h
+      SA_PlanCommands.h
+
+      SANet/SANet_Types.h
+      SANet/SANet.h
+      SANet/SANode.h
+      SANet/SANet_Exceptions.h
+
+      OutAdapter.h
+      LogScreenOut.h
+      LogFileOut.h
+
+      SANet/SANetFileIn.h
+      TaskMapFileIn.h
+   }
+
+   Source_Files {
+      Converter.cpp
+      Driver.cpp
+
+      SA_POP_Exceptions.cpp
+
+      SA_Builder.cpp
+
+      Planner.cpp
+
+      TaskMap.cpp
+      TaskImpl.cpp
+
+      SA_WorkingPlan.cpp
+      SA_SchedStrategy.cpp
+      SA_PlanStrategy.cpp
+      SA_PlanHeuristics.cpp
+      SA_PlanCommands.cpp
+
+      SANet/SANet.cpp
+      SANet/SANode.cpp
+      SANet/SANet_Exceptions.cpp
+
+      LogScreenOut.cpp
+      LogFileOut.cpp
+
+      SANet/SANetFileIn.cpp
+      SANet/XML_SANet.cpp
+      TaskMapFileIn.cpp
+      XML_TaskMap.cpp
+   }
+}
diff --git a/SA_POP/SA_POP_Exceptions.cpp b/SA_POP/SA_POP_Exceptions.cpp
new file mode 100644
index 00000000000..7cec42c7e32
--- /dev/null
+++ b/SA_POP/SA_POP_Exceptions.cpp
@@ -0,0 +1,157 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_POP_Exceptions.cpp
+ *
+ * This file contains the class implementations for SA-POP exceptions.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include <stdexcept>
+#include <string>
+#include "SA_POP_Types.h"
+#include "SA_POP_Exceptions.h"
+
+
+using namespace SA_POP;
+
+
+// Default constructor.
+InvalidTask::InvalidTask (void)
+: std::invalid_argument ("SA-POP Invalid task ID.")
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Constructor with task id info for exception message.
+InvalidTask::InvalidTask (TaskID task_id)
+: std::invalid_argument (create_msg (task_id))
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+InvalidTask::~InvalidTask (void) throw ()
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create exception message string.
+std::string InvalidTask::create_msg(TaskID )
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  return "Temp";
+};
+
+
+
+// Default constructor.
+DuplicateTask::DuplicateTask (void)
+: std::invalid_argument ("SA-POP Duplicate task ID.")
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Constructor with task id info for exception message.
+DuplicateTask::DuplicateTask (TaskID task_id)
+: std::invalid_argument (create_msg (task_id))
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+DuplicateTask::~DuplicateTask (void) throw ()
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create exception message string.
+std::string DuplicateTask::create_msg (TaskID )
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  return "Temp";
+};
+
+
+
+// Default constructor.
+DuplicateCond::DuplicateCond (void)
+: std::invalid_argument ("SA-POP Duplicate condition ID.")
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Constructor with condition id info for exception message.
+DuplicateCond::DuplicateCond (CondID cond_id)
+: std::invalid_argument (create_msg (cond_id))
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+DuplicateCond::~DuplicateCond (void) throw ()
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create exception message string.
+std::string DuplicateCond::create_msg (CondID )
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  return "Temp";
+};
+
+
+
+// Default constructor.
+InvalidCond::InvalidCond (void)
+: std::invalid_argument ("SA-POP Invalid condition ID.")
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Constructor with condition id info for exception message.
+InvalidCond::InvalidCond (CondID cond_id)
+: std::invalid_argument (create_msg (cond_id))
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+InvalidCond::~InvalidCond (void) throw ()
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create exception message string.
+std::string InvalidCond::create_msg (CondID )
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  return "Temp";
+};
+
+
+
+// Default constructor.
+Uninitialized::Uninitialized (void)
+: std::logic_error ("SA-POP Unitialized exception.")
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Constructor with exception message.
+Uninitialized::Uninitialized (std::string msg)
+: std::logic_error (msg)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+Uninitialized::~Uninitialized (void) throw ()
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
diff --git a/SA_POP/SA_POP_Exceptions.h b/SA_POP/SA_POP_Exceptions.h
new file mode 100644
index 00000000000..6bc69e8f978
--- /dev/null
+++ b/SA_POP/SA_POP_Exceptions.h
@@ -0,0 +1,157 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_POP_Exceptions.h
+ *
+ * This file contains the class definitions for SA-POP exceptions.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_EXCEPTIONS_H_
+#define SA_POP_EXCEPTIONS_H_
+
+#include <stdexcept>
+#include <string>
+#include "SA_POP_Types.h"
+
+namespace SA_POP {
+
+  /**
+   * @class InvalidTask
+   *
+   * @brief Class for invalid task id argument exceptions.
+   */
+  class InvalidTask : public std::invalid_argument {
+  public:
+    /// Default constructor.
+    InvalidTask (void);
+
+    /// Constructor with task id info for exception message.
+    /**
+     * @param task_id  Invalid task id.
+     */
+    InvalidTask (TaskID task_id);
+
+    /// Destructor.
+    virtual ~InvalidTask (void) throw ();
+
+    /// Create exception message string.
+    /**
+     * @param task_id  Invalid task id.
+     *
+     * @return  Exception message string.
+     */
+    std::string create_msg (TaskID task_id);
+  };
+
+  /**
+   * @class DuplicateTask
+   *
+   * @brief Class for duplicate task id argument exceptions.
+   */
+  class DuplicateTask : public std::invalid_argument {
+  public:
+    /// Default constructor.
+    DuplicateTask (void);
+
+    /// Constructor with task id info for exception message.
+    /**
+     * @param task_id  Duplicate task id.
+     */
+    DuplicateTask (TaskID task_id);
+
+    /// Destructor.
+    virtual ~DuplicateTask (void) throw ();
+
+    /// Create exception message string.
+    /**
+     * @param task_id  Duplicate task id.
+     *
+     * @return  Exception message string.
+     */
+    std::string create_msg (TaskID task_id);
+  };
+
+  /**
+   * @class DuplicateCond
+   *
+   * @brief Class for duplicate condition id argument exceptions.
+   */
+  class DuplicateCond : public std::invalid_argument {
+  public:
+    /// Default constructor.
+    DuplicateCond (void);
+
+    /// Constructor with condition id info for exception message.
+    /**
+     * @param cond_id  Duplicate condition id.
+     */
+    DuplicateCond (CondID cond_id);
+
+    /// Destructor.
+    virtual ~DuplicateCond (void) throw ();
+
+    /// Create exception message string.
+    /**
+     * @param cond_id  Duplicate condition id.
+     *
+     * @return  Exception message string.
+     */
+    std::string create_msg (CondID cond_id);
+  };
+
+  /**
+   * @class InvalidCond
+   *
+   * @brief Class for invalid condition id argument exceptions.
+   */
+  class InvalidCond : public std::invalid_argument {
+  public:
+    /// Default constructor.
+    InvalidCond (void);
+
+    /// Constructor with condition id info for exception message.
+    /**
+     * @param cond_id  Invalid condition id.
+     */
+    InvalidCond (CondID cond_id);
+
+    /// Destructor.
+    virtual ~InvalidCond (void) throw ();
+
+    /// Create exception message string.
+    /**
+     * @param cond_id  Duplicate condition id.
+     *
+     * @return  Exception message string.
+     */
+    std::string create_msg (CondID cond_id);
+  };
+
+  /**
+   * @class Uninitialized
+   *
+   * @brief Class for exceptions an object being used before being initialized.
+   */
+  class Uninitialized : public std::logic_error {
+  public:
+    /// Default constructor.
+    Uninitialized (void);
+
+    /// Constructor with exception message.
+    /**
+     * @param msg  Exception message.
+     */
+    Uninitialized (std::string msg);
+
+    /// Destructor.
+    virtual ~Uninitialized (void) throw ();
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_EXCEPTIONS_H_ */
diff --git a/SA_POP/SA_POP_Types.h b/SA_POP/SA_POP_Types.h
new file mode 100644
index 00000000000..28fd9adb2e0
--- /dev/null
+++ b/SA_POP/SA_POP_Types.h
@@ -0,0 +1,428 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_POP_Types.h
+ *
+ * This file contains the definitions of types used throughout SA-POP.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_TYPES_H_
+#define SA_POP_TYPES_H_
+
+#include <string>
+#include <set>
+#include <list>
+#include <map>
+
+#if defined (SA_POP_HAS_ACE)
+#include "ace/Log_Msg.h"
+#include "ace/Log_Priority.h"
+#endif  /* SA_POP_HAS_ACE */
+
+#define SA_POP_DEBUG_NORMAL 5
+#define SA_POP_DEBUG_HIGH 10
+
+#if defined (SA_POP_HAS_ACE)
+#define SA_POP_DEBUG(x,y) \
+if (x > 0) \
+ACE_DEBUG ((LM_DEBUG, ACE_LIB_TEXT("SA-POP: %s\n"), y));
+#define SA_POP_DEBUG_STR(x,y) \
+if (x > 0) \
+ACE_DEBUG ((LM_DEBUG, ACE_LIB_TEXT("SA-POP: %s\n"), y.c_str ()));
+
+#else  /* SA_POP_HAS_ACE not defined */
+#include <iostream>
+#define SA_POP_DEBUG(x,y) \
+if (x > 0) \
+  std::cout << "SA-POP: " << y << std::endl;
+#define SA_POP_DEBUG_STR(x,y) \
+if (x > 0) \
+  std::cout << "SA-POP: " << y << std::endl;
+#endif  /* SA_POP_HAS_ACE */
+
+
+namespace SA_POP {
+
+  /// Type of a node id (tasks and conditions).
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef int NodeID;
+
+  /// Type of a condition id.
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef NodeID CondID;
+
+  /// Type of a condition value.
+  typedef bool CondValue;
+
+  /// Type of a condition kind/type.
+  enum CondKind {ENVIRON, SYSTEM, DATA};
+
+  /// Type of a condition.
+  struct Condition {
+    CondID id;
+    CondValue value;
+    CondKind kind;
+    bool operator== (const Condition &s) const { return this->id == s.id; };
+    bool operator!= (const Condition &s) const { return !(*this == s); };
+    bool operator< (const Condition &s) const { return this->id < s.id; };
+  };
+
+  /// Type of a task ID.
+  /// (must be > 0 and unique across all tasks *and* conditions).
+  typedef NodeID TaskID;
+
+  /// Type of a task type ID.
+  typedef std::string TaskTypeID;
+
+  /// NULL task ID (for unknown/uninitialized tasks).
+  const TaskID NULL_TASK_ID = 0;
+
+  /// NULL condition ID (for unknown/uninitialized conditions).
+  const CondID NULL_COND_ID = 0;
+
+  /// Type of a port id.
+  typedef std::string PortID;
+
+  /// Type of an expected utility calculation (basetype for others).
+  /// (N.B. this must be a double or float to handle [0,1] range probabilities
+  /// and multiplication factors).
+  typedef double EUCalc;
+          
+  /// Type of a condition utility.
+  typedef EUCalc Utility;
+
+  /// Type of a probability.
+  typedef EUCalc Probability;
+
+  /// Type of a (precondition or effect) link weight.
+  typedef EUCalc LinkWeight;
+
+  /// Type of a task cost.
+  typedef EUCalc TaskCost;
+
+  /// Type of a multiplicative factor (e.g. attenuation factor).
+  typedef EUCalc MultFactor;
+
+  /// Type of a precondition link.
+  typedef std::pair<CondID, TaskID> PrecondLink;
+
+  /// Type of an effect link.
+  typedef std::pair<TaskID, CondID> EffectLink;
+
+  /// Type of a pair of ports for a link.
+  typedef std::pair<PortID, PortID> LinkPorts;
+
+  /// Type of a list of tasks.
+  typedef std::list<TaskID> TaskList;
+
+  /// Type of a set of goal conditions with associated utilities.
+  typedef std::map<CondID, Utility> GoalMap;
+
+  /// Type of a set of tasks with associated expected utilities.
+  typedef std::map<TaskID, Utility> TaskEUMap;
+
+  /// Type of a set of conditions (condition & value).
+  typedef std::set<Condition> CondSet;
+
+  /// Type of a set of task ids.
+  typedef std::set<TaskID> TaskSet;
+
+
+  /// Type of a task instance id.
+  /// (must be unique across all task instances).
+  typedef int TaskInstID;
+
+  /// Goal task instance ID (for task instance placeholders in open goals).
+  const TaskInstID GOAL_TASK_INST_ID = -1;
+
+  /// Null task instance ID (for unknown/uninitialized task instances).
+  const TaskInstID NULL_TASK_INST_ID = -2;
+
+  /// Type of a task implementation id.
+  /// (must be unique across all task implementations).
+  typedef std::string TaskImplID;
+
+  /// Null task implementation ID (for unknown/uninitialized task implementations).
+  const TaskImplID NULL_TASK_IMPL_ID = "NULL_TASK_IMPL_ID";
+
+  /// Type of a task implementation parameter id/name.
+  typedef std::string ImplParamID;
+
+  /// Type of a task implementation parameter kind/type.
+  typedef std::string ImplParamKind;
+
+  /// Type of a task implementation parameter value.
+  typedef std::string ImplParamValue;
+
+  /// Type of an implementation parameter.
+  struct ImplParam {
+    ImplParamID id;
+    ImplParamKind kind;
+    ImplParamValue value;
+    bool operator== (const ImplParam &s) const { return this->id == s.id; };
+    bool operator!= (const ImplParam &s) const { return !(*this == s); };
+    bool operator< (const ImplParam &s) const { return this->id < s.id; };
+  };
+
+  /// Type of a resource id.
+  /// (must be unique across all resources).
+  typedef std::string ResourceID;
+
+  const ResourceID NULL_RESOURCE_ID = "NULL_RESOURCE_ID";
+
+  /// Type of a resource capacity or utilization value.
+  /// (must be >= 0.)
+  typedef int ResourceValue;
+
+  /// Type of a resource kind/type.
+  enum ResourceKind {UNARY, DISCRETE, RESERVOIR};
+
+  /// Type of a resource.
+  struct Resource {
+    ResourceID id;
+    ResourceValue capacity;
+    ResourceKind kind;
+    bool operator== (const Resource &s) const { return this->id == s.id; };
+    bool operator!= (const Resource &s) const { return !(*this == s); };
+    bool operator< (const Resource &s) const { return this->id < s.id; };
+  };
+
+  /// Type of a time (Seconds since Jan. 1, 1970).
+  /// (must be >= 0, or = NULL_TIME.)
+  typedef long TimeValue;
+
+  /// NULL time (for unknown or unconstrained times).
+  #define NULL_TIME -1
+
+  /// Time Window (e.g. start or end window for a task instance or plan).
+  typedef std::pair<SA_POP::TimeValue, SA_POP::TimeValue> TimeWindow;
+
+  /// Type of a command id, indicating when command was issued.
+  /// (indicates planning step, decision point within step, and
+  /// number of command within decision point and step.)
+  struct CommandID {
+    int step;
+    int decision_pt;
+    int seq_num;
+    bool operator== (CommandID &s) const { return (this->step == s.step && this->decision_pt == s.decision_pt && this->seq_num == s.seq_num); };
+    bool operator!= (CommandID &s) const { return !(*this == s); };
+    bool operator< (CommandID &s) const
+    {
+      if (this->step == s.step) {
+        if (this->decision_pt == s.decision_pt)
+          return this->seq_num < s.seq_num;
+        return this->decision_pt < s.decision_pt;
+      }
+      return this->step < s.step;
+    };
+  };
+
+  /// Type of a causal link.
+  /// ("first" task instance achieves "cond" for "second" task instance.)
+  struct CausalLink {
+    TaskInstID first;
+    TaskInstID second;
+    Condition cond;
+    bool operator== (const CausalLink &s) const { return (this->first == s.first && this->second == s.second && this->cond == s.cond); };
+    bool operator!= (const CausalLink &s) const { return !(*this == s); };
+    bool operator< (const CausalLink &s) const
+    {
+      if (this->first == s.first) {
+        if (this->second == s.second)
+          return this->cond < cond;
+        return this->second < s.second;
+      }
+      return this->first < s.first;
+    };
+  };
+
+  // Type of a set of causal links.
+  typedef std::set<CausalLink> CLSet;
+
+  /// Type of a causal link threat.
+  /// ("threat" task instance threatens "clink" causal link)
+  struct CLThreat {
+    CausalLink clink;
+    TaskInstID threat;
+    bool operator== (const CLThreat &s) const { return (this->clink == s.clink && this->threat == s.threat); };
+    bool operator!= (const CLThreat &s) const { return !(*this == s); };
+    bool operator< (const CLThreat &s) const
+    {
+      if (this->clink == s.clink)
+        return this->threat < s.threat;
+      return this->clink < s.clink;
+    };
+  };
+
+  /// Type of a precedence relation.
+  enum PrecedenceRelation {UNRANKED, BEFORE, AFTER, SIMUL,
+    BEFORE_SIMUL, AFTER_SIMUL};
+
+  /// Type of a set of task implementation ids.
+  typedef std::set<TaskImplID> TaskImplSet;
+
+  /// Type of a list of task implementation ids.
+  typedef std::list<TaskImplID> TaskImplList;
+
+  /// Type of a set of task instance ids.
+  typedef std::set<TaskInstID> TaskInstSet;
+
+  /// Type of a set of task implementation parameters and associated values.
+  typedef std::set<ImplParam> ImplParamSet;
+
+  /// Type of a set of task instance ids.
+  typedef std::set<TaskInstID> TaskInstSet;
+
+  /// Type of a set of task instances mapped to task implementations.
+  typedef std::map <TaskInstID, TaskImplID> InstToImplMap;
+
+  /// Type of a set of resources and associated utilization.
+  typedef std::map<ResourceID, ResourceValue> ResourceMap;
+
+  /// Type of a set of resources (map from id to resource).
+  typedef std::map<ResourceID, Resource> Resources;
+
+	/// Type of Criticality as a pair of the Resource it is in and the value.
+	typedef std::pair<ResourceID,double> Criticality;
+
+	/// Type of a set of conditions (condition & value).
+  typedef std::set<Condition> CondSet;
+
+  /// Type of a set of open conditions, each associated with task instances
+  /// for which it is a precondition.
+  typedef std::multimap<Condition, TaskInstID> OpenCondMap;
+
+  /// Type of a set of causal link threats.
+  typedef std::set<CLThreat> CLThreatSet;
+
+  /// Type of a data connection in a plan.
+  struct PlanConnection {
+    TaskInstID first_task_inst;
+    TaskInstID second_task_inst;
+    PortID first_port;
+    PortID second_port;
+    CondID cond;
+    bool operator== (const PlanConnection &s) const { return (this->first_task_inst == s.first_task_inst && this->second_task_inst == s.second_task_inst && this->first_port == s.first_port && this->second_port == s.second_port && this->cond == s.cond); };
+    bool operator!= (const PlanConnection &s) const { return !(*this == s); };
+    bool operator< (const PlanConnection &s) const
+    {
+      if (this->first_task_inst == s.first_task_inst) {
+        if (this->second_task_inst == s.second_task_inst) {
+          if (this->first_port == s.first_port) {
+            if (this->second_port == s.second_port)
+              return this->cond < s.cond;
+            return this->second_port < s.second_port;
+          }
+          return this->first_port < s.first_port;
+        }
+        return this->second_task_inst < s.second_task_inst;
+      }
+      return this->first_task_inst < s.first_task_inst;
+    };
+  };
+
+  /// Type of a set of plan connections.
+  typedef std::set<PlanConnection> PlanConnSet;
+
+  /// Type of an instance in a plan.
+  struct PlanTaskInst {
+    // Unique ID of this task instance.
+    TaskInstID inst_id;
+
+    // Human-readable name (for debugging, not identification).
+    std::string name;
+
+    // Task ID of this instance.
+    TaskID task_id;
+
+    // Task type ID of this instance.
+    TaskTypeID type_id;
+
+    // ID of suggested implementation.
+    TaskImplID suggested_impl;
+
+    // Derived start window.
+    TimeWindow start_window;
+
+    // Derived end window.
+    TimeWindow end_window;
+
+    bool operator== (const PlanTaskInst &s) const { return (this->inst_id == s.inst_id); };
+    bool operator!= (const PlanTaskInst &s) const { return !(*this == s); };
+    bool operator< (const PlanTaskInst &s) const
+    {
+      return this->inst_id < s.inst_id;
+    };
+  };
+
+  /// Type of a set of plan instances.
+  typedef std::set<PlanTaskInst> PlanInstSet;
+
+  /// Type of a generic ordering link.
+  typedef std::pair<TaskInstID, TaskInstID> OrderLink;
+
+  /// Type of a scheduling link.
+  typedef OrderLink SchedLink;
+
+  /// Type of a set of scheduling links.
+  typedef std::set<SchedLink> SchedLinkSet;
+
+  // Type of a threat link.
+  typedef OrderLink ThreatLink;
+
+  /// Type of a set of threat links.
+  typedef std::set<ThreatLink> ThreatLinkSet;
+
+  /// Type of a goal ID.
+  typedef std::string GoalID;
+
+  /// Type of a plan ID.
+  typedef GoalID PlanID;
+
+  /// Type of a plan generated by SA-POP (output of a WorkingPlan object).
+  struct Plan {
+    // Unique ID of plan (from goal).
+    PlanID plan_id;
+
+    // Human-readable name of plan (used for debugging, not identification).
+    std::string name;
+
+    // Task instances in plan.
+    PlanInstSet task_insts;
+
+    // Data connections in plan.
+    PlanConnSet connections;
+
+    // Causal links (non-data) in plan.
+    CLSet causal_links;
+
+    // Scheduling links (added to prevent resource conflicts) in plan.
+    SchedLinkSet sched_links;
+
+    // Threat links (added to prevent causal link threats) in plan.
+    ThreatLinkSet threat_links;
+
+    // Expected start window.
+    TimeWindow start_window;
+
+    // Expected end window.
+    TimeWindow end_window;
+
+    bool operator== (const Plan &s) const { return (this->task_insts == s.task_insts && this->connections == s.connections); };
+    bool operator!= (const Plan &s) const { return !(*this == s); };
+    bool operator< (const Plan &s) const
+    {
+      if (this->task_insts == s.task_insts)
+        return this->connections < s.connections;
+      return this->task_insts < s.task_insts;
+    };
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_TYPES_H_ */
diff --git a/SA_POP/SA_PlanCommands.cpp b/SA_POP/SA_PlanCommands.cpp
new file mode 100644
index 00000000000..8fcb46a84a5
--- /dev/null
+++ b/SA_POP/SA_PlanCommands.cpp
@@ -0,0 +1,816 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_PlanCommands.cpp
+ *
+ * This file contains the implementation of the concrete classes,
+ * which implement PlanCommand.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SA_POP_Types.h"
+#include "SA_PlanCommands.h"
+#include "SA_WorkingPlan.h"
+#include "SA_PlanStrategy.h"
+#include <string>
+#include <stdlib.h>
+
+using namespace SA_POP;
+
+// Constructor.
+SA_AdjustMinTimesCmd::SA_AdjustMinTimesCmd (SA_WorkingPlan *working_plan)
+: working_plan_ (working_plan)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+SA_AdjustMinTimesCmd::~SA_AdjustMinTimesCmd (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_AdjustMinTimesCmd::clone (void)
+{
+  return new SA_AdjustMinTimesCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_AdjustMinTimesCmd::execute_next (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+//  this->working_plan_->execute (this);
+  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+  return this->working_plan_->execute (this);
+};
+
+// Undo this command.
+void SA_AdjustMinTimesCmd::undo (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  this->working_plan_->undo (this);
+};
+
+// Get log text for most recent execution of command.
+std::string SA_AdjustMinTimesCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Adjusting Schedule Minimum Times (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  log_str += "): [NOT HANDLING FULL SCHEDULING YET]";
+
+  return log_str;
+};
+
+// Set the task instance and window adjustment.
+void SA_AdjustMinTimesCmd::set_times (TaskInstID task_inst, TimeValue start_min,
+TimeValue end_min)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  TimeWindow start_old = this->working_plan_->get_start_window(task_inst);
+  TimeWindow end_old = this->working_plan_->get_end_window(task_inst);
+  this->task_inst_=task_inst;
+  this->old_start_min = start_old.second;
+  this->old_end_min = end_old.second;
+  this->new_start_min = start_min;
+  this->new_end_min = end_min;
+};
+
+
+
+// Constructor.
+SA_AdjustMaxTimesCmd::SA_AdjustMaxTimesCmd (SA_WorkingPlan *working_plan)
+: working_plan_ (working_plan)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+SA_AdjustMaxTimesCmd::~SA_AdjustMaxTimesCmd (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_AdjustMaxTimesCmd::clone (void)
+{
+  return new SA_AdjustMaxTimesCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_AdjustMaxTimesCmd::execute_next (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+//  this->working_plan_->execute (this);
+  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+  return this->working_plan_->execute (this);
+};
+
+// Undo this command.
+void SA_AdjustMaxTimesCmd::undo (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  this->working_plan_->undo (this);
+};
+
+// Get log text for most recent execution of command.
+std::string SA_AdjustMaxTimesCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Adjusting Schedule Maximum Times (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  log_str += "): [NOT HANDLING FULL SCHEDULING YET]";
+
+  return log_str;
+};
+
+// Set the task instance and window adjustment.
+void SA_AdjustMaxTimesCmd::set_times (TaskInstID task_inst, TimeValue start_max,
+TimeValue end_max)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  TimeWindow start_old = this->working_plan_->get_start_window(task_inst);
+  TimeWindow end_old = this->working_plan_->get_end_window(task_inst);
+  this->task_inst_=task_inst;
+  this->old_start_max = start_old.second;
+  this->old_end_max = end_old.second;
+  this->new_start_max = start_max;
+  this->new_end_max = end_max;
+  // std::cout<<"setting max times "<<start_max<<" "<<end_max<<std::endl;
+};
+
+
+
+// Constructor.
+SA_AddTaskCmd::SA_AddTaskCmd (SA_WorkingPlan *working_plan)
+: working_plan_ (working_plan),
+last_task_ (SA_POP::NULL_TASK_ID),
+last_task_inst_ (SA_POP::NULL_TASK_INST_ID),
+num_tries_ (0)
+{
+	this->tasks_.clear ();
+  this->cond_.id = SA_POP::NULL_COND_ID;
+  this->task_insts_.clear ();
+  this->used_task_insts_.clear();
+};
+
+// Destructor.
+SA_AddTaskCmd::~SA_AddTaskCmd (void)
+{
+  // Nothing to do.
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_AddTaskCmd::clone (void)
+{
+  return new SA_AddTaskCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_AddTaskCmd::execute_next (void)
+{
+  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+
+  this->undo();
+  if (this->tasks_.empty ())
+    return false;
+  this->working_plan_->execute (this);
+  this->num_tries_++;
+  return true;
+};
+
+// Undo this command.
+void SA_AddTaskCmd::undo (void)
+{
+  if (this->last_task_ == SA_POP::NULL_TASK_ID)
+    return;
+
+  this->working_plan_->undo (this);
+  
+  if (this->tasks_.empty ()) {
+    this->task_insts_.clear ();
+    this->cond_.id = SA_POP::NULL_COND_ID;
+    this->last_task_ = SA_POP::NULL_TASK_ID;
+  }
+};
+
+// Get log text for most recent execution of command.
+std::string SA_AddTaskCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Adding Task (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  log_str += "): ";
+  TaskList::iterator task_iter = this->tasks_.begin ();
+  if (task_iter == this->tasks_.end ())
+    log_str += "[NO TASKS TO ADD]";
+  else
+    log_str += itoa (*task_iter, buffer, 10);
+
+  return log_str;
+};
+
+// Set (ordered) list of tasks to add (one per execution) to the plan.
+void SA_AddTaskCmd::set_tasks (const TaskList &tasks)
+{
+  if (!this->tasks_.empty ())
+    throw "SA_POP::SA_AddTaskCmd::set_tasks (): called while current task list is not empty.";
+
+  if (this->last_task_ != SA_POP::NULL_TASK_ID)
+    throw "SA_POP::SA_AddTaskCmd::set_tasks (): called before last task was undone.";
+
+  this->tasks_ = tasks;
+};
+
+// Set causal link info to add to the plan with task.
+void SA_AddTaskCmd::set_causal_info (Condition cond, TaskInstSet task_insts)
+{
+  if (!this->task_insts_.empty ())
+    throw "SA_POP::SA_AddTaskCmd::set_causal_info (): called while current task instance set is not empty.";
+
+  if (this->cond_.id != SA_POP::NULL_COND_ID)
+    throw "SA_POP::SA_AddTaskCmd::set_causal_info (): called while current condition is already set.";
+
+  this->cond_ = cond;
+  this->task_insts_ = task_insts;
+};
+
+// Get ID of last task added to the plan by this command.
+TaskID SA_AddTaskCmd::get_task (void)
+{
+  return this->last_task_;
+};
+
+// Get ID of instance of last task added to the plan by this command.
+TaskInstID SA_AddTaskCmd::get_task_inst (void)
+{
+  return this->last_task_inst_;
+};
+
+/// Check if the instance id used by the task of this command already exists.
+bool SA_AddTaskCmd::inst_exists (void)
+{
+	 return !this->used_task_insts_.empty();
+}
+// Constructor.
+SA_AssocTaskImplCmd::SA_AssocTaskImplCmd (SA_WorkingPlan *working_plan)
+: working_plan_ (working_plan),
+task_inst_ (SA_POP::NULL_TASK_INST_ID),
+last_impl_ (SA_POP::NULL_TASK_IMPL_ID),
+num_tries_ (0),
+min_adj_cmd(working_plan),
+max_adj_cmd(working_plan)
+{
+  this->causal_insertions.clear();
+  this->simul_insertions.clear();
+  this->impls_.clear ();
+};
+
+// Destructor.
+SA_AssocTaskImplCmd::~SA_AssocTaskImplCmd (void)
+{
+  // Nothing to do.
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_AssocTaskImplCmd::clone (void)
+{
+  return new SA_AssocTaskImplCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_AssocTaskImplCmd::execute_next (void)
+{
+  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+
+  this->undo();
+  if (this->impls_.empty ())
+    return false;
+
+  this->num_tries_++;
+  return this->working_plan_->execute (this);
+  //return true;
+};
+
+// Undo this command.
+void SA_AssocTaskImplCmd::undo (void)
+{
+  if (this->last_impl_ == SA_POP::NULL_TASK_IMPL_ID)
+    return;
+
+  this->working_plan_->undo (this);
+  this->last_impl_ = SA_POP::NULL_TASK_IMPL_ID;
+
+  if (this->impls_.empty ())
+    this->task_inst_ = SA_POP::NULL_TASK_INST_ID;
+};
+
+// Get log text for most recent execution of command.
+std::string SA_AssocTaskImplCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Associating Task(Instance)->Implementation (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  log_str += "): ";
+  log_str += itoa (this->working_plan_->get_task_from_inst (this->task_inst_),
+    buffer, 10);
+  log_str += "(";
+  log_str += itoa (this->task_inst_, buffer, 10);
+  log_str += ")->";
+  TaskImplList::iterator impl_iter = this->impls_.begin ();
+  if (impl_iter == this->impls_.end ())
+    log_str += "[NO IMPLEMENTATIONS TO ASSOCIATE]";
+  else
+    log_str += *impl_iter;
+
+  return log_str;
+};
+
+// Set the task->implementation associations.
+void SA_AssocTaskImplCmd::set_assoc (TaskInstID task_inst,
+                                     TaskImplList impl_list)
+{
+  if (!this->impls_.empty ())
+    throw "SA_POP::SA_AssocTaskImplCmd::set_assoc (): called while current task implementation list is not empty.";
+
+  if (this->last_impl_ != SA_POP::NULL_TASK_IMPL_ID)
+    throw "SA_POP::SA_AssocTaskImplCmd::set_assoc (): called before last execution was undone.";
+
+  this->impls_ = impl_list;
+  this->task_inst_ = task_inst;
+};
+
+// Get ID of instance of this command.
+TaskInstID SA_AssocTaskImplCmd::get_task_inst (void)
+{
+  return this->task_inst_;
+};
+
+
+// Constructor.
+SA_AddOpenCondsCmd::SA_AddOpenCondsCmd (SA_PlanStrategy *plan_strat)
+: plan_strat_ (plan_strat),
+task_inst_ (SA_POP::NULL_TASK_INST_ID),
+has_executed_ (false)
+{
+  this->conds_.clear ();
+};
+
+// Destructor.
+SA_AddOpenCondsCmd::~SA_AddOpenCondsCmd (void)
+{
+  // Nothing to do.
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_AddOpenCondsCmd::clone (void)
+{
+  return new SA_AddOpenCondsCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_AddOpenCondsCmd::execute_next (void)
+{
+  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+
+  if (this->conds_.empty ())
+    return false;
+
+  if (this->task_inst_ == SA_POP::NULL_TASK_INST_ID)
+    throw "SA_POP::SA_AddOpenCondsCmd::execute_next (): called without task instance set.";
+
+  this->undo();
+  this->plan_strat_->execute (this);
+  this->has_executed_ = true;
+  return true;
+};
+
+// Undo this command.
+void SA_AddOpenCondsCmd::undo (void)
+{
+  if (!this->has_executed_ || this->conds_.empty ())
+    return;
+
+  this->plan_strat_->undo (this);
+  this->task_inst_ = SA_POP::NULL_TASK_INST_ID;
+  this->conds_.clear ();
+};
+
+// Get log text for most recent execution of command.
+std::string SA_AddOpenCondsCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Adding Open Conditions (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  log_str += "):";
+  for (CondSet::iterator cond_iter = this->conds_.begin ();
+    cond_iter != this->conds_.end (); cond_iter++)
+  {
+    log_str += " ";
+    log_str += itoa ((*cond_iter).id, buffer, 10);
+    log_str += " = ";
+    if ((*cond_iter).value)
+      log_str += "TRUE;";
+    else
+      log_str += "FALSE;";
+  }
+
+  return log_str;
+};
+
+// Set the open conditions to add.
+void SA_AddOpenCondsCmd::set_conds (const CondSet &conds)
+{
+  if (!this->conds_.empty ())
+    throw "SA_POP::SA_AddOpenCondsCmd::set_conds (): called while current condition set is not empty.";
+
+  this->conds_ = conds;
+};
+
+// Set the task instance for which these are preconditions.
+void SA_AddOpenCondsCmd::set_task_inst (TaskInstID task_inst)
+{
+  if (this->task_inst_ != SA_POP::NULL_TASK_INST_ID)
+    throw "SA_POP::SA_AddOpenCondsCmd::set_conds (): called before last command was undone.";
+
+  this->task_inst_ = task_inst;
+};
+
+
+
+// Constructor.
+SA_RemoveOpenCondsCmd::SA_RemoveOpenCondsCmd (SA_PlanStrategy *plan_strat)
+: plan_strat_ (plan_strat)
+{
+  this->conds_.clear ();
+  this->removed_.clear ();
+};
+
+// Destructor.
+SA_RemoveOpenCondsCmd::~SA_RemoveOpenCondsCmd (void)
+{
+  // Nothing to do.
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_RemoveOpenCondsCmd::clone (void)
+{
+  return new SA_RemoveOpenCondsCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_RemoveOpenCondsCmd::execute_next (void)
+{
+  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+
+  if (this->conds_.empty ())
+    return false;
+
+  this->undo();
+  this->plan_strat_->execute (this);
+  return true;
+};
+
+// Undo this command.
+void SA_RemoveOpenCondsCmd::undo (void)
+{
+  if (this->removed_.empty ())
+    return;
+
+  this->plan_strat_->undo (this);
+  this->removed_.clear ();
+  this->conds_.clear ();
+};
+
+// Get log text for most recent execution of command.
+std::string SA_RemoveOpenCondsCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Removing Open Conditions (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  log_str += "):";
+  for (CondSet::iterator cond_iter = this->conds_.begin ();
+    cond_iter != this->conds_.end (); cond_iter++)
+  {
+    log_str += " ";
+    log_str += itoa ((*cond_iter).id, buffer, 10);
+    log_str += " = ";
+    if ((*cond_iter).value)
+      log_str += "TRUE;";
+    else
+      log_str += "FALSE;";
+  }
+
+  return log_str;
+};
+
+// Set the open conditions to remove.
+void SA_RemoveOpenCondsCmd::set_conds (const CondSet &conds)
+{
+  if (!this->conds_.empty ())
+    throw "SA_POP::SA_RemoveOpenCondsCmd::set_conds (): called while current condition set is not empty.";
+
+  if (!this->removed_.empty ())
+    throw "SA_POP::SA_RemoveOpenCondsCmd::set_conds (): called before last execution undone.";
+
+  this->conds_ = conds;
+};
+
+
+
+// Constructor.
+SA_AddOpenThreatsCmd::SA_AddOpenThreatsCmd (SA_PlanStrategy *plan_strat)
+: plan_strat_ (plan_strat)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+SA_AddOpenThreatsCmd::~SA_AddOpenThreatsCmd (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_AddOpenThreatsCmd::clone (void)
+{
+  return new SA_AddOpenThreatsCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_AddOpenThreatsCmd::execute_next (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+//  this->plan_strat_->execute (this);
+  return false;
+};
+
+// Undo this command.
+void SA_AddOpenThreatsCmd::undo (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//  this->plan_strat_->undo (this);
+};
+
+// Get log text for most recent execution of command.
+std::string SA_AddOpenThreatsCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Adding Open Threats (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  log_str += "): [NOT HANDLING THREATS YET]";
+
+  return log_str;
+};
+
+// Set the open threats to add.
+void SA_AddOpenThreatsCmd::set_threats (const CLThreatSet &)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+
+
+// Constructor.
+SA_RemoveOpenThreatsCmd::SA_RemoveOpenThreatsCmd (SA_PlanStrategy *plan_strat)
+: plan_strat_ (plan_strat)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+SA_RemoveOpenThreatsCmd::~SA_RemoveOpenThreatsCmd (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_RemoveOpenThreatsCmd::clone (void)
+{
+  return new SA_RemoveOpenThreatsCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_RemoveOpenThreatsCmd::execute_next (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+//  this->plan_strat_->execute (this);
+  return false;
+};
+
+// Undo this command.
+void SA_RemoveOpenThreatsCmd::undo (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//  this->plan_strat_->undo (this);
+};
+
+// Get log text for most recent execution of command.
+std::string SA_RemoveOpenThreatsCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Removing Open Threats (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  log_str += "): [NOT HANDLING THREATS YET]";
+
+  return log_str;
+};
+
+// Set the open threats to remove.
+void SA_RemoveOpenThreatsCmd::set_threats (const CLThreatSet &)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+
+
+// Constructor.
+SA_ResolveCLThreatCmd::SA_ResolveCLThreatCmd (SA_WorkingPlan *working_plan)
+: working_plan_ (working_plan)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+SA_ResolveCLThreatCmd::~SA_ResolveCLThreatCmd (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_ResolveCLThreatCmd::clone (void)
+{
+  return new SA_ResolveCLThreatCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_ResolveCLThreatCmd::execute_next (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//  SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+//  this->working_plan_->execute (this);
+  return false;
+};
+
+// Undo this command.
+void SA_ResolveCLThreatCmd::undo (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+//  this->working_plan_->undo (this);
+};
+
+// Get log text for most recent execution of command.
+std::string SA_ResolveCLThreatCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Resolving Open Threat (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  log_str += "): [NOT HANDLING THREATS YET]";
+
+  return log_str;
+};
+
+// Set the causal link threat to resolve.
+void SA_ResolveCLThreatCmd::set_threat (CLThreat &)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+
+
+// Constructor.
+SA_ResolveSchedOrderCmd::SA_ResolveSchedOrderCmd (SA_WorkingPlan *working_plan)
+: working_plan_ (working_plan)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Destructor.
+SA_ResolveSchedOrderCmd::~SA_ResolveSchedOrderCmd (void)
+{
+	this->adj_max_times_cmd_=NULL;
+	this->adj_min_times_cmd_=NULL;
+};
+
+// Create a deep copy of this command.
+PlanCommand *SA_ResolveSchedOrderCmd::clone (void)
+{
+  return new SA_ResolveSchedOrderCmd (*this);
+};
+
+// Execute next option for this command.
+bool SA_ResolveSchedOrderCmd::execute_next (void)
+{
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, this->get_log_text ());
+	this->working_plan_->add_sched_link(this->first,this->second);
+	return this->working_plan_->execute (this);
+};
+
+// Undo this command.
+void SA_ResolveSchedOrderCmd::undo (void)
+{
+	this->working_plan_->remove_sched_link(this->first,this->second);
+	this->working_plan_->undo (this);
+};
+
+// Get log text for most recent execution of command.
+std::string SA_ResolveSchedOrderCmd::get_log_text (void)
+{
+  std::string log_str = "";
+  log_str += "Resolving Schedule Ordering (CommandID ";
+  char buffer[64];
+  log_str += itoa (this->get_id().step, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().decision_pt, buffer, 10);
+  log_str += ".";
+  log_str += itoa (this->get_id().seq_num, buffer, 10);
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  log_str += "): [NOT HANDLING FULL SCHEDULING YET]";
+
+  return log_str;
+};
+
+// Set the task instances to order.
+void SA_ResolveSchedOrderCmd::set_task_insts (TaskInstID task_inst_a, TaskInstID task_inst_b)
+{
+	this->first = task_inst_a;
+	this->second = task_inst_b;
+};
+
+/// Get the affected task instances.
+TaskInstSet SA_ResolveSchedOrderCmd::get_affected_insts ()
+{
+	TaskInstSet affected_insts;
+	affected_insts.insert(this->first);
+	affected_insts.insert(this->second);
+	for(ResolveSchedOrderCmdList::iterator iter=this->cmds_.begin();iter!=this->cmds_.end();iter++)
+	{
+    TaskInstSet temp=(*iter)->get_affected_insts();
+    for(TaskInstSet::iterator iter2=temp.begin();iter2!=temp.end();iter2++)
+    {
+      if(*iter2!=this->first && *iter2!=this->second) affected_insts.insert(*iter2);
+    }
+  }
+	return affected_insts;
+};
+
+
diff --git a/SA_POP/SA_PlanCommands.h b/SA_POP/SA_PlanCommands.h
new file mode 100644
index 00000000000..adb6be44cfa
--- /dev/null
+++ b/SA_POP/SA_PlanCommands.h
@@ -0,0 +1,732 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_PlanCommands.h
+ *
+ * This file contains the definition of the concrete classes,
+ * which implement PlanCommand.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_SA_PLAN_COMMANDS_H_
+#define SA_POP_SA_PLAN_COMMANDS_H_
+
+#include <list>
+
+#include "SA_POP_Types.h"
+#include "PlanCommands.h"
+
+namespace SA_POP {
+
+  // Forward declarations.
+  class SA_WorkingPlan;
+  class SA_PlanStrategy;
+  /**
+   * @class SA_AdjustMinTimesCmd
+   *
+   * @brief AdjustMinTimesCmd concrete class for the encapsulation of a
+   *        command to adjust the start-min and end-min times of a task 
+   *        instance in the plan.
+   */
+  class SA_AdjustMinTimesCmd : public AdjustMinTimesCmd {
+  public:
+    /// SA_WorkingPlan needs access to private data to execute this command.
+    friend class SA_WorkingPlan;
+
+    /// Constructor.
+    /**
+     * @param working_plan  WorkingPlan object associated with this command.
+     */
+    SA_AdjustMinTimesCmd (SA_WorkingPlan *working_plan);
+
+    /// Destructor.
+    virtual ~SA_AdjustMinTimesCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the task instance and window adjustment.
+    /**
+     * @param task_inst  The task instance for which to adjust to the window.
+     *
+     * @param start_min  The new start-min time.
+     *
+     * @param end_min  The new end-min time.
+     */
+    virtual void set_times (TaskInstID task_inst, TimeValue start_min,
+      TimeValue end_min);
+
+  protected:
+    /// WorkingPlan object that this command works on.
+    SA_WorkingPlan *working_plan_;
+
+    //Task Instance Id for which the min times are being adjusted
+    TaskInstID task_inst_;
+
+    //Time values associated with this command 
+    TimeValue new_start_min,new_end_min,old_start_min,old_end_min;
+
+	// Type of a list of AdjustMinTimesCmd
+    typedef std::list<SA_AdjustMinTimesCmd*> MinTimesAdjustList;
+
+	// A list of all the minimum times changes due to this command
+    MinTimesAdjustList min_adjust_cmds;
+	
+	// A set of all the task instances taht are removed from the unranked set
+	TaskInstSet ranked;
+  };
+
+  /**
+   * @class SA_AdjustMaxTimesCmd
+   *
+   * @brief AdjustMaxTimesCmd concrete class for the encapsulation of a
+   *        command to adjust the start-max and end-max times of a task 
+   *        instance in the plan.
+   */
+  class SA_AdjustMaxTimesCmd : public AdjustMaxTimesCmd {
+  public:
+    /// SA_WorkingPlan needs access to private data to execute this command.
+    friend class SA_WorkingPlan;
+
+    /// Constructor.
+    /**
+     * @param working_plan  WorkingPlan object associated with this command.
+     */
+    SA_AdjustMaxTimesCmd (SA_WorkingPlan *working_plan);
+
+    /// Destructor.
+    virtual ~SA_AdjustMaxTimesCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the task instance and window adjustment.
+    /**
+     * @param task_inst  The task instance for which to adjust to the window.
+     *
+     * @param start_max  The new start-max time.
+     *
+     * @param end_max  The new end-max time.
+     */
+    virtual void set_times (TaskInstID task_inst, TimeValue start_max,
+      TimeValue end_max);
+
+  protected:
+    /// WorkingPlan object that this command works on.
+    SA_WorkingPlan *working_plan_;
+
+    //Task Instance Id for which the max times are being adjusted
+    TaskInstID task_inst_;
+
+    //Time values associated with this command 
+    TimeValue new_start_max,new_end_max,old_start_max,old_end_max;
+
+	// Type of a list of AdjustMaxTimesCmd
+	typedef std::list<SA_AdjustMaxTimesCmd*> MaxTimesAdjustList;
+
+	// A list of all the maximum times changes due to this command
+	MaxTimesAdjustList max_adjust_cmds;
+
+	// A set of all the task instances taht are removed from the unranked set
+	TaskInstSet ranked;
+  };
+
+  /**
+   * @class SA_AddTaskCmd
+   *
+   * @brief AddTaskCmd concrete class for the encapsulation of a command to add
+   *        a task to the current plan.
+   */
+  class SA_AddTaskCmd : public AddTaskCmd {
+  public:
+    /// SA_WorkingPlan needs access to private data to execute this command.
+    friend class SA_WorkingPlan;
+    
+    /// Constructor.
+    /**
+     * @param working_plan  WorkingPlan object associated with this command.
+     */
+    SA_AddTaskCmd (SA_WorkingPlan *working_plan);
+
+    /// Destructor.
+    virtual ~SA_AddTaskCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set (ordered) list of tasks to add (one per execution) to the plan.
+    /**
+     * @param tasks  Ordered list of tasks.
+     */
+    virtual void set_tasks (const TaskList &tasks);
+
+    /// Set causal link info to add to the plan with task.
+    /**
+     * @param cond  Condition this task satisifies.
+     *
+     * @param task_insts  Set of task instances that this task satisifes
+     *                    the given precondition.
+     */
+    virtual void set_causal_info (Condition cond, TaskInstSet task_insts);
+
+    /// Get ID of last task added to the plan by this command.
+    /**
+     * @return  ID of last task added to the plan by this command.
+     */
+    virtual TaskID get_task (void);
+
+    /// Get ID of instance of last task added to the plan by this command.
+    /**
+     * @return  ID of instance of last task added to the plan by this command.
+     */
+    virtual TaskInstID get_task_inst (void);
+ 
+    /// Check if the instance id used by the task of this command already exists.
+    /**
+     * @return  True if this command is using an already existing instance id.
+     */
+    virtual bool inst_exists (void);
+
+  protected:
+    /// WorkingPlan object that this command works on.
+    SA_WorkingPlan *working_plan_;
+
+    /// Ordered list of tasks to try adding to the plan.
+    TaskList tasks_;
+
+    /// Open condition satisfied by these tasks.
+    Condition cond_;
+
+    /// Task instances requiring the open condition satisfied by these tasks.
+    TaskInstSet task_insts_;
+
+    /// Task instances of the task at the front of the tasks_ list.
+    TaskInstSet used_task_insts_;
+
+    /// Last task tried.
+    TaskID last_task_;
+
+    /// Instance of last task tried.
+    TaskInstID last_task_inst_;
+
+    /// Number of tasks tried.
+    size_t num_tries_;
+    
+    /// Causal Links added by this command
+    CLSet added_links_;
+
+  };
+
+  /**
+   * @class SA_AssocTaskImplCmd
+   *
+   * @brief AssocTaskImplCmd concrete class for the encapsulation of a command
+   *        to associate an implementation with a task instance in the plan.
+   */
+  class SA_AssocTaskImplCmd : public AssocTaskImplCmd {
+  public:
+    /// SA_WorkingPlan needs access to private data to execute this command.
+    friend class SA_WorkingPlan;
+
+    /// Constructor.
+    /**
+     * @param working_plan  WorkingPlan object associated with this command.
+     */
+    SA_AssocTaskImplCmd (SA_WorkingPlan *working_plan);
+
+    /// Destructor.
+    virtual ~SA_AssocTaskImplCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the task->implementation associate.
+    /**
+     * @param task_inst  The task instance.
+     *
+     * @param impl_list  The task implementations to try for this instance.
+     */
+    virtual void set_assoc (TaskInstID task_inst, TaskImplList impl_list);
+
+    /// Get ID of instance of this command.
+    /**
+     * @return  ID of instance of this command.
+     */
+    virtual TaskInstID get_task_inst (void);
+
+  protected:
+    /// WorkingPlan object that this command works on.
+    SA_WorkingPlan *working_plan_;
+
+    /// Ordered list of task implementations to try.
+    TaskImplList impls_;
+
+    /// Task instance with which to associate an implementation.
+    TaskInstID task_inst_;
+
+    /// Last task implementation tried.
+    TaskImplID last_impl_;
+
+    /// Number of task implementations tried.
+    size_t num_tries_;
+
+	// The min and max time adjusttments made for the selected 
+	// task implementation and the task instance associated with it
+    SA_AdjustMinTimesCmd min_adj_cmd;
+	SA_AdjustMaxTimesCmd max_adj_cmd;
+	
+	// The changes made in the precedence set due to the selection of this task instance
+	// are recorded in these sets.
+	std::set< std::pair<TaskInstID,TaskInstID> > causal_insertions;
+	std::set< std::pair<TaskInstID,TaskInstID> > simul_insertions;
+  };
+
+  /**
+   * @class SA_AddOpenCondsCmd
+   *
+   * @brief AddOpenCondsCmd concrete class for the encapsulation of a command
+   *        to add open conditions to the current planning strategy.
+   */
+  class SA_AddOpenCondsCmd : public AddOpenCondsCmd {
+  public:
+    /// SA_PlanStrategy needs access to private data to execute this command.
+    friend class SA_PlanStrategy;
+
+    /// Constructor.
+    /**
+     * @param plan_strat  PlanStrategy object associated with this command.
+     */
+    SA_AddOpenCondsCmd (SA_PlanStrategy *plan_strat);
+
+    /// Destructor.
+    virtual ~SA_AddOpenCondsCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the open conditions to add.
+    /**
+     * @param conds  Set of open conditions to add.
+     */
+    virtual void set_conds (const CondSet &conds);
+
+    /// Set the task instance for which these are preconditions.
+    /**
+     * @param task_inst  Task instance for which these are preconditions.
+     */
+    virtual void set_task_inst (TaskInstID task_inst);
+
+  protected:
+    /// PlanStrategy object that this command works on.
+    SA_PlanStrategy *plan_strat_;
+
+    /// Set of conditions to add to open conditions.
+    CondSet conds_;
+
+    /// Task instance for which these are preconditions.
+    TaskInstID task_inst_;
+
+    /// Flag for whether this has been executed.
+    bool has_executed_;
+  };
+
+  /**
+   * @class SA_RemoveOpenCondsCmd
+   *
+   * @brief RemoveOpenCondsCmd concrete class for the encapsulation of a
+   *        command to remove open conditions from the current planning
+   *        strategy.
+   */
+  class SA_RemoveOpenCondsCmd : public RemoveOpenCondsCmd {
+  public:
+    /// SA_PlanStrategy needs access to private data to execute this command.
+    friend class SA_PlanStrategy;
+
+    /// Constructor.
+    /**
+     * @param plan_strat  PlanStrategy object associated with this command.
+     */
+    SA_RemoveOpenCondsCmd (SA_PlanStrategy *plan_strat);
+
+    /// Destructor.
+    virtual ~SA_RemoveOpenCondsCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the open conditions to remove.
+    /**
+     * @param conds  Set of open conditions to remove.
+     */
+    virtual void set_conds (const CondSet &conds);
+
+  protected:
+    /// PlanStrategy object that this command works on.
+    SA_PlanStrategy *plan_strat_;
+
+    /// Set of conditions to remove from open conditions.
+    CondSet conds_;
+
+    /// Map from removed conditions to (removed) task instances.
+    OpenCondMap removed_;
+  };
+
+  /**
+   * @class SA_AddOpenThreatsCmd
+   *
+   * @brief AddOpenThreatsCmd concrete class for the encapsulation of a command
+   *        to add open causal link threats to the current planning strategy.
+   */
+  class SA_AddOpenThreatsCmd : public AddOpenThreatsCmd {
+  public:
+    /// SA_PlanStrategy needs access to private data to execute this command.
+    friend class SA_PlanStrategy;
+
+    /// Constructor.
+    /**
+     * @param plan_strat  PlanStrategy object associated with this command.
+     */
+    SA_AddOpenThreatsCmd (SA_PlanStrategy *plan_strat);
+
+    /// Destructor.
+    virtual ~SA_AddOpenThreatsCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the open threats to add.
+    /**
+     * @param conds  Set of open threats to add.
+     */
+    virtual void set_threats (const CLThreatSet &threats);
+
+  protected:
+    /// PlanStrategy object that this command works on.
+    SA_PlanStrategy *plan_strat_;
+
+  };
+
+  /**
+   * @class SA_RemoveOpenThreatsCmd
+   *
+   * @brief RemoveOpenThreatsCmd concrete class for the encapsulation of a
+   *        command to remove open causal link threats from the current
+   *        planning strategy.
+   */
+  class SA_RemoveOpenThreatsCmd : public RemoveOpenThreatsCmd {
+  public:
+    /// SA_PlanStrategy needs access to private data to execute this command.
+    friend class SA_PlanStrategy;
+
+    /// Constructor.
+    /**
+     * @param plan_strat  PlanStrategy object associated with this command.
+     */
+    SA_RemoveOpenThreatsCmd (SA_PlanStrategy *plan_strat);
+
+    /// Destructor.
+    virtual ~SA_RemoveOpenThreatsCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the open threats to remove.
+    /**
+     * @param conds  Set of open threats to remove.
+     */
+    virtual void set_threats (const CLThreatSet &threats);
+
+  protected:
+    /// PlanStrategy object that this command works on.
+    SA_PlanStrategy *plan_strat_;
+
+  };
+
+  /**
+   * @class SA_ResolveCLThreatCmd
+   *
+   * @brief ResolveCLThreatCmd concrete class for the encapsulation of a
+   *        command to resolve a causal link threat in the plan.
+   */
+  class SA_ResolveCLThreatCmd : public ResolveCLThreatCmd {
+  public:
+    /// SA_WorkingPlan needs access to private data to execute this command.
+    friend class SA_WorkingPlan;
+
+    /// Constructor.
+    /**
+     * @param working_plan  WorkingPlan object associated with this command.
+     */
+    SA_ResolveCLThreatCmd (SA_WorkingPlan *working_plan);
+
+    /// Destructor.
+    virtual ~SA_ResolveCLThreatCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the causal link threat to resolve.
+    /**
+     * @param threat  The causal link threat to resolve.
+     */
+    virtual void set_threat (CLThreat &threat);
+
+  protected:
+    /// WorkingPlan object that this command works on.
+    SA_WorkingPlan *working_plan_;
+
+  };
+
+  /**
+   * @class SA_ResolveSchedOrderCmd
+   *
+   * @brief ResolveSchedOrderCmd concrete class for the encapsulation of a
+   *        command to add a non-causal-link ordering constraint (promotion
+   *        or demotion) between two task instances in the plan.
+   */
+  class SA_ResolveSchedOrderCmd : public ResolveSchedOrderCmd {
+  public:
+    /// SA_WorkingPlan needs access to private data to execute this command.
+    friend class SA_WorkingPlan;
+
+    /// Constructor.
+    /**
+     * @param working_plan  WorkingPlan object associated with this command.
+     */
+    SA_ResolveSchedOrderCmd (SA_WorkingPlan *working_plan);
+
+    /// Destructor.
+    virtual ~SA_ResolveSchedOrderCmd (void);
+
+    /// Create a deep copy of this command.
+    /**
+     * @return A deep copy of this command.
+     */
+    virtual PlanCommand *clone (void);
+
+    /// Execute next option for this command.
+    /**
+     * @return  True if there was an option executed for this command, or
+     *          false if no options remain.
+     */
+    virtual bool execute_next (void);
+
+    /// Undo this command.
+    virtual void undo (void);
+
+    /// Get log text for most recent execution of command.
+    /**
+     * @return  Log text for most recent execution of command.
+     */
+    virtual std::string get_log_text (void);
+
+    /// Set the task instances to order.
+    /**
+     * @param task_inst_a  One task instance.
+     *
+     * @param task_inst_b  The other task instance.
+     */
+    virtual void set_task_insts (TaskInstID task_inst_a,
+      TaskInstID task_inst_b);
+    /// Get the affected task instances.
+    /**
+     * @return A set of the affected task instances.
+     */
+    virtual TaskInstSet get_affected_insts ();
+	
+	// A Type of a list of ResolveSchedOrderCmd pointers
+	typedef std::list<SA_ResolveSchedOrderCmd* > ResolveSchedOrderCmdList;
+  protected:
+    /// WorkingPlan object that this command works on.
+    SA_WorkingPlan *working_plan_;
+
+	// The first task instance is scheduled before the second one
+	TaskInstID first,second;
+
+	// The min and the max times changed due to this command
+	SA_AdjustMinTimesCmd *adj_min_times_cmd_;
+	SA_AdjustMaxTimesCmd *adj_max_times_cmd_;
+
+	// A list of all the scheduling orderings introduced by this command
+	ResolveSchedOrderCmdList cmds_;
+  };
+
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_SA_PLAN_COMMANDS_H_ */
diff --git a/SA_POP/SA_PlanHeuristics.cpp b/SA_POP/SA_PlanHeuristics.cpp
new file mode 100644
index 00000000000..115690ad6bd
--- /dev/null
+++ b/SA_POP/SA_PlanHeuristics.cpp
@@ -0,0 +1,125 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_PlanHeuristics.cpp
+ *
+ * This file contains the implementations of concrete classes,
+ * which implement plan heuristic strategies.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SA_POP_Types.h"
+#include "SA_PlanHeuristics.h"
+#include "Planner.h"
+
+using namespace SA_POP;
+
+// Constructor.
+SA_CondStrategy::SA_CondStrategy (SA_POP::Planner *planner)
+: CondStrategy (planner)
+{
+  // Nothing to do.
+};
+
+// Destructor.
+SA_CondStrategy::~SA_CondStrategy (void)
+{
+  // Nothing to do.
+};
+
+// Choose the next open condition to satisfy.
+Condition SA_CondStrategy::choose_cond (const OpenCondMap &open_conds)
+{
+  if (open_conds.empty ())
+    throw "SA_POP::SA_CondStrategy::choose_cond (): Empty condition list.";
+
+  // Return first data condition.
+  for (OpenCondMap::const_iterator iter = open_conds.begin ();
+    iter != open_conds.end (); iter++)
+  {
+    if (iter->first.kind == SA_POP::DATA)
+      return iter->first;
+  }
+
+  // If no data conditions, just return first condition.
+  return open_conds.begin ()->first;
+};
+
+
+
+// Constructor.
+SA_TaskStrategy::SA_TaskStrategy (SA_POP::Planner *planner)
+: TaskStrategy (planner)
+{
+  // Nothing to do.
+};
+
+// Destructor.
+SA_TaskStrategy::~SA_TaskStrategy (void)
+{
+  // Nothing to do.
+};
+
+// Choose the (ordering of) task(s) to satisfy an open condition.
+TaskList SA_TaskStrategy::choose_task (Condition open_cond)
+{
+  TaskSet tasks = this->planner_->get_satisfying_tasks (open_cond);
+
+  // Add tasks to map with EU (to sort).
+  std::map<EUCalc, TaskID> task_map;
+  task_map.clear ();
+  for (TaskSet::iterator iter = tasks.begin (); iter != tasks.end (); iter++)
+  {
+    task_map.insert (std::make_pair (
+      this->planner_->get_task_future_eu (*iter), *iter));
+  }
+
+  // Add tasks to list in reverse order of map (highest EU first).
+  TaskList task_list;
+  task_list.clear ();
+  for (std::map<EUCalc, TaskID>::reverse_iterator iter = task_map.rbegin ();
+    iter != task_map.rend (); iter++)
+  {
+    task_list.push_back (iter->second);
+  }
+  return task_list;
+};
+
+
+
+// Constructor.
+SA_ImplStrategy::SA_ImplStrategy (SA_POP::Planner *planner)
+: ImplStrategy (planner)
+{
+  // Nothing to do.
+};
+
+// Destructor.
+SA_ImplStrategy::~SA_ImplStrategy (void)
+{
+  // Nothing to do.
+};
+
+// Choose the (ordering of) task implementation(s) for a task instance.
+TaskImplList SA_ImplStrategy::choose_impl (TaskInstID task_inst)
+{
+  TaskID task = this->planner_->get_task_from_inst (task_inst);
+  TaskImplSet impls = this->planner_->get_all_impls (task);
+
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // Order by resource impact score.
+
+  TaskImplList impl_list;
+  impl_list.clear ();
+  for (TaskImplSet::iterator iter = impls.begin ();
+    iter != impls.end (); iter++)
+  {
+    impl_list.push_back (*iter);
+  }
+
+  return impl_list;
+};
diff --git a/SA_POP/SA_PlanHeuristics.h b/SA_POP/SA_PlanHeuristics.h
new file mode 100644
index 00000000000..ab4a859d982
--- /dev/null
+++ b/SA_POP/SA_PlanHeuristics.h
@@ -0,0 +1,107 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_PlanHeuristics.h
+ *
+ * This file contains the definitions of concrete classes,
+ * which implement plan heuristic strategies.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_SA_PLAN_HEURISTICS_H_
+#define SA_POP_SA_PLAN_HEURISTICS_H_
+
+#include "SA_POP_Types.h"
+#include "PlanHeuristics.h"
+
+namespace SA_POP {
+
+  /**
+   * @class SA_CondStrategy
+   *
+   * @brief CondStrategy concrete class for a PlanHeuristic that
+   *        chooses an open condition in the plan to satisfy next.
+   */
+  class SA_CondStrategy : public CondStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    SA_CondStrategy (SA_POP::Planner *planner);
+
+    /// Destructor.
+    virtual ~SA_CondStrategy (void);
+
+    /// Choose the next open condition to satisfy.
+    /**
+     * @param open_conds  Open conditions in the plan.
+     *
+     * @return  Next open condition to satisfy.
+     */
+    virtual Condition choose_cond (const OpenCondMap &open_conds);
+  };
+
+  /**
+   * @class SA_TaskStrategy
+   *
+   * @brief TaskStrategy concrete class for a PlanHeuristic that
+   *        chooses an ordering of tasks for the choice to satisfy an
+   *        open condition.
+   */
+  class SA_TaskStrategy : public TaskStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    SA_TaskStrategy (SA_POP::Planner *planner);
+
+    /// Destructor.
+    virtual ~SA_TaskStrategy (void);
+
+    /// Choose the (ordering of) task(s) to satisfy an open condition.
+    /**
+     * @param open_cond  Open condition to satisfy.
+     *
+     * @return  Sorted list of tasks that satisfy given condition.
+     */
+    virtual TaskList choose_task (Condition open_cond);
+  };
+
+  /**
+   * @class SA_ImplStrategy
+   *
+   * @brief ImplStrategy concrete class for a PlanHeuristic that
+   *        chooses an ordering of implementations to try for a given
+   *        task instance.
+   */
+  class SA_ImplStrategy : public ImplStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    SA_ImplStrategy (SA_POP::Planner *planner);
+
+    /// Destructor.
+    virtual ~SA_ImplStrategy (void);
+
+    /// Choose the (ordering of) task implementation(s) for a task instance.
+    /**
+     * @param task_inst  Task instance for which to choose implementations.
+     *
+     * @return  Ordered list of implementations for the given task instance.
+     */
+    virtual TaskImplList choose_impl (TaskInstID task_inst);
+  };
+
+
+};  /* SA_POP namespace */
+
+
+#endif /* SA_POP_SA_PLAN_HEURISTICS_H_ */
diff --git a/SA_POP/SA_PlanStrategy.cpp b/SA_POP/SA_PlanStrategy.cpp
new file mode 100644
index 00000000000..4a32e79a21a
--- /dev/null
+++ b/SA_POP/SA_PlanStrategy.cpp
@@ -0,0 +1,474 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_PlanStrategy.cpp
+ *
+ * This file contains the implementation of the SA_PlanStrategy concrete class,
+ * which implements a PlanStrategy for use with spreading activation networks
+ * and precedence graphs.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include <set>
+#include "SA_POP_Types.h"
+#include "SA_PlanStrategy.h"
+#include "Planner.h"
+#include "PlanHeuristics.h"
+#include "PlanCommands.h"
+
+using namespace SA_POP;
+
+// Constructor.
+SA_PlanStrategy::SA_PlanStrategy (SA_POP::Planner *planner,
+  CondStrategy *cond_choice, TaskStrategy *task_choice,
+  ImplStrategy *impl_choice)
+: PlanStrategy (planner),
+has_cmds_ (false),
+cur_task_ (SA_POP::NULL_TASK_ID),
+cur_task_inst_ (SA_POP::NULL_TASK_ID),
+cur_step_ (0),
+cur_decision_pt_ (SA_POP::SA_PlanStrategy::TASK_DECISION),
+cur_seq_num_ (1),
+cond_choice_ (cond_choice),
+task_choice_ (task_choice),
+impl_choice_ (impl_choice),
+add_conds_cmd_ (0),
+rmv_conds_cmd_ (0),
+add_threats_cmd_ (0),
+rmv_threats_cmd_ (0),
+add_task_cmd_ (0),
+assoc_impl_cmd_ (0),
+resolve_threat_cmd_ (0)
+{
+  this->add_conds_cmd_ = new SA_AddOpenCondsCmd (this);
+  this->rmv_conds_cmd_ = new SA_RemoveOpenCondsCmd (this);
+  this->add_threats_cmd_ = new SA_AddOpenThreatsCmd (this);
+  this->rmv_threats_cmd_ = new SA_RemoveOpenThreatsCmd (this);
+  this->open_conds_.clear ();
+  this->open_threats_.clear ();
+};
+
+// Destructor.
+SA_PlanStrategy::~SA_PlanStrategy (void)
+{
+  // Delete heuristic strategies.
+  delete this->cond_choice_;
+  delete this->task_choice_;
+  delete this->impl_choice_;
+};
+
+// Set command prototypes to use in planning.
+void SA_PlanStrategy::set_commands (AddTaskCmd *add_task_cmd,
+  AssocTaskImplCmd *assoc_impl_cmd,
+  ResolveCLThreatCmd *resolve_threat_cmd)
+{
+  this->has_cmds_ = true;
+
+  if (add_task_cmd)
+    this->add_task_cmd_ = add_task_cmd;
+  else if (this->add_task_cmd_ == 0)
+    this->has_cmds_ = false;
+
+  if (assoc_impl_cmd)
+    this->assoc_impl_cmd_ = assoc_impl_cmd;
+  else if (this->assoc_impl_cmd_ == 0)
+    this->has_cmds_ = false;
+
+  if (resolve_threat_cmd)
+    this->resolve_threat_cmd_ = resolve_threat_cmd;
+  else if (this->resolve_threat_cmd_ == 0)
+    this->has_cmds_ = false;
+};
+
+// Set goals.
+void SA_PlanStrategy::set_goals (GoalMap goals)
+{
+  for (SA_POP::GoalMap::iterator iter = goals.begin ();
+    iter != goals.end (); iter++)
+  {
+    Condition cond;
+    cond.id = iter->first;
+    if (iter->second > 0)
+      cond.value = true;
+    else
+      cond.value = false;
+    //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    // Get type of condition.
+    cond.kind = SA_POP::SYSTEM;
+
+    this->open_conds_.insert (std::make_pair (cond, SA_POP::GOAL_TASK_INST_ID));
+  }
+};
+
+// Get command ID to use for next command.
+CommandID SA_PlanStrategy::get_next_cmd_id (void)
+{
+  CommandID temp;
+  temp.step = this->cur_step_;
+  temp.decision_pt = this->cur_decision_pt_;
+  temp.seq_num = this->cur_seq_num_;
+
+  this->cur_seq_num_++;
+  return temp;
+};
+
+// Recursively satisfy all open conditions (including recursive
+// scheduling constraint satisfaction through call back).
+bool SA_PlanStrategy::satisfy_open_conds (void)
+{
+  // If all open conditions have been satisfied, then return true for success.
+  if (this->open_conds_.empty ())
+	  return this->planner_->full_sched();
+
+  // Increment step counter.
+  this->cur_step_++;
+
+  // Set decision point and reset sequence number for commands.
+  this->cur_decision_pt_ = SA_PlanStrategy::TASK_DECISION;
+  this->cur_seq_num_ = 1;
+
+  // Variable for preconditions of current task.
+  CondSet preconds;
+
+  // Choose an open condition to satisfy.
+  Condition open_cond = this->cond_choice_->choose_cond (this->open_conds_);
+
+  // Choose task to satisfy open condition (actually an ordered list of
+  // tasks to try), passing command to planner to be executed next.
+  AddTaskCmd *add_task_cmd = this->satisfy_cond (open_cond);
+
+  // Try tasks until one yields a complete plan or all have been tried.
+  while (this->planner_->try_next (add_task_cmd->get_id ())) {
+    // Get current task and task instance.
+    this->cur_task_ = add_task_cmd->get_task ();
+    this->cur_task_inst_ = add_task_cmd->get_task_inst ();
+    // Remove open condition.
+    CommandID rmv_cond_cmd_id = this->rmv_open_cond (open_cond);
+
+    // Add preconditions of this task of we didn't reuse the task instance.
+	    CommandID add_preconds_cmd_id;
+	if(!add_task_cmd->inst_exists())
+	{
+	preconds = this->planner_->get_unsat_preconds (this->cur_task_);
+    add_preconds_cmd_id = 
+      this->add_open_conds (preconds, this->cur_task_inst_);
+	}
+    // Set decision point and reset sequence number for commands.
+    this->cur_decision_pt_ = SA_PlanStrategy::THREAT_DECISION;
+    this->cur_seq_num_ = 1;
+
+    // Add causal link threats to open threats.
+    bool are_threats = !this->planner_->get_all_threats ().empty ();
+    CommandID add_threats_cmd_id;
+    if (are_threats)
+      add_threats_cmd_id = 
+        this->add_open_threats (this->planner_->get_all_threats ());
+
+    // Try to satisfy threats and continue recursive planning.
+    if (this->satisfy_open_threats ())
+      return true;
+
+    SA_POP_DEBUG(SA_POP_DEBUG_NORMAL, "Backtracking from task addition...");
+    // Undo addition of causal link threats from this task.
+    if (are_threats)
+      this->planner_->undo_command (add_threats_cmd_id);
+    std::cout<<" the task instance being deleted is "<<add_task_cmd->get_task_inst()<<std::endl;
+    // Undo addition of preconditions from this task if we didn't reuse the task instance.
+	if(!add_task_cmd->inst_exists())
+		this->planner_->undo_command (add_preconds_cmd_id);
+
+    // Undo removal of open condition.
+    this->planner_->undo_command (rmv_cond_cmd_id);
+
+  }
+
+  SA_POP_DEBUG (SA_POP_DEBUG_NORMAL, "Backtracking to previous step...");
+  // Undo addition of task.
+  this->planner_->undo_command (add_task_cmd->get_id ());
+
+  // Decrement step.
+  this->cur_step_--;
+
+  // No task could satisfy open condition, so return failure.
+  return false;
+};
+
+// Get a PlanCommand prototype for adding open conditions,
+// which works on this strategy.
+AddOpenCondsCmd *SA_PlanStrategy::get_AddOpenCondsCmd (void)
+{
+  return static_cast<AddOpenCondsCmd *> (this->add_conds_cmd_->clone ());
+};
+
+// Get a PlanCommand prototype for removing open conditions,
+// which works on this strategy.
+RemoveOpenCondsCmd *SA_PlanStrategy::get_RemoveOpenCondsCmd (void)
+{
+  return static_cast<RemoveOpenCondsCmd *> (this->rmv_conds_cmd_->clone ());
+};
+
+// Get an command prototype for adding causal link threats, which works on
+// this strategy.
+AddOpenThreatsCmd *SA_PlanStrategy::get_AddOpenThreatsCmd (void)
+{
+  return static_cast<AddOpenThreatsCmd *> (this->add_threats_cmd_->clone ());
+};
+
+// Get a PlanCommand prototype for removing causal link threats,
+// which works on this strategy.
+RemoveOpenThreatsCmd *SA_PlanStrategy::get_RemoveOpenThreatsCmd (void)
+{
+  return static_cast<RemoveOpenThreatsCmd *> (this->rmv_threats_cmd_->clone ());
+};
+
+// Execute a command to add open conditions to planning.
+void SA_PlanStrategy::execute (SA_AddOpenCondsCmd *cmd)
+{
+  for (CondSet::iterator iter = cmd->conds_.begin ();
+    iter != cmd->conds_.end (); iter++)
+  {
+    this->open_conds_.insert (std::make_pair (*iter, cmd->task_inst_));
+  }
+};
+
+// Undo a command to add open conditions to planning.
+void SA_PlanStrategy::undo (SA_AddOpenCondsCmd *cmd)
+{
+  // Remove open conditions mapped to the specified task instance.
+	std::cout<<"removing open conds mapped to "<<cmd->task_inst_<<std::endl;
+	for (CondSet::iterator cond_iter = cmd->conds_.begin ();
+    cond_iter != cmd->conds_.end (); cond_iter++)
+  {
+	  std::cout<<"checking for "<<cond_iter->id<<std::endl;
+	  for (OpenCondMap::iterator open_iter =
+      this->open_conds_.lower_bound (*cond_iter);
+      open_iter != this->open_conds_.upper_bound (*cond_iter);)
+    {
+      OpenCondMap::iterator prev_iter = open_iter;
+      open_iter++;
+      if (prev_iter->second == cmd->task_inst_)
+	  {
+		  std::cout<<"in planstrat erasing from open_conds_ "<<prev_iter->first.id<<" to "<<prev_iter->second<<std::endl;
+		  this->open_conds_.erase (prev_iter);
+	  }
+	}
+  }
+};
+
+// Execute a command to remove open conditions from planning.
+void SA_PlanStrategy::execute (SA_RemoveOpenCondsCmd *cmd)
+{
+  // Remove open conditions, keeping track of removed cond->inst mapping.
+  for (CondSet::iterator cond_iter = cmd->conds_.begin ();
+    cond_iter != cmd->conds_.end (); cond_iter++)
+  {
+    for (OpenCondMap::iterator open_iter =
+      this->open_conds_.lower_bound (*cond_iter);
+      open_iter != this->open_conds_.upper_bound (*cond_iter); )
+    {
+      cmd->removed_.insert (std::make_pair
+        (open_iter->first, open_iter->second));
+      OpenCondMap::iterator prev_iter = open_iter;
+      open_iter++;
+      this->open_conds_.erase (prev_iter);
+    }
+  }
+};
+
+// Undo a command to remove open conditions from planning.
+void SA_PlanStrategy::undo (SA_RemoveOpenCondsCmd *cmd)
+{
+  // Insert removed open condition to task instance mapping.
+  for (OpenCondMap::iterator open_iter = cmd->removed_.begin ();
+      open_iter != cmd->removed_.end (); open_iter++)
+  {
+	  std::cout<<"in planstrat undo adding "<<open_iter->first.id<<" to "<<open_iter->second<<std::endl;
+	  this->open_conds_.insert (std::make_pair
+      (open_iter->first, open_iter->second));
+  }
+};
+
+// Execute a command to add causal link threats to planning.
+void SA_PlanStrategy::execute (SA_AddOpenThreatsCmd *)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Undo a command to add causal link threats to planning.
+void SA_PlanStrategy::undo (SA_AddOpenThreatsCmd *)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Execute a command to remove causal link threats from planning.
+void SA_PlanStrategy::execute (SA_RemoveOpenThreatsCmd *)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Undo a command to remove causal link threats from planning.
+void SA_PlanStrategy::undo (SA_RemoveOpenThreatsCmd *)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Recursively satisfy all open causal link threats and continue planning.
+bool SA_PlanStrategy::satisfy_open_threats (void)
+{
+  if (this->open_threats_.empty ()) {
+    // Set decision point and reset sequence number for commands.
+    this->cur_decision_pt_ = SA_PlanStrategy::IMPL_DECISION;
+    this->cur_seq_num_ = 1;
+
+    // Choose a task implementation.
+    AssocTaskImplCmd *assoc_impl_cmd =
+      static_cast<AssocTaskImplCmd *> (this->assoc_impl_cmd_->clone ());
+    TaskImplList impl_list;
+    if(!this->planner_->inst_exists(this->cur_task_inst_)) impl_list = this->impl_choice_->choose_impl (this->cur_task_inst_);
+    else impl_list.push_back(this->planner_->get_impl_id(this->cur_task_inst_));
+    assoc_impl_cmd->set_id (this->get_next_cmd_id ());
+    assoc_impl_cmd->set_assoc (this->cur_task_inst_, impl_list);
+    this->planner_->add_command (assoc_impl_cmd);
+
+    // Try task implementations until one yields a complete plan or all have
+    // been tried.
+    while (this->planner_->try_next (assoc_impl_cmd->get_id ())) {
+		// Get the task instance.
+		this->cur_task_inst_ = assoc_impl_cmd->get_task_inst ();
+      // Set decision point and reset sequence number for commands.
+      this->cur_decision_pt_ = SA_PlanStrategy::SCHEDULE_DECISION;
+      this->cur_seq_num_ = 1;
+
+      // Try to schedule and recursively continue planning.
+      if (this->planner_->recurse_sched (this->cur_task_inst_))
+        return true;
+    }
+
+    // No task implementation worked so return failure.
+    return false;
+  }
+
+  // Choose an open threat to satisfy and remove from open threats.
+  CLThreat threat = *this->open_threats_.begin ();
+  CommandID rmv_threat_cmd_id = this->rmv_open_threat (threat);
+
+  // Create threat resolution command and add to planner.
+  ResolveCLThreatCmd *resolve_threat_cmd =
+    static_cast<ResolveCLThreatCmd *> (this->resolve_threat_cmd_->clone ());
+  resolve_threat_cmd->set_id (this->get_next_cmd_id ());
+  resolve_threat_cmd->set_threat (threat);
+  this->planner_->add_command (resolve_threat_cmd);
+
+  // Try threat resolutions until one yields a complete plan or all have been
+  // tried.
+  while (this->planner_->try_next (resolve_threat_cmd->get_id ())) {
+    if (this->satisfy_open_threats ())
+      return true;
+  }
+
+  // Undo threat resolution.
+  this->planner_->undo_command (resolve_threat_cmd->get_id ());
+
+  // Undo removal of open threat.
+  this->planner_->undo_command (rmv_threat_cmd_id);
+
+  // No threat resolution was successful so return failure.
+  return false;
+};
+
+// Satisfy an open condition with an appropriate task.
+AddTaskCmd *SA_PlanStrategy::satisfy_cond (Condition open_cond)
+{
+  // Get add task command.
+  AddTaskCmd *add_task_cmd =
+    static_cast<AddTaskCmd *> (this->add_task_cmd_->clone ());
+  TaskList task_list = this->task_choice_->choose_task (open_cond);
+  add_task_cmd->set_id (this->get_next_cmd_id ());
+  add_task_cmd->set_tasks (task_list);
+
+  // Get task instances requiring this open condition, and set in command.
+  TaskInstSet inst_set;
+  inst_set.clear ();
+  for (OpenCondMap::iterator iter = this->open_conds_.lower_bound (open_cond);
+    iter != this->open_conds_.upper_bound (open_cond); iter++)
+  {
+    inst_set.insert (iter->second);
+  }
+  add_task_cmd->set_causal_info (open_cond, inst_set);
+
+  // Add command to planner to be executed next.
+  this->planner_->add_command (add_task_cmd);
+
+  // Return pointer to command.
+  return add_task_cmd;
+};
+
+// Add open conditions.
+CommandID SA_PlanStrategy::add_open_conds (const CondSet &open_conds,
+  TaskInstID task_inst)
+{
+  // Get command to add open conditions for task instance.
+  AddOpenCondsCmd *add_conds_cmd =
+    static_cast<AddOpenCondsCmd *> (this->add_conds_cmd_->clone ());
+  add_conds_cmd->set_conds (open_conds);
+  add_conds_cmd->set_task_inst (task_inst);
+  CommandID cmd_id = this->get_next_cmd_id ();
+  add_conds_cmd->set_id (cmd_id);
+
+  // Execute command immediately and return command id.
+  this->planner_->execute_command (add_conds_cmd);
+  return cmd_id;
+};
+
+// Remove open condition.
+CommandID SA_PlanStrategy::rmv_open_cond (Condition open_cond)
+{
+  // Get commmand to remove open conditions.
+  RemoveOpenCondsCmd *rmv_conds_cmd =
+    static_cast<RemoveOpenCondsCmd *> (this->rmv_conds_cmd_->clone ());
+  CondSet conds;
+  conds.insert (open_cond);
+  rmv_conds_cmd->set_conds (conds);
+  CommandID cmd_id = this->get_next_cmd_id ();
+  rmv_conds_cmd->set_id (cmd_id);
+
+  // Execute command immediately and return command id.
+  this->planner_->execute_command (rmv_conds_cmd);
+  return cmd_id;
+};
+
+// Add open causal link threats.
+CommandID SA_PlanStrategy::add_open_threats (const CLThreatSet &threats)
+{
+  // Get commmand to add open threats.
+  AddOpenThreatsCmd *add_threats_cmd =
+    static_cast<AddOpenThreatsCmd *> (this->add_threats_cmd_->clone ());
+  add_threats_cmd->set_threats (threats);
+  CommandID cmd_id = this->get_next_cmd_id ();
+  add_threats_cmd->set_id (cmd_id);
+
+  // Execute command immediately and return command id.
+  this->planner_->execute_command (add_threats_cmd);
+  return cmd_id;
+};
+
+// Remove open causal link threat.
+CommandID SA_PlanStrategy::rmv_open_threat (CLThreat threat)
+{
+  // Get commmand to remove open threats.
+  RemoveOpenThreatsCmd *rmv_threats_cmd =
+    static_cast<RemoveOpenThreatsCmd *> (this->rmv_threats_cmd_->clone ());
+  CLThreatSet threats;
+  threats.insert (threat);
+  rmv_threats_cmd->set_threats (threats);
+  CommandID cmd_id = this->get_next_cmd_id ();
+  rmv_threats_cmd->set_id (cmd_id);
+
+  // Execute command immediately and return command id.
+  this->planner_->execute_command (rmv_threats_cmd);
+  return cmd_id;
+};
diff --git a/SA_POP/SA_PlanStrategy.h b/SA_POP/SA_PlanStrategy.h
new file mode 100644
index 00000000000..61969a7ae8f
--- /dev/null
+++ b/SA_POP/SA_PlanStrategy.h
@@ -0,0 +1,337 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_PlanStrategy.h
+ *
+ * This file contains the definition of the SA_PlanStrategy concrete class,
+ * which implements a PlanStrategy for use with spreading activation networks
+ * and precedence graphs.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_SA_PLAN_STRATEGY_H_
+#define SA_POP_SA_PLAN_STRATEGY_H_
+
+#include <set>
+#include "SA_POP_Types.h"
+#include "PlanStrategy.h"
+#include "PlanHeuristics.h"
+#include "PlanCommands.h"
+#include "SA_PlanCommands.h"
+
+namespace SA_POP {
+
+  /**
+   * @class SA_PlanStrategy
+   *
+   * @brief PlanStrategy concrete class for the high-level
+   *        planning/scheduling algorithm for use with spreading activation
+   *        networks and precedence graphs.
+   */
+  class SA_PlanStrategy : public PlanStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     *
+     * @param cond_choice  Strategy for choosing open condition to satisfy.
+     *
+     * @param task_choice  Strategy for choosing/ordering tasks to satisfy
+     *                     an open condition.
+     *
+     * @param impl_choice  Strategy for choosing an implementation of a task.
+     */
+    SA_PlanStrategy (SA_POP::Planner *planner, CondStrategy *cond_choice,
+      TaskStrategy *task_choice, ImplStrategy *impl_choice);
+
+    /// Destructor.
+    virtual ~SA_PlanStrategy (void);
+
+    /// Set command prototypes to use in planning.
+    /**
+     * @param assoc_impl_cmd  Prototype of command for associating an
+     *                        implementation with a task instance in the plan.
+     *
+     * @param add_task_cmd  Prototype of command for adding a task to the plan.
+     *
+     * @param resolve_threat_cmd  Prototype of command for resolving causal
+     *                            link threats.
+     */
+    virtual void set_commands (AddTaskCmd *add_task_cmd,
+      AssocTaskImplCmd *assoc_impl_cmd,
+      ResolveCLThreatCmd *resolve_threat_cmd);
+
+
+
+    // ************************************************************************
+    // Planning methods.
+    // ************************************************************************
+
+    /// Set goals.
+    /**
+     * @param goals  Set of goals and associated utilities.
+     */
+    virtual void set_goals (GoalMap goals);
+
+    /// Get command ID to use for next command.
+    /**
+     * @return  Command ID to use for next command.
+     */
+    virtual CommandID get_next_cmd_id (void);
+
+    /// Recursively satisfy all open conditions (including recursive
+    /// scheduling constraint satisfaction through call back).
+    /**
+     * @return  True if all open conditions were satisfied, false otherwise.
+     */
+    virtual bool satisfy_open_conds (void);
+
+
+    // ************************************************************************
+    // Methods for obtaining prototypes of commands that work on this strategy.
+    // ************************************************************************
+
+    /// Get a PlanCommand prototype for adding open conditions,
+    /// which works on this strategy.
+    /**
+     * @return  An AddOpenCondsCmd prototype for this strategy.
+     */
+    virtual AddOpenCondsCmd *get_AddOpenCondsCmd (void);
+
+    /// Get a PlanCommand prototype for removing open conditions,
+    /// which works on this strategy.
+    /**
+     * @return  A RemoveOpenCondsCmd prototype for this strategy.
+     */
+    virtual RemoveOpenCondsCmd *get_RemoveOpenCondsCmd (void);
+
+    /// Get an command prototype for adding causal link threats, which works on
+    /// this strategy.
+    /**
+     * @return  An AddOpenThreatsCmd prototype for this strategy.
+     */
+    virtual AddOpenThreatsCmd *get_AddOpenThreatsCmd (void);
+
+    /// Get a PlanCommand prototype for removing causal link threats,
+    /// which works on this strategy.
+    /**
+     * @return  A RemoveOpenThreatsCmd prototype for this strategy.
+     */
+    virtual RemoveOpenThreatsCmd *get_RemoveOpenThreatsCmd (void);
+
+
+
+    // ************************************************************************
+    // Methods for executing and undoing commands.
+    // ************************************************************************
+
+    /// Execute a command to add open conditions to planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_AddOpenCondsCmd *cmd);
+
+    /// Undo a command to add open conditions to planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_AddOpenCondsCmd *cmd);
+
+    /// Execute a command to remove open conditions from planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_RemoveOpenCondsCmd *cmd);
+
+    /// Undo a command to remove open conditions from planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_RemoveOpenCondsCmd *cmd);
+
+    /// Execute a command to add causal link threats to planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_AddOpenThreatsCmd *cmd);
+
+    /// Undo a command to add causal link threats to planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_AddOpenThreatsCmd *cmd);
+
+    /// Execute a command to remove causal link threats from planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_RemoveOpenThreatsCmd *cmd);
+
+    /// Undo a command to remove causal link threats from planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_RemoveOpenThreatsCmd *cmd);
+
+  protected:
+    // ************************************************************************
+    // State information.
+    // ************************************************************************
+
+    /// Flag for whether command prototypes have been set.
+    bool has_cmds_;
+
+    /// Set of open conditions with associated task instances that require
+    /// them as preconditions.
+    OpenCondMap open_conds_;
+
+    /// Set of open causal link threats.
+    CLThreatSet open_threats_;
+
+    /// ID of current task being tried (to satisfy an open condition).
+    TaskID cur_task_;
+
+    /// ID of instance of current task being tried.
+    TaskInstID cur_task_inst_;
+
+    /// Current step number.
+    int cur_step_;
+
+    /// Current decision point.
+    int cur_decision_pt_;
+
+    /// Current sequence number for commands in this decision point.
+    int cur_seq_num_;
+
+
+
+    // ************************************************************************
+    // Decision point numbers.
+    // ************************************************************************
+
+    /// Task choice is first decision point.
+    static const int  TASK_DECISION = 1;
+
+    /// Causal link threat handling is second decision point.
+    static const int THREAT_DECISION = 2;
+
+    /// Task implementation choice is third decision point.
+    static const int IMPL_DECISION = 3;
+
+    /// Scheduling is fourth decision point.
+    static const int SCHEDULE_DECISION = 3;
+
+
+
+    // ************************************************************************
+    // Decision point heuristic strategies.
+    // ************************************************************************
+
+    /// Strategy for choosing open condition to satisfy.
+    CondStrategy *cond_choice_;
+
+    /// Strategy for choosing tasks to satisfy an open condition.
+    TaskStrategy *task_choice_;
+
+    /// Strategy for choosing task implementation.
+    ImplStrategy *impl_choice_;
+
+
+
+    // ************************************************************************
+    // Prototypes of commands that work on this object.
+    // ************************************************************************
+
+    /// PlanCommand prototype to add open conditions.
+    SA_AddOpenCondsCmd *add_conds_cmd_;
+
+    /// PlanCommand prototype to remove open conditions.
+    SA_RemoveOpenCondsCmd *rmv_conds_cmd_;
+
+    /// PlanCommand prototype to add open causal link threats.
+    SA_AddOpenThreatsCmd *add_threats_cmd_;
+
+    /// PlanCommand prototype to remove open causal link threats.
+    SA_RemoveOpenThreatsCmd *rmv_threats_cmd_;
+
+
+
+    // ************************************************************************
+    // Prototypes of commands that work on other objects.
+    // ************************************************************************
+
+    /// PlanCommand prototype for adding a task to the plan.
+    AddTaskCmd *add_task_cmd_;
+
+    /// PlanCommand prototype for associating an implementation with a
+    /// task instance in the plan.
+    AssocTaskImplCmd *assoc_impl_cmd_;
+
+    /// PlanCommand prototype for resolving a causal link threat in the
+    /// plan (with promotion or demotion).
+    ResolveCLThreatCmd *resolve_threat_cmd_;
+
+
+
+    // ************************************************************************
+    // Internal helper methods.
+    // ************************************************************************
+
+    /// Recursively satisfy all open causal link threats and continue planning.
+    /**
+     * @return  True if planning succeeded, false otherwise.
+     */
+    virtual bool satisfy_open_threats (void);
+
+    /// Satisfy an open condition with an appropriate task.
+    /**
+     * @param open_cond  Open condition to be satisfied.
+     *
+     * @return  Pointer to command passed to planner.
+     */
+    virtual AddTaskCmd *satisfy_cond (Condition open_cond);
+
+    /// Add open conditions.
+    /**
+     * @param open_conds  Set of open conditions to add.
+     *
+     * @param task_inst  The task instance for which these are preconditions.
+     *
+     * @return  ID of command passed to planner to add open conditions.
+     */
+    virtual CommandID add_open_conds (const CondSet &open_conds,
+      TaskInstID task_inst);
+
+    /// Remove open condition.
+    /**
+     * @param open_cond  Open condition to remove.
+     *
+     * @return  ID of command passed to planner to remove open condition.
+     */
+    virtual CommandID rmv_open_cond (Condition open_cond);
+
+    /// Add open causal link threats.
+    /**
+     * @param threats  Set of open causal link threats to add.
+     *
+     * @return  ID of command passed to planner to add open threats.
+     */
+    virtual CommandID add_open_threats (const CLThreatSet &threats);
+
+    /// Remove open causal link threat.
+    /**
+     * @param threat  Open causal link threat to remove.
+     *
+     * @return  ID of command passed to planner to remove open threat.
+     */
+    virtual CommandID rmv_open_threat (CLThreat threat);
+
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_SA_PLAN_STRATEGY_H_ */
diff --git a/SA_POP/SA_SchedStrategy.cpp b/SA_POP/SA_SchedStrategy.cpp
new file mode 100644
index 00000000000..16a4c7ea309
--- /dev/null
+++ b/SA_POP/SA_SchedStrategy.cpp
@@ -0,0 +1,814 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_SchedStrategy.cpp
+ *
+ * This file contains the SA_SchedStrategy concrete class implementation, which
+ * implements a SchedStrategy for the high-level scheduling algorithm.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SA_POP_Types.h"
+#include "SA_SchedStrategy.h"
+#include "Planner.h"
+#include <list>
+#include <set>
+using namespace SA_POP;
+
+// Constructor.
+SA_SchedStrategy::SA_SchedStrategy (SA_POP::Planner *planner)
+: SchedStrategy (planner),
+cur_decision_pt_ (SA_POP::SA_SchedStrategy::SCHEDULE_DECISION),
+cur_seq_num_ (1),
+resolve_sched_cmd_ (0),
+adj_min_times_cmd_ (0),
+adj_max_times_cmd_ (0)
+{
+  // Nothing to do.
+};
+
+// Destructor.
+SA_SchedStrategy::~SA_SchedStrategy (void)
+{
+  // Nothing to do.
+};
+
+// Set command prototypes to use in scheduling.
+void SA_SchedStrategy::set_commands (ResolveSchedOrderCmd *resolve_sched_cmd,
+  AdjustMinTimesCmd *adj_min_times_cmd,
+  AdjustMaxTimesCmd *adj_max_times_cmd)
+{
+  this->has_cmds_ = true;
+
+  if (resolve_sched_cmd)
+    this->resolve_sched_cmd_ = resolve_sched_cmd;
+  else if (this->resolve_sched_cmd_ == 0)
+    this->has_cmds_ = false;
+
+  if (adj_min_times_cmd)
+    this->adj_min_times_cmd_ = adj_min_times_cmd;
+  else if (this->adj_min_times_cmd_ == 0)
+    this->has_cmds_ = false;
+
+  if (adj_max_times_cmd)
+    this->adj_max_times_cmd_ = adj_max_times_cmd;
+  else if (this->adj_max_times_cmd_ == 0)
+    this->has_cmds_ = false;
+};
+// Get command ID to use for next command.
+CommandID SA_SchedStrategy::get_next_cmd_id (void)
+{
+  CommandID temp;
+  temp.step = this->planner_->cur_command_id().step;
+  temp.decision_pt = this->cur_decision_pt_;
+  temp.seq_num = this->cur_seq_num_;
+
+  this->cur_seq_num_++;
+  return temp;
+};
+
+// Recursively satisfy all scheduling constraints (and continue
+// satisfaction of open conditions by recursive call back to planning).
+bool SA_SchedStrategy::satisfy_sched (TaskInstID task_inst)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  //return this->planner_->recurse_plan ();
+  // Adjust schedule.
+	double THRESHOLD_CRIT = 0.8;
+	// Get the current command id to backtrack to.
+	CommandID cur_cmd_id = this->planner_->cur_command_id();
+	this->cur_seq_num_=1;
+	// Do the energy propogation for this task instance
+	// This function automatically does this for the task instances before and after it.
+  if(!this->energy_prop(task_inst))
+  {
+	  this->planner_->undo_through(cur_cmd_id);
+	  return false;
+  }
+  // Do the balance propogation related to time windows for this task instance 
+  // and those unranked with respect to it
+  if(!this->time_balance_prop(task_inst))
+  {
+	  this->planner_->undo_through(cur_cmd_id);
+	  return false;
+  }
+	const TaskInstSet *unranked = this->planner_->get_prec_insts(task_inst,UNRANKED);
+	for(TaskInstSet::const_iterator iter = unranked->begin();iter!=unranked->end();iter++)
+	{
+		if(!this->time_balance_prop(*iter))
+		{
+			this->planner_->undo_through(cur_cmd_id);
+			return false;
+		}
+	}
+  // Do the balance propogation related to precedence graph links for this task instance 
+  // and those unranked with respect to it
+ // if(!this->prec_balance_prop(task_inst))
+ // {
+	//  this->planner_->undo_through(cur_cmd_id);
+	//  return false;
+ // }
+ // unranked = this->planner_->get_prec_insts(task_inst,UNRANKED);
+	//for(TaskInstSet::const_iterator iter = unranked->begin();iter!=unranked->end();iter++)
+	//{
+	//	if(!this->prec_balance_prop(*iter))
+	//	{
+	//		this->planner_->undo_through(cur_cmd_id);
+	//		return false;
+	//	}
+	//}
+
+	// Recalculate all the levels
+	TaskInstSet all = this->planner_->get_all_insts();
+	for(TaskInstSet::iterator iter=all.begin();iter!=all.end();iter++)
+		this->calculate_levels(*iter);
+
+	// start the search
+  if(!search(THRESHOLD_CRIT))
+  {
+	  this->planner_->undo_through(cur_cmd_id);
+	  return false;
+  }
+	return this->planner_->recurse_plan ();
+};
+
+// Satisfy fully instantiated plan.
+bool SA_SchedStrategy::satisfy_full_sched ()
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  //return true;
+  // Adjust schedule.
+	CommandID cur_cmd_id = this->planner_->cur_command_id();
+	this->cur_seq_num_=1;
+  if(!search(0))
+  {
+	  this->planner_->undo_through(cur_cmd_id);
+	  return false;
+  }
+  return true;
+};
+/// Calculate the min and max levels for the consumer of a task instance
+void SA_SchedStrategy::calculate_levels(TaskInstID task_inst)
+{
+	const TaskInstSet *unranked = this->planner_->get_prec_insts(task_inst,UNRANKED);	
+	TimeWindow start_win = this->planner_->get_start_window(task_inst);
+	TimeWindow end_win = this->planner_->get_end_window(task_inst);
+	ResourceMap rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(task_inst));
+	// Calculate the levels for all the resources this task instance uses
+	for(ResourceMap::iterator rm_iter = rm.begin();rm_iter!=rm.end();rm_iter++)
+	{
+//		Sum of the resource usages of all the consumers that have to occur before the consumer of this task instance
+		ResourceValue Q=this->planner_->get_capacity(rm_iter->first);
+		// The max and min levels at the consumer
+		ResourceValue cons_min=Q,cons_max=Q;
+		for(TaskInstSet::const_iterator iter=unranked->begin();iter!=unranked->end();iter++)
+		{
+			// get the resourse usage by the task instance in the unranked set
+			ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+			ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+			// Check whether it uses the resource that we are calculating the level for
+			if(temp_rm_iter==temp_rm.end()) continue;
+			TimeWindow temp_start = this->planner_->get_start_window(*iter);
+			TimeWindow temp_end = this->planner_->get_end_window(*iter);
+			//The consumer of *iter can be executed before and its producer after the consumer of task_inst
+			if(start_win.second==NULL_TIME || temp_start.first<start_win.second)
+			{
+				std::cout<<"The consumer of "<<*iter<<" can be executed before and its producer after the consumer of "<<task_inst<<std::endl;
+				cons_min-=temp_rm_iter->second;
+			}
+			// The consumer of *iter has to executed before the consumer of task_inst
+			if(temp_start.second!=NULL_TIME && temp_start.second<start_win.first)
+			{
+				std::cout<<"THe consumer of "<<*iter<<" has to executed before the consumer of "<<task_inst<<std::endl;
+				cons_max-=temp_rm_iter->second;
+			}
+		}
+		LevelMap temp;
+		MinimumLevels::iterator iter1=this->min_cons_levels_.find(rm_iter->first);
+		// Insert dummy levels if this is a new task instance
+		if(iter1==this->min_cons_levels_.end())
+		{
+			this->min_cons_levels_.insert(std::make_pair(rm_iter->first,temp));
+			this->max_cons_levels_.insert(std::make_pair(rm_iter->first,temp));
+		}
+		ResourceValue simul_level=0;
+		const TaskInstSet *simul = this->planner_->get_prec_insts(task_inst,SIMUL);
+		// Calculate the usage of all the task instances simultaneous to this one
+		for(TaskInstSet::const_iterator iter2 = simul->begin();iter2!=simul->end();iter2++)
+		{
+			ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter2));
+			ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+			if(temp_rm_iter==temp_rm.end()) continue;
+//			std::cout<<"calculating for "<<task_inst<<" adding "<<temp_rm_iter->second<<" for task inst "<<*iter2<<std::endl;
+			simul_level+=temp_rm_iter->second;
+		}
+			this->min_cons_levels_.find(rm_iter->first)->second.insert(std::make_pair(task_inst,-1));
+			this->max_cons_levels_.find(rm_iter->first)->second.insert(std::make_pair(task_inst,-1));
+		cons_min-=rm_iter->second;
+		// erase any previous levels and add the new one.
+		this->min_cons_levels_.find(rm_iter->first)->second.erase(this->min_cons_levels_.find(rm_iter->first)->second.find(task_inst));
+		this->max_cons_levels_.find(rm_iter->first)->second.erase(this->max_cons_levels_.find(rm_iter->first)->second.find(task_inst));
+		this->min_cons_levels_.find(rm_iter->first)->second.insert(std::make_pair(task_inst,cons_min-simul_level));
+		this->max_cons_levels_.find(rm_iter->first)->second.insert(std::make_pair(task_inst,cons_max));
+	}
+}
+/// Get the Criticality of the consumer of a task instance
+Criticality SA_SchedStrategy::crit(TaskInstID task_inst)
+{
+	double INF_CRIT = 0.2;
+	const TaskInstSet *unranked = this->planner_->get_prec_insts(task_inst,UNRANKED);	
+	TimeWindow start_win = this->planner_->get_start_window(task_inst);
+	ResourceMap rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(task_inst));
+	Criticality max_crit=std::make_pair(NULL_RESOURCE_ID,0);
+	if(start_win.second==NULL_TIME) 
+	{
+		ResourceMap::iterator rm_iter = rm.begin();
+		for(;rm_iter!=rm.end();rm_iter++)
+		{
+			ResourceValue lack = this->min_cons_levels_.find(rm_iter->first)->second.find(task_inst)->second;
+				if(lack<0) break;
+		}
+		// If this doesn't lack, then its not critical.
+		if(rm_iter==rm.end()) return max_crit;
+		else return std::make_pair(rm.begin()->first,INF_CRIT);
+	}
+	// Calculate the criticality and return the maximum criticality.
+	for(ResourceMap::iterator rm_iter = rm.begin();rm_iter!=rm.end();rm_iter++)
+	{
+		ResourceValue lack = this->min_cons_levels_.find(rm_iter->first)->second.find(task_inst)->second;
+		if(lack>0) continue;
+		ResourceValue Q = this->planner_->get_capacity(rm_iter->first);
+		double crit_value = (0-lack)/(Q*(start_win.second-start_win.first+1));
+		if(max_crit.second<crit_value) max_crit=std::make_pair(rm_iter->first,crit_value);
+	}
+	return max_crit;
+}
+///Get the commitment of an ordering
+double SA_SchedStrategy::commit(TaskInstID first_task_inst, TaskInstID second_task_inst)
+{
+	double INF_COMMIT = 0.2;
+	TimeValue first_min,first_max,second_min,second_max;
+	TimeWindow first_end_win = this->planner_->get_end_window(first_task_inst);
+	TimeWindow second_start_win = this->planner_->get_start_window(second_task_inst);
+	first_min=first_end_win.first;
+	first_max=first_end_win.second;
+	second_min=second_start_win.first;
+	second_max=second_start_win.second;
+	if(first_max==NULL_TIME || second_max==NULL_TIME) return INF_COMMIT;
+	// Calculate the commitment
+	double A,B,C_min,C_max,delta_min,delta_max;
+	if(first_min>second_min) delta_min=1;
+	else delta_min=0;
+	if(first_max>second_max) delta_max=1;
+	else delta_max=0;
+	A = (second_max-second_min+1)*(first_max-first_min+1);
+	B = (first_max-second_min+1)*(first_max-second_min+1)/2;
+	C_min = (first_min-second_min)*(first_min-second_min)/2;
+	C_max = (first_max-second_max)*(first_max-second_max)/2;
+	return (B-delta_min*C_min-delta_max*C_max)/A;
+}
+/// Perform the search till the ctiricality goes below a certain value
+bool SA_SchedStrategy::search(double min_crit)
+{
+	TaskInstSet all = this->planner_->get_all_insts();
+	// Task Instances at maximum criticality
+	TaskInstSet maxcritical;
+	Criticality max_crit;
+	max_crit = std::make_pair(NULL_RESOURCE_ID,0);
+	TaskInstID task_inst=NULL_TASK_INST_ID;
+	for(TaskInstSet::iterator iter=all.begin();iter!=all.end();iter++)
+	{
+		Criticality crit_cons = this->crit(*iter);
+		std::cout<<"Criticality of "<<*iter<<" consumer: "<<crit_cons.second<<std::endl;
+		if(crit_cons.second>=max_crit.second)
+		{
+			max_crit=crit_cons;
+			maxcritical.insert(*iter);
+		}
+	}
+	if(max_crit.second<=min_crit) return true;
+	for(TaskInstSet::iterator iter=maxcritical.begin(); iter!=maxcritical.end(); iter++)
+	{
+		task_inst=*iter;
+		TimeWindow start_win = this->planner_->get_start_window(task_inst);
+		const TaskInstSet *unranked = this->planner_->get_prec_insts(task_inst,UNRANKED);
+		std::set<std::pair<double,TaskInstID> > probables;
+		// get all the probable task instances that can be ordered before this task instance
+		for(TaskInstSet::const_iterator iter=unranked->begin();iter!=unranked->end();iter++)
+		{
+			TimeWindow temp_end = this->planner_->get_end_window(*iter);
+			if(temp_end.first!=NULL_TIME && (start_win.second==NULL_TIME || temp_end.first<start_win.second))
+			{
+				ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+				ResourceMap::iterator temp_rm_iter = temp_rm.find(max_crit.first);
+				if(temp_rm_iter==temp_rm.end()) continue;
+				double rel_crit=this->commit(*iter,task_inst)/(double)temp_rm_iter->second;
+				if(rel_crit!=0) probables.insert(std::make_pair(rel_crit,*iter));
+			}
+		}
+		for(std::set<std::pair<double,TaskInstID> >::iterator iter=probables.begin();iter!=probables.end();iter++)
+		{
+			ResolveSchedOrderCmd *sched_cmd = static_cast<ResolveSchedOrderCmd *> (this->resolve_sched_cmd_->clone ());
+			sched_cmd->set_id(this->get_next_cmd_id());
+			sched_cmd->set_task_insts(iter->second,task_inst);
+			this->planner_->add_command(sched_cmd);
+			if(this->planner_->try_next(sched_cmd->get_id()))
+			{
+				TaskInstSet affected_insts = sched_cmd->get_affected_insts();
+				for(TaskInstSet::iterator iter2=affected_insts.begin();iter2!=affected_insts.end();iter2++)
+				{
+					this->calculate_levels(*iter2);
+				}
+				if(search(min_crit)) return true;
+			}
+			this->planner_->undo_command(sched_cmd->get_id());
+		}
+	}
+	return false;
+}
+
+///Precedence Link Based Balance Constraint Propogation 5.3.3 (labourie paper)
+bool SA_SchedStrategy::prec_balance_prop (TaskInstID task_inst)
+{
+	std::cout<<"Doing Precedence balance prop for "<<task_inst<<std::endl;
+	CommandID cur_cmd_id = this->planner_->cur_command_id();
+	const TaskInstSet *unranked = this->planner_->get_prec_insts(task_inst,UNRANKED);	
+	TimeWindow start_win = this->planner_->get_start_window(task_inst);
+	ResourceMap rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(task_inst));
+	// Iterate over all resources that this task instance uses
+	for(ResourceMap::iterator rm_iter = rm.begin();rm_iter!=rm.end();rm_iter++)
+	{
+		//Sum of the resource usages of all the consumers that have to occur before the consumer of this task instance
+		ResourceValue level_before=this->planner_->get_capacity(rm_iter->first);
+		TaskInstSet producers_unranked;
+		for(TaskInstSet::const_iterator iter=unranked->begin();iter!=unranked->end();iter++)
+		{
+			TimeWindow temp_start = this->planner_->get_start_window(*iter);
+			TimeWindow temp_end = this->planner_->get_end_window(*iter);
+			if(temp_start.second!=NULL_TIME && temp_start.second<start_win.first)
+			{
+				std::cout<<"The consumer of "<<*iter<<" has to executed before"<<std::endl;
+				if(temp_end.first!=NULL_TIME && (start_win.second==NULL_TIME || temp_end.first<start_win.second)) producers_unranked.insert(*iter);
+				//The consumer has to be executed before this task instance
+				ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+				ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+				if(temp_rm_iter==temp_rm.end()) continue;
+				level_before-=temp_rm_iter->second;
+			}
+		}
+		if(level_before<0)
+		{
+			ResourceValue production=0;
+			for(TaskInstSet::const_iterator iter=producers_unranked.begin();iter!=producers_unranked.end();iter++)
+			{
+				TimeWindow temp_end = this->planner_->get_end_window(*iter);
+				for(TaskInstSet::const_iterator iter2=producers_unranked.begin();iter2!=producers_unranked.end();iter2++)
+				{
+					if(*iter2==*iter) continue;
+					TimeWindow temp_end2 = this->planner_->get_end_window(*iter2);
+					if(temp_end.second==NULL_TIME || temp_end2.first<temp_end.second)
+						production+=this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter2)).find(rm_iter->first)->second;
+				}
+				if(production+level_before<0)
+				{
+					ResolveSchedOrderCmd *sched_cmd = static_cast<ResolveSchedOrderCmd *> (this->resolve_sched_cmd_->clone ());
+					sched_cmd->set_id(this->get_next_cmd_id());
+					sched_cmd->set_task_insts(*iter,task_inst);
+					this->planner_->add_command(sched_cmd);
+					if(!this->planner_->try_next(sched_cmd->get_id()))
+					{
+						this->planner_->undo_through(cur_cmd_id);
+						return false;
+					}
+				}
+			}
+
+		}
+	}
+	return true;
+}
+///Time Based Balance Constraint Propogation 5.3.3 (labourie paper)
+bool SA_SchedStrategy::time_balance_prop (TaskInstID task_inst)
+{
+	std::cout<<"Doing time balance prop for "<<task_inst<<std::endl;
+	CommandID cur_cmd_id = this->planner_->cur_command_id();
+	const TaskInstSet *unranked = this->planner_->get_prec_insts(task_inst,UNRANKED);	
+	TimeWindow start_win = this->planner_->get_start_window(task_inst);
+	TimeWindow end_win = this->planner_->get_end_window(task_inst);
+	ResourceMap rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(task_inst));
+	// Iterate over all resources used by this task instance
+	for(ResourceMap::iterator rm_iter = rm.begin();rm_iter!=rm.end();rm_iter++)
+	{
+		//Sum of the resource usages of all the consumers that have to occur before the consumer of this task instance
+		ResourceValue level_before=this->planner_->get_capacity(rm_iter->first);
+		//All the producers that can occur before this task instance
+		std::list<TaskInstID> producers_unranked;
+		for(TaskInstSet::const_iterator iter=unranked->begin();iter!=unranked->end();iter++)
+		{
+			TimeWindow temp_start = this->planner_->get_start_window(*iter);
+			TimeWindow temp_end = this->planner_->get_end_window(*iter);
+			if(temp_start.second!=NULL_TIME && temp_start.second<start_win.first)
+			{
+				std::cout<<"THe consumer of "<<*iter<<" has to executed before"<<std::endl;
+				//The consumer has to be executed before this task instance
+				ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+				ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+				if(temp_rm_iter==temp_rm.end()) continue;
+				level_before-=temp_rm_iter->second;
+				if(temp_end.first!=NULL_TIME && (start_win.second==NULL_TIME || temp_end.first<start_win.second))
+				{
+					// This task instance can be pushed before the task instance
+					std::cout<<"Task inst "<<*iter<<" can cause trouble"<<std::endl;
+					if(producers_unranked.empty())
+						producers_unranked.push_front(*iter);	
+					else
+					{
+						std::list<TaskInstID>::iterator iter2=producers_unranked.begin();
+						for(;iter2!=producers_unranked.end();iter2++)
+						{	
+							TimeWindow temp2_end = this->planner_->get_end_window(*iter2);
+							if(temp2_end.first>temp_end.first) break;
+						}
+						producers_unranked.insert(iter2,*iter);
+					}
+				}
+				else continue;
+			}
+		}
+		std::cout<<"The producers_unranked list is: "<<std::endl;
+		for(std::list<TaskInstID>::iterator iter2=producers_unranked.begin();iter2!=producers_unranked.end();iter2++)
+		{
+			std::cout<<*iter2<<" ";
+		}
+
+		if(level_before<0)
+		{
+			std::cout<<"The level_before is negative"<<std::endl;
+			ResourceValue level_prod=0;
+			std::list<TaskInstID>::iterator iter2=producers_unranked.begin();
+			for(;iter2!=producers_unranked.end();iter2++)
+			{
+				TimeWindow temp2_end = this->planner_->get_end_window(*iter2);
+				ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter2));
+				level_prod+=temp_rm.find(rm_iter->first)->second;
+				if(level_prod>=0-level_before) break;
+			}
+			if(iter2==producers_unranked.end()) return false;
+			TimeWindow temp2_end = this->planner_->get_end_window(*iter2);
+			std::cout<<"greater than "<<*iter2<<std::endl;
+			if(temp2_end.first>start_win.first)
+			{
+				AdjustMinTimesCmd *adj_min_times_cmd = static_cast<AdjustMinTimesCmd *> (this->adj_min_times_cmd_->clone ());
+				adj_min_times_cmd->set_id(this->get_next_cmd_id());
+				adj_min_times_cmd->set_times(task_inst,temp2_end.first,temp2_end.first+this->planner_->get_duration(task_inst));
+				this->planner_->add_command(adj_min_times_cmd);
+				if(!this->planner_->try_next(adj_min_times_cmd->get_id()))
+				{
+					this->planner_->undo_through(cur_cmd_id);
+					return false;
+				}
+			}
+		}
+	}
+	// Do the same as above for the producer of this task. This is more likely to give results
+	for(ResourceMap::iterator rm_iter = rm.begin();rm_iter!=rm.end();rm_iter++)
+	{
+		//Sum of the resource usages of all the consumers that have to occur before the producer of this task instance but there produces doesn't
+		ResourceValue level_before=this->planner_->get_capacity(rm_iter->first)-rm_iter->second;
+		const TaskInstSet *simul = this->planner_->get_prec_insts(task_inst,SIMUL);
+		for(TaskInstSet::const_iterator iter=simul->begin();iter!=simul->end();iter++)
+		{
+			std::cout<<"calculating for "<<*iter<<std::endl;
+			ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+			ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+			//This task instance doesn't use this resource
+			if(temp_rm_iter==temp_rm.end()) continue;
+			level_before-=temp_rm_iter->second;
+		}
+		//All the producers that can occur before this task instance
+		std::list<TaskInstID> producers_unranked;
+		for(TaskInstSet::const_iterator iter=unranked->begin();iter!=unranked->end();iter++)
+		{
+		    std::cout<<"checking out "<<*iter<<std::endl;
+			TimeWindow temp_start = this->planner_->get_start_window(*iter);
+			TimeWindow temp_end = this->planner_->get_end_window(*iter);
+			if(end_win.first==NULL_TIME ||(temp_start.second!=NULL_TIME && temp_start.second<end_win.first))
+			{
+				//The consumer has to be executed before this task instance
+				ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+				ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+				//This task instance doesn't use this resource
+				if(temp_rm_iter==temp_rm.end()) continue;
+				level_before-=temp_rm_iter->second;
+				if(temp_end.first!=NULL_TIME && (end_win.second==NULL_TIME || temp_end.first<end_win.second))
+				{
+					if(producers_unranked.empty())
+						producers_unranked.push_front(*iter);	
+					else
+					{
+						std::list<TaskInstID>::iterator iter2=producers_unranked.begin();
+						for(;iter2!=producers_unranked.end();iter2++)
+						{
+							TimeWindow temp2_end = this->planner_->get_end_window(*iter2);
+							if(temp2_end.first>temp_end.first) break;
+						}
+						producers_unranked.insert(iter2,*iter);
+					}
+				}
+				else continue;
+			}
+		}
+		if(level_before<0)
+		{
+			ResourceValue level_prod=0;
+			std::list<TaskInstID>::iterator iter2=producers_unranked.begin();
+			for(;iter2!=producers_unranked.end();iter2++)
+			{
+				TimeWindow temp2_end = this->planner_->get_end_window(*iter2);
+				ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter2));
+				level_prod+=temp_rm.find(rm_iter->first)->second;
+				if(level_prod>=0-level_before) break;
+			}
+			if(iter2==producers_unranked.end()) return false;
+			TimeWindow temp2_end = this->planner_->get_end_window(*iter2);
+			if(end_win.first!=NULL_TIME && temp2_end.first>end_win.first)
+			{
+				AdjustMinTimesCmd *adj_min_times_cmd = static_cast<AdjustMinTimesCmd *> (this->adj_min_times_cmd_->clone ());
+				adj_min_times_cmd->set_id(this->get_next_cmd_id());
+				adj_min_times_cmd->set_times(task_inst,temp2_end.first-this->planner_->get_duration(task_inst),temp2_end.first);
+				this->planner_->add_command(adj_min_times_cmd);
+				if(!this->planner_->try_next(adj_min_times_cmd->get_id()))
+				{
+					this->planner_->undo_through(cur_cmd_id);
+					return false;
+				}
+			}
+		}
+	}
+	return true;
+}
+
+//Do the energy precedence calculations for this taskinstance.
+//If nothing changes go to the orderings after this and perform the calculations
+//otherwise, repeat these for this task instance till the windows stop changing and stop in this branch.
+bool SA_SchedStrategy::energy_prop (TaskInstID task_inst)
+{
+  std::cout<<"Doing energy precedence calculations for "<<task_inst<<std::endl;
+  CommandID cur_cmd_id = this->planner_->cur_command_id();
+  AdjustMinTimesCmd *adj_min_times_cmd = static_cast<AdjustMinTimesCmd *> (this->adj_min_times_cmd_->clone ());
+  AdjustMaxTimesCmd *adj_max_times_cmd = static_cast<AdjustMaxTimesCmd *> (this->adj_max_times_cmd_->clone ());
+  TimeWindow start_win = this->planner_->get_start_window(task_inst);
+  TimeWindow end_win = this->planner_->get_end_window(task_inst);
+  TimeValue min_start = start_win.first;
+  TimeValue max_end = end_win.second;
+  ResourceMap rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(task_inst));
+  bool min_times_changed=false,max_times_changed=false;
+  for(ResourceMap::iterator rm_iter = rm.begin();rm_iter!=rm.end();rm_iter++)
+  {
+	//Based on all task instances before task_inst
+	ResourceValue Q = this->planner_->get_capacity(rm_iter->first);
+	std::cout<<"The capacity of resource:"<<rm_iter->first<<" is "<<Q<<std::endl;
+	double first_before=-1,first_after=-1,second_before=0,second_after=0;
+	const TaskInstSet *before = this->planner_->get_prec_insts(task_inst,BEFORE);
+	const TaskInstSet *after = this->planner_->get_prec_insts(task_inst,AFTER);
+	if(!before->empty())
+	{
+		for(TaskInstSet::const_iterator iter = before->begin();iter!=before->end();iter++)
+		{
+			ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+			ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+			if(temp_rm_iter==temp_rm.end()) continue;
+			second_before += this->planner_->get_duration(*iter) * (temp_rm_iter->second) / Q;
+			TimeWindow temp_start = this->planner_->get_start_window(*iter);
+			if(first_before==-1 || first_before>temp_start.first) first_before = temp_start.first;
+		}
+		if(first_before!=-1 && min_start<first_before+second_before) min_start=first_before+second_before;
+	}
+	//Based on all task instances after task_inst
+	if(!after->empty() && end_win.second!=NULL_TIME)
+	{
+		for(TaskInstSet::const_iterator iter = after->begin();iter!=after->end();iter++)
+		{
+			ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+			ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+			if(temp_rm_iter==temp_rm.end()) continue;
+			TimeValue temp_dur = this->planner_->get_duration(*iter);
+			ResourceValue temp_rval = temp_rm_iter->second;
+			second_after += (double)temp_dur * (double)temp_rval / Q;
+			TimeWindow temp_end = this->planner_->get_end_window(*iter);
+			if(temp_end.second==NULL_TIME)
+			{
+				max_end=end_win.second;
+				break;
+			}
+			if(first_after==-1 || first_after<temp_end.second) first_after = temp_end.second;
+		}
+		if(first_after!=-1 && max_end>first_after-second_after) max_end=first_after-second_after;
+	}
+    std::cout<<"After calculations for resource "<<rm_iter->first<<" start_min="<<min_start<<" and end_max="<<max_end<<std::endl;
+  }
+  if(min_start!=start_win.first)
+  {
+    min_times_changed=true;
+    adj_min_times_cmd->set_times(task_inst,min_start,min_start+this->planner_->get_duration(task_inst));
+    adj_min_times_cmd->set_id(this->get_next_cmd_id());
+    this->planner_->add_command (adj_min_times_cmd);
+    if(!this->planner_->try_next(adj_min_times_cmd->get_id())) {
+		this->planner_->undo_through(cur_cmd_id);
+		return false;
+    }
+  }
+  if(max_end!=end_win.second)
+  {
+    max_times_changed=true;
+    adj_max_times_cmd->set_times(task_inst,max_end-this->planner_->get_duration(task_inst),max_end);
+    adj_max_times_cmd->set_id(this->get_next_cmd_id());
+    this->planner_->add_command (adj_max_times_cmd);
+    if(!this->planner_->try_next(adj_max_times_cmd->get_id())) {
+      this->planner_->undo_through(cur_cmd_id);
+      return false;
+    }
+  }
+  if(min_times_changed || max_times_changed) 
+  {
+    //Since the time windows have changed, some unranked task instances have gone to before or after.
+    //Thus, we need to do the energy precedence calculations for this task instance again.
+    //Also we have to do the energy precedence calculations for the affected task instances.
+    if(!this->energy_prop(task_inst)) {
+		this->planner_->undo_through(cur_cmd_id);
+		return false;
+    }
+  }
+	// Propogate the energy precedence constraint calculations to before and after tasks
+	// in only one direction
+  //TaskInstSet aft = this->planner_->after_orderings(task_inst);
+	//TaskInstSet bef = this->planner_->before_orderings(task_inst);
+  const TaskInstSet *aft = this->planner_->get_prec_insts(task_inst,AFTER);
+  const TaskInstSet *bef = this->planner_->get_prec_insts(task_inst,BEFORE);
+
+  for(TaskInstSet::const_iterator iter = aft->begin();iter!=aft->end();iter++)
+    {
+      if(!this->energy_prop_after(*iter))
+      {
+		this->planner_->undo_through(cur_cmd_id);
+		return false;
+      }
+    }
+
+    for(TaskInstSet::const_iterator iter = bef->begin();iter!=bef->end();iter++)
+    {
+      if(!this->energy_prop_before(*iter))
+      {
+      this->planner_->undo_through(cur_cmd_id);
+      return false;
+      }
+    }
+  return true;
+}
+/// Do the uni directional energy precedence propogation in the after direction
+bool SA_SchedStrategy::energy_prop_after (TaskInstID task_inst)
+{
+  std::cout<<"Doing energy precedence after calculations for "<<task_inst<<std::endl;
+  CommandID cur_cmd_id = this->planner_->cur_command_id();
+  AdjustMinTimesCmd *adj_min_times_cmd = static_cast<AdjustMinTimesCmd *> (this->adj_min_times_cmd_->clone ());
+  TimeWindow start_win = this->planner_->get_start_window(task_inst);
+  TimeWindow end_win = this->planner_->get_end_window(task_inst);
+  TimeValue min_start = start_win.first;
+  ResourceMap rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(task_inst));
+  bool min_times_changed=false;
+  for(ResourceMap::iterator rm_iter = rm.begin();rm_iter!=rm.end();rm_iter++)
+  {
+	//Based on all task instances before task_inst
+	ResourceValue Q = this->planner_->get_capacity(rm_iter->first);
+	std::cout<<"The capacity of resource:"<<rm_iter->first<<" is "<<Q<<std::endl;
+	double first_before=-1,second_before=0;
+	const TaskInstSet *before = this->planner_->get_prec_insts(task_inst,BEFORE);
+	if(!before->empty())
+	{
+		for(TaskInstSet::const_iterator iter = before->begin();iter!=before->end();iter++)
+		{
+			ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+			ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+			if(temp_rm_iter==temp_rm.end()) continue;
+			second_before += this->planner_->get_duration(*iter) * (temp_rm_iter->second) / Q;
+			TimeWindow temp_start = this->planner_->get_start_window(*iter);
+			if(first_before==-1 || first_before>temp_start.first) first_before = temp_start.first;
+		}
+		if(first_before!=-1 && min_start<first_before+second_before) min_start=first_before+second_before;
+	}
+    std::cout<<"After after calculations for resource "<<rm_iter->first<<" start_min="<<min_start<<std::endl;
+  }
+  if(min_start!=start_win.first)
+  {
+    min_times_changed=true;
+    adj_min_times_cmd->set_times(task_inst,min_start,min_start+this->planner_->get_duration(task_inst));
+    adj_min_times_cmd->set_id(this->get_next_cmd_id());
+    this->planner_->add_command (adj_min_times_cmd);
+    if(!this->planner_->try_next(adj_min_times_cmd->get_id())) {
+		this->planner_->undo_through(cur_cmd_id);
+		return false;
+    }
+  }
+  if(min_times_changed) 
+  {
+    //Since the time windows have changed, some unranked task instances have gone to before or after.
+    //Thus, we need to do the energy precedence calculations for this task instance again.
+    //Also we have to do the energy precedence calculations for the affected task instances.
+    if(!this->energy_prop_after(task_inst)) {
+		this->planner_->undo_through(cur_cmd_id);
+		return false;
+    }
+  }
+	//TaskInstSet aft = this->planner_->after_orderings(task_inst);
+	//TaskInstSet bef = this->planner_->before_orderings(task_inst);
+  const TaskInstSet *aft = this->planner_->get_prec_insts(task_inst,AFTER);
+
+  for(TaskInstSet::const_iterator iter = aft->begin();iter!=aft->end();iter++)
+    {
+      if(!this->energy_prop_after(*iter))
+      {
+		this->planner_->undo_through(cur_cmd_id);
+		return false;
+      }
+    }
+  return true;
+}
+/// Do the uni directional energy precedence propogation in the after direction
+bool SA_SchedStrategy::energy_prop_before (TaskInstID task_inst)
+{
+  std::cout<<"Doing before energy precedence calculations for "<<task_inst<<std::endl;
+  CommandID cur_cmd_id = this->planner_->cur_command_id();
+  AdjustMaxTimesCmd *adj_max_times_cmd = static_cast<AdjustMaxTimesCmd *> (this->adj_max_times_cmd_->clone ());
+  TimeWindow start_win = this->planner_->get_start_window(task_inst);
+  TimeWindow end_win = this->planner_->get_end_window(task_inst);
+  TimeValue min_start = start_win.first;
+  TimeValue max_end = end_win.second;
+  ResourceMap rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(task_inst));
+  bool max_times_changed=false;
+  for(ResourceMap::iterator rm_iter = rm.begin();rm_iter!=rm.end();rm_iter++)
+  {
+	//Based on all task instances before task_inst
+	ResourceValue Q = this->planner_->get_capacity(rm_iter->first);
+	std::cout<<"The capacity of resource:"<<rm_iter->first<<" is "<<Q<<std::endl;
+	double first_after=-1,second_after=0;
+	const TaskInstSet *after = this->planner_->get_prec_insts(task_inst,AFTER);
+	if(!after->empty() && end_win.second!=NULL_TIME)
+	{
+		for(TaskInstSet::const_iterator iter = after->begin();iter!=after->end();iter++)
+		{
+			ResourceMap temp_rm = this->planner_->get_all_resources(this->planner_->get_task_impl_from_inst(*iter));
+			ResourceMap::iterator temp_rm_iter = temp_rm.find(rm_iter->first);
+			if(temp_rm_iter==temp_rm.end()) continue;
+			TimeValue temp_dur = this->planner_->get_duration(*iter);
+			ResourceValue temp_rval = temp_rm_iter->second;
+			second_after += (double)temp_dur * (double)temp_rval / Q;
+			TimeWindow temp_end = this->planner_->get_end_window(*iter);
+			if(temp_end.second==NULL_TIME)
+			{
+				max_end=end_win.second;
+				break;
+			}
+			if(first_after==-1 || first_after<temp_end.second) first_after = temp_end.second;
+		}
+		if(first_after!=-1 && max_end>first_after-second_after) max_end=first_after-second_after;
+	}
+    std::cout<<"After before calculations for resource "<<rm_iter->first<<" and end_max="<<max_end<<std::endl;
+  }
+  if(max_end!=end_win.second)
+  {
+    max_times_changed=true;
+    adj_max_times_cmd->set_times(task_inst,max_end-this->planner_->get_duration(task_inst),max_end);
+    adj_max_times_cmd->set_id(this->get_next_cmd_id());
+    this->planner_->add_command (adj_max_times_cmd);
+    if(!this->planner_->try_next(adj_max_times_cmd->get_id())) {
+      this->planner_->undo_through(cur_cmd_id);
+      return false;
+    }
+  }
+  if(max_times_changed) 
+  {
+    //Since the time windows have changed, some unranked task instances have gone to before or after.
+    //Thus, we need to do the energy precedence calculations for this task instance again.
+    //Also we have to do the energy precedence calculations for the affected task instances.
+    if(!this->energy_prop_before(task_inst)) {
+		this->planner_->undo_through(cur_cmd_id);
+		return false;
+    }
+  }
+	//TaskInstSet bef = this->planner_->before_orderings(task_inst);
+  const TaskInstSet *bef = this->planner_->get_prec_insts(task_inst,BEFORE);
+
+    for(TaskInstSet::const_iterator iter = bef->begin();iter!=bef->end();iter++)
+    {
+      if(!this->energy_prop_before(*iter))
+      {
+      this->planner_->undo_through(cur_cmd_id);
+      return false;
+      }
+    }
+  return true;
+}
diff --git a/SA_POP/SA_SchedStrategy.h b/SA_POP/SA_SchedStrategy.h
new file mode 100644
index 00000000000..88a1fda8326
--- /dev/null
+++ b/SA_POP/SA_SchedStrategy.h
@@ -0,0 +1,189 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_SchedStrategy.h
+ *
+ * This file contains the SA_SchedStrategy concrete class definition, which
+ * implements a SchedStrategy for the high-level scheduling algorithm.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_SA_SCHED_STRATEGY_H_
+#define SA_POP_SA_SCHED_STRATEGY_H_
+
+#include<map>
+#include "SA_POP_Types.h"
+#include "SchedStrategy.h"
+#include "PlanCommands.h"
+
+namespace SA_POP {
+
+  /**
+   * @class SA_SchedStrategy
+   *
+   * @brief  Concrete class of SchedStrategy for the high-level scheduling
+   *         algorithm.
+   */
+  class SA_SchedStrategy : public SchedStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    SA_SchedStrategy (SA_POP::Planner *planner);
+
+    /// Destructor.
+    virtual ~SA_SchedStrategy (void);
+
+    /// Set command prototypes to use in scheduling.
+    /**
+     * @param resolve_sched_cmd  Prototype of command for resolving a
+     *                           scheduling conflict between two task
+     *                           instances in the plan.
+     *
+     * @param adj_min_times_cmd  Prototype of command for adjusting the
+     *                           min times of a task instance in the plan.
+     *
+     * @param adj_max_times_cmd  Prototype of command for adjusting the
+     *                         max times of a task instance in the plan.
+     */
+    virtual void set_commands (ResolveSchedOrderCmd *resolve_sched_cmd,
+      AdjustMinTimesCmd *adj_min_times_cmd,
+      AdjustMaxTimesCmd *adj_max_times_cmd);
+
+
+    /// Get command ID to use for next command.
+    /**
+     * @return  Command ID to use for next command.
+     */
+    virtual CommandID get_next_cmd_id (void);
+
+    /// Recursively satisfy all scheduling constraints (and continue
+    /// satisfaction of open conditions by recursive call back to planning).
+    /**
+     * @param task_inst  Current task instance being tried in the plan.
+     *
+     * @return  True if fully satisfied plan found, false otherwise.
+     */
+    virtual bool satisfy_sched (TaskInstID task_inst);
+
+    /// Satisfy fully instantiated plan.
+    /**
+     * @param task_inst  Current task instance being tried in the plan.
+     *
+     * @return  True if fully satisfied plan found, false otherwise.
+     */
+    virtual bool satisfy_full_sched ();
+
+	///Energy Constraint Propogation
+	/**
+	 * @param task_inst Current task instance being tried in the plan
+	 *
+	 * @return True if the energy constraint propogation is successfull
+	 */
+	virtual bool energy_prop (TaskInstID task_inst);
+	///Energy Constraint Propogation Helper functions
+	/**
+	 * @param task_inst Current task instance being tried in the plan
+	 *
+	 * @return True if the energy constraint propogation is successfull
+	 */
+	virtual bool energy_prop_after (TaskInstID task_inst);
+	///Energy Constraint Propogation Helper functions
+	/**
+	 * @param task_inst Current task instance being tried in the plan
+	 *
+	 * @return True if the energy constraint propogation is successfull
+	 */
+	virtual bool energy_prop_before (TaskInstID task_inst);
+	///Time Based Balance Constraint Propogation 5.3.3 (labourie paper)
+	/**
+	 * @param task_inst Current task instance being tried in the plan
+	 *
+	 * @return True if the balance constraint propogation is successfull
+	 */
+	virtual bool time_balance_prop (TaskInstID task_inst);
+	///Precedence Link Based Balance Constraint Propogation 5.3.4 (labourie paper)
+	/**
+	 * @param task_inst Current task instance being tried in the plan
+	 *
+	 * @return True if the balance constraint propogation is successfull
+	 */
+	virtual bool prec_balance_prop (TaskInstID task_inst);
+	///Commitment of an ordering
+	/**
+	 * @param first_task_inst The task_instance scheduled before the second one.
+	 *
+	 * @param second_task_inst The task instance schedules after the first one.
+	 *
+	 * @return The value of the commitment of this order.
+	 */
+	virtual double commit(TaskInstID first_task_inst, TaskInstID second_task_inst);
+	///Criticality of the consumer of a task instance
+	/**
+	 * @param task_inst The task instance.
+	 *
+	 * @return The value of the criticality of the task instance.
+	 */
+	virtual Criticality crit(TaskInstID task_inst);
+	/// Calculate the min and max levels
+	virtual void calculate_levels(TaskInstID task_inst);
+	/// Perform the search till the ctiricality goes below a certain value
+	/**
+	 * @param min_crit The threshold criticality value
+	 *
+	 * @return True if it succeds
+	 */
+	virtual bool search(double min_crit);
+  protected:
+    
+    /// Flag for whether command prototypes have been set.
+    bool has_cmds_;
+
+    /// Current decision point.
+    int cur_decision_pt_;
+
+    /// Current sequence number for commands in this decision point.
+    int cur_seq_num_;
+
+	/// Type of a map from task instance to its level
+	typedef std::map<TaskInstID,ResourceValue> LevelMap;
+	/// Type of a map from the Resource ID to the minimum levels
+	typedef std::map<ResourceID,LevelMap> MinimumLevels;
+	/// Type of a map from the Resource ID to the maximum levels
+	typedef std::map<ResourceID,LevelMap> MaximumLevels;
+	
+	MinimumLevels min_cons_levels_;
+	MaximumLevels max_cons_levels_;
+    // ************************************************************************
+    // Decision point numbers.
+    // ************************************************************************
+
+    /// Scheduling is fourth decision point.
+    static const int SCHEDULE_DECISION = 3;
+
+    // ************************************************************************
+    // Prototypes of commands that work on other objects.
+    // ************************************************************************
+
+    /// PlanCommand prototype for resolving a scheduling conflict (i.e.
+    /// non-causal-link ordering constraint (with promotion or demotion)
+    /// between two task instances in the plan.
+    ResolveSchedOrderCmd *resolve_sched_cmd_;
+
+    /// PlanCommand prototype for adjusting the min times of a
+    /// task instance in the plan.
+    AdjustMinTimesCmd *adj_min_times_cmd_;
+
+    /// PlanCommand prototype for adjusting the max times of a
+    /// task instance in the plan.
+    AdjustMaxTimesCmd *adj_max_times_cmd_;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_SA_SCHED_STRATEGY_H_ */
diff --git a/SA_POP/SA_WorkingPlan.cpp b/SA_POP/SA_WorkingPlan.cpp
new file mode 100644
index 00000000000..33090f0961f
--- /dev/null
+++ b/SA_POP/SA_WorkingPlan.cpp
@@ -0,0 +1,1447 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_WorkingPlan.cpp
+ *
+ * This file contains the implementation of the SA_WorkingPlan concrete class,
+ * which implements a WorkingPlan that uses precedence graphs for scheduling.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SA_POP_Types.h"
+#include "SA_WorkingPlan.h"
+#include "Planner.h"
+#include "PlanCommands.h"
+#include "SA_PlanCommands.h"
+
+
+using namespace SA_POP;
+
+// Constructor.
+SA_WorkingPlan::SA_WorkingPlan (SA_POP::Planner *planner)
+: WorkingPlan (planner),
+has_cmds_ (false),
+next_inst_id_ (1),
+add_task_cmd_ (0),
+assoc_impl_cmd_ (0),
+resolve_threat_cmd_ (0),
+resolve_sched_cmd_ (0),
+adj_min_times_cmd_ (0),
+adj_max_times_cmd_ (0),
+add_threats_cmd_ (0)
+{
+  this->task_insts_.clear ();
+  this->task_impls_.clear ();
+  this->causal_links_.clear ();
+
+  // Clear plan.
+  this->plan_.causal_links.clear ();
+  this->plan_.connections.clear ();
+  this->plan_.sched_links.clear ();
+  this->plan_.task_insts.clear ();
+  this->plan_.threat_links.clear ();
+
+  this->add_task_cmd_ = new SA_AddTaskCmd (this);
+  this->assoc_impl_cmd_ = new SA_AssocTaskImplCmd (this);
+  this->resolve_threat_cmd_ = new SA_ResolveCLThreatCmd (this);
+  this->resolve_sched_cmd_ = new SA_ResolveSchedOrderCmd (this);
+  this->adj_min_times_cmd_ = new SA_AdjustMinTimesCmd (this);
+  this->adj_max_times_cmd_ = new SA_AdjustMaxTimesCmd (this);
+
+  PrecedenceSet temp;
+  this->precedence_graph_.insert(std::make_pair(BEFORE,temp));
+  this->precedence_graph_.insert(std::make_pair(AFTER,temp));
+  this->precedence_graph_.insert(std::make_pair(SIMUL,temp));
+  this->precedence_graph_.insert(std::make_pair(UNRANKED,temp));
+
+  ////////////////////TEMPORARY///////////TEMPORARY/////////////////
+///For SPACE
+//this->durations.insert(std::make_pair(1,2));
+//this->durations.insert(std::make_pair(2,5));
+//this->durations.insert(std::make_pair(3,2));
+//this->durations.insert(std::make_pair(4,10));
+//this->durations.insert(std::make_pair(5,1));
+//this->durations.insert(std::make_pair(6,4));
+//
+//this->init_start.insert(std::make_pair(1,(TimeWindow)std::make_pair(22,28)));
+//this->init_end.insert(std::make_pair(1,(TimeWindow)std::make_pair(24,30)));
+//this->init_start.insert(std::make_pair(2,(TimeWindow)std::make_pair(17,23)));
+//this->init_end.insert(std::make_pair(2,(TimeWindow)std::make_pair(22,28)));
+//this->init_start.insert(std::make_pair(3,(TimeWindow)std::make_pair(15,21)));
+//this->init_end.insert(std::make_pair(3,(TimeWindow)std::make_pair(17,23)));
+//this->init_start.insert(std::make_pair(4,(TimeWindow)std::make_pair(5,19)));
+//this->init_end.insert(std::make_pair(4,(TimeWindow)std::make_pair(15,21)));
+//this->init_start.insert(std::make_pair(5,(TimeWindow)std::make_pair(0,18)));
+//this->init_end.insert(std::make_pair(5,(TimeWindow)std::make_pair(1,19)));
+//this->init_start.insert(std::make_pair(6,(TimeWindow)std::make_pair(0,9)));
+//this->init_end.insert(std::make_pair(6,(TimeWindow)std::make_pair(4,13)));
+///For sched_test1
+//this->durations.insert(std::make_pair(1,10));
+//this->durations.insert(std::make_pair(2,2));
+//this->durations.insert(std::make_pair(3,8));
+//this->durations.insert(std::make_pair(4,8));
+//this->durations.insert(std::make_pair(5,10));
+//this->durations.insert(std::make_pair(7,15));
+//this->durations.insert(std::make_pair(6,10));
+//
+//this->init_start.insert(std::make_pair(1,(TimeWindow)std::make_pair(10,30)));
+//this->init_end.insert(std::make_pair(1,(TimeWindow)std::make_pair(20,40)));
+//this->init_start.insert(std::make_pair(2,(TimeWindow)std::make_pair(8,28)));
+//this->init_end.insert(std::make_pair(2,(TimeWindow)std::make_pair(10,30)));
+//this->init_start.insert(std::make_pair(3,(TimeWindow)std::make_pair(0,20)));
+//this->init_end.insert(std::make_pair(3,(TimeWindow)std::make_pair(8,28)));
+//this->init_start.insert(std::make_pair(4,(TimeWindow)std::make_pair(0,20)));
+//this->init_end.insert(std::make_pair(4,(TimeWindow)std::make_pair(8,28)));
+//this->init_start.insert(std::make_pair(5,(TimeWindow)std::make_pair(0,20)));
+//this->init_end.insert(std::make_pair(5,(TimeWindow)std::make_pair(10,30)));
+//this->init_start.insert(std::make_pair(7,(TimeWindow)std::make_pair(10,NULL_TIME)));
+//this->init_end.insert(std::make_pair(7,(TimeWindow)std::make_pair(25,NULL_TIME)));
+//this->init_start.insert(std::make_pair(6,(TimeWindow)std::make_pair(25,NULL_TIME)));
+//this->init_end.insert(std::make_pair(6,(TimeWindow)std::make_pair(35,NULL_TIME)));
+//this->init_start.insert(std::make_pair(1,(TimeWindow)std::make_pair(10,NULL_TIME)));
+//this->init_end.insert(std::make_pair(1,(TimeWindow)std::make_pair(20,NULL_TIME)));
+//this->init_start.insert(std::make_pair(2,(TimeWindow)std::make_pair(8,NULL_TIME)));
+//this->init_end.insert(std::make_pair(2,(TimeWindow)std::make_pair(10,NULL_TIME)));
+//this->init_start.insert(std::make_pair(3,(TimeWindow)std::make_pair(0,NULL_TIME)));
+//this->init_end.insert(std::make_pair(3,(TimeWindow)std::make_pair(8,NULL_TIME)));
+//this->init_start.insert(std::make_pair(4,(TimeWindow)std::make_pair(0,NULL_TIME)));
+//this->init_end.insert(std::make_pair(4,(TimeWindow)std::make_pair(8,NULL_TIME)));
+//this->init_start.insert(std::make_pair(5,(TimeWindow)std::make_pair(0,NULL_TIME)));
+//this->init_end.insert(std::make_pair(5,(TimeWindow)std::make_pair(10,NULL_TIME)));
+
+/////For sched_test4
+//this->durations.insert(std::make_pair(1,10));
+//this->durations.insert(std::make_pair(2,5));
+//this->durations.insert(std::make_pair(3,5));
+//this->durations.insert(std::make_pair(4,5));
+//
+//this->init_start.insert(std::make_pair(1,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_end.insert(std::make_pair(1,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_start.insert(std::make_pair(2,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_end.insert(std::make_pair(2,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_start.insert(std::make_pair(3,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_end.insert(std::make_pair(3,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_start.insert(std::make_pair(4,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_end.insert(std::make_pair(4,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+
+/////For sched_test5
+//this->durations.insert(std::make_pair(1,0));
+//this->durations.insert(std::make_pair(2,0));
+//this->durations.insert(std::make_pair(3,0));
+//this->durations.insert(std::make_pair(4,10));
+//
+//this->init_start.insert(std::make_pair(1,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_end.insert(std::make_pair(1,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_start.insert(std::make_pair(2,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_end.insert(std::make_pair(2,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_start.insert(std::make_pair(3,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_end.insert(std::make_pair(3,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_start.insert(std::make_pair(4,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+//this->init_end.insert(std::make_pair(4,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+
+///For sched_main_test
+//this->durations.insert(std::make_pair(1,0));
+//this->durations.insert(std::make_pair(2,0));
+//this->durations.insert(std::make_pair(3,0));
+//this->durations.insert(std::make_pair(4,0));
+//this->durations.insert(std::make_pair(5,0));
+//this->durations.insert(std::make_pair(6,0));
+//this->durations.insert(std::make_pair(7,0));
+//this->durations.insert(std::make_pair(8,0));
+//this->durations.insert(std::make_pair(9,1));
+//this->durations.insert(std::make_pair(10,0));
+//this->durations.insert(std::make_pair(11,0));
+//this->durations.insert(std::make_pair(12,0));
+//this->durations.insert(std::make_pair(13,0));
+//this->durations.insert(std::make_pair(14,0));
+//this->durations.insert(std::make_pair(15,0));
+//this->durations.insert(std::make_pair(16,0));
+//this->durations.insert(std::make_pair(17,0));
+
+this->init_start.insert(std::make_pair(1,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(1,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(2,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(2,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(3,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(3,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(4,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(4,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(5,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(5,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(6,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(6,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(7,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(7,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(8,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(8,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(9,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(9,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(10,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(10,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(11,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(11,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(12,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(12,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(13,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(13,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(14,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(14,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(15,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(15,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(16,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(16,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(17,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(17,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(17,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(17,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(18,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(18,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(19,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(19,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(20,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(20,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(21,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(21,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(22,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(22,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(23,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(23,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(24,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(24,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(25,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(25,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(26,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(26,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(27,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(27,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(28,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(28,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(29,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(29,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(30,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(30,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(31,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(31,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_start.insert(std::make_pair(32,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+this->init_end.insert(std::make_pair(32,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+};
+
+// Destructor.
+SA_WorkingPlan::~SA_WorkingPlan (void)
+{
+  // Nothing to do.
+};
+
+// Set command prototypes to use.
+void SA_WorkingPlan::set_commands (AddOpenThreatsCmd *add_threats_cmd)
+{
+  if (add_threats_cmd == 0)
+    return;
+
+  this->add_threats_cmd_ = add_threats_cmd;
+  this->has_cmds_ = true;
+};
+
+// Helper function to create next instance id.
+TaskInstID SA_WorkingPlan::get_next_inst_id (void)
+{
+  TaskInstID inst_id = this->next_inst_id_;
+  this->next_inst_id_++;
+  return inst_id;
+};
+
+// Get current plan.
+const Plan& SA_WorkingPlan::get_plan (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // Should track whether plan has changed rather than regenerating every time.
+
+  // Clear plan.
+  this->plan_.causal_links.clear ();
+  this->plan_.connections.clear ();
+  this->plan_.sched_links.clear ();
+  this->plan_.task_insts.clear ();
+  this->plan_.threat_links.clear ();
+
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // (Need absolute windows from goal)
+  // Set time windows.
+  this->plan_.start_window = std::make_pair (0, 0);
+  this->plan_.end_window = std::make_pair (0, 0);
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // (Need goal structure to set plan ID & name)
+  // Set plan ID and name from goal.
+  this->plan_.plan_id = "1";
+  this->plan_.name = this->plan_.plan_id;
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+  // Add task instances to plan.
+  for (SA_WorkingPlan::InstToTaskMap::iterator iter =
+    this->task_insts_.begin ();
+    iter != this->task_insts_.end (); iter++)
+  {
+    // Creat task instance and set instance and task IDs from task instance map.
+    PlanTaskInst inst;
+    inst.inst_id = iter->first;
+    inst.task_id = iter->second;
+
+    //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+    // (Need to add separate Type to task nodes instead of using name.)
+    // Set instance type.
+    inst.type_id = this->planner_->get_task_name (inst.task_id);
+    // Give instance a name.
+    char buffer[64];
+    inst.name = "Task_Instance_";
+    inst.name += itoa (inst.inst_id, buffer, 10);
+    //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+    // Set start and end windows for this instance.
+    SA_WorkingPlan::InstToWinMap::iterator win_iter;
+    win_iter = this->start_window_map_.find (inst.inst_id);
+    if (win_iter != this->start_window_map_.end ())
+      inst.start_window = win_iter->second;
+    else
+      throw "SA_POP::SA_WorkingPlan::get_plan (): Unable to find start window for task instance.";
+    win_iter = this->end_window_map_.find (inst.inst_id);
+    if (win_iter != this->end_window_map_.end ())
+      inst.end_window = win_iter->second;
+    else
+      throw "SA_POP::SA_WorkingPlan::get_plan (): Unable to find end window for task instance.";
+
+    // Set suggested implementation for this instance.
+    InstToImplMap::iterator impl_iter;
+    impl_iter = this->task_impls_.find (inst.inst_id);
+    if (impl_iter != this->task_impls_.end ())
+      inst.suggested_impl = impl_iter->second;
+    else
+      throw "SA_POP::SA_WorkingPlan::get_plan (): Unable to find implementation from task instance.";
+
+    // Add instance to plan.
+    this->plan_.task_insts.insert (inst);
+  }
+
+  // Add scheduling links.
+  for (SA_WorkingPlan::SchedulingLinks::iterator sched_iter =
+    this->sched_links_.begin ();
+    sched_iter != this->sched_links_.end (); sched_iter++)
+  {
+    this->plan_.sched_links.insert (std::make_pair (
+      sched_iter->first, sched_iter->second));
+  }
+
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  // (Need to include threat links.)
+  // Add threat links.
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+
+  // Add plan data connections and causal links.
+  for (SA_WorkingPlan::CondToCLinksMap::iterator cl_iter = 
+    this->causal_links_.begin ();
+    cl_iter != this->causal_links_.end (); cl_iter++)
+  {
+    // If this is the placeholder goal task instance, don't add connection.
+    if (cl_iter->second.second == SA_POP::GOAL_TASK_INST_ID)
+      continue;
+
+    // If this condition is a data condition, add data connection to plan.
+    if (cl_iter->first.kind == SA_POP::DATA) {
+      PlanConnection plan_conn;
+
+      // Set condition.
+      plan_conn.cond = cl_iter->first.id;
+
+      // Set task instances.
+      plan_conn.first_task_inst = cl_iter->second.first;
+      plan_conn.second_task_inst = cl_iter->second.second;
+
+      // Get task ids from instances.
+      SA_WorkingPlan::InstToTaskMap::iterator inst_task_iter;
+
+      inst_task_iter = this->task_insts_.find (cl_iter->second.first);
+      if (inst_task_iter == this->task_insts_.end ())
+        throw "SA_POP::SA_WorkingPlan::get_plan (): couldn't find task id for task instance to get port for plan connection.";
+      TaskID first_task = inst_task_iter->second;
+
+      inst_task_iter = this->task_insts_.find (cl_iter->second.second);
+      if (inst_task_iter == this->task_insts_.end ())
+        throw "SA_POP::SA_WorkingPlan::get_plan (): couldn't find task id for task instance to get port for plan connection.";
+      TaskID second_task = inst_task_iter->second;
+
+      // Get ports.
+      LinkPorts ports = this->planner_->get_clink_ports
+        (first_task, cl_iter->first.id, second_task);
+      plan_conn.first_port = ports.first;
+      plan_conn.second_port = ports.second;
+
+      this->plan_.connections.insert (plan_conn);
+    } else {  // This is a non-data condition so add causal link to plan.
+      this->plan_.causal_links.insert (cl_iter->second);
+    }
+  }
+
+  return this->plan_;
+};
+
+// Get set of task instances for a precedence relation to a task instance.
+const TaskInstSet *SA_WorkingPlan::get_prec_set (TaskInstID task_inst, PrecedenceRelation prec_rel)
+{
+  PrecedenceGraph::iterator piter = this->precedence_graph_.find(prec_rel);
+  PrecedenceSet::iterator titer = piter->second.find(task_inst);
+  return &(titer->second);
+};
+
+// Get task id of a task instance.
+TaskID SA_WorkingPlan::get_task_from_inst (TaskInstID inst_id)
+{
+  SA_WorkingPlan::InstToTaskMap::iterator iter =
+    this->task_insts_.find (inst_id);
+  if (iter == this->task_insts_.end ())
+    throw "SA_POP::SA_WorkingPlan::get_task_from_inst (): requested instance id does not exist.";
+
+  return iter->second;
+};
+
+/// Get task implementation id of a task instance.
+TaskImplID SA_WorkingPlan::get_task_impl_from_inst(TaskInstID inst_id)
+{
+	return this->task_impls_.find(inst_id)->second;
+}
+
+// Get all current causal link threats.
+CLThreatSet SA_WorkingPlan::get_all_threats (void)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+  CLThreatSet temp;
+  temp.clear ();
+  return temp;
+};
+
+//Get all the causal and data links TO the task instance
+CLSet SA_WorkingPlan::get_before(TaskInstID task_inst)
+{
+  CLSet ret;
+  for(CondToCLinksMap::iterator iter = this->causal_links_.begin();iter!=this->causal_links_.end();iter++)
+    if(iter->second.second == task_inst) ret.insert(iter->second);
+  return ret;
+}
+//Get all the causal and data links FROM the task instance
+CLSet SA_WorkingPlan::get_after(TaskInstID task_inst)
+{
+  CLSet ret;
+  for(CondToCLinksMap::iterator iter = this->causal_links_.begin();iter!=this->causal_links_.end();iter++)
+	  if(iter->second.second != GOAL_TASK_INST_ID && iter->second.second != NULL_TASK_INST_ID && iter->second.first == task_inst) ret.insert(iter->second);
+  return ret;
+}
+
+/// Get the Causal and Scheduling orderings to this task instance
+TaskInstSet SA_WorkingPlan::before_orderings (TaskInstID inst_id)
+{
+  CLSet before_links = this->get_before(inst_id);
+  TaskInstSet ret;
+  for(CLSet::iterator iter=before_links.begin();iter!=before_links.end();iter++)
+  {
+    if(iter->cond.kind!=DATA) ret.insert(iter->first);
+  }
+  for(SchedulingLinks::iterator iter=sched_links_.begin();iter!=sched_links_.end();iter++)
+    if(iter->second==inst_id) ret.insert(iter->first);
+  return ret;
+}
+/// Get the Causal and Scheduling orderings from this task instance
+TaskInstSet SA_WorkingPlan::after_orderings (TaskInstID inst_id)
+{
+  CLSet after_links = this->get_after(inst_id);
+  TaskInstSet ret;
+  for(CLSet::iterator iter=after_links.begin();iter!=after_links.end();iter++)
+    if(iter->cond.kind!=DATA) ret.insert(iter->second);
+  for(SchedulingLinks::iterator iter=sched_links_.begin();iter!=sched_links_.end();iter++)
+    if(iter->first==inst_id) ret.insert(iter->second);
+  return ret;
+}
+/// Get a PlanCommand prototype for adding a task to the plan.
+AddTaskCmd *SA_WorkingPlan::get_AddTaskCmd (void)
+{
+  return static_cast<AddTaskCmd *> (this->add_task_cmd_->clone ());
+};
+
+// Get a PlanCommand prototype for associating an implementation with a
+// task instance in the plan.
+AssocTaskImplCmd *SA_WorkingPlan::get_AssocTaskImplCmd (void)
+{
+  return static_cast<AssocTaskImplCmd *> (this->assoc_impl_cmd_->clone ());
+};
+
+// Get a PlanCommand prototype for resolving a causal link threat in the
+// plan (with promotion or demotion).
+ResolveCLThreatCmd *SA_WorkingPlan::get_ResolveCLThreatCmd (void)
+{
+  return static_cast<ResolveCLThreatCmd *> (this->resolve_threat_cmd_->clone ());
+};
+
+// Get a PlanCommand prototype for resolving a scheduling conflict (i.e.
+// non-causal-link ordering constraint (with promotion or demotion)
+// between two task instances in the plan.
+ResolveSchedOrderCmd *SA_WorkingPlan::get_ResolveSchedOrderCmd (void)
+{
+  return static_cast<ResolveSchedOrderCmd *> (this->resolve_sched_cmd_->clone ());
+};
+
+// Get a PlanCommand prototype for adjusting the minimum times of a
+// task instance in the plan.
+AdjustMinTimesCmd *SA_WorkingPlan::get_AdjustMinTimesCmd (void)
+{
+  return static_cast<AdjustMinTimesCmd *> (this->adj_min_times_cmd_->clone ());
+};
+
+// Get a PlanCommand prototype for adjusting the maximum times of a
+// task instance in the plan.
+AdjustMaxTimesCmd *SA_WorkingPlan::get_AdjustMaxTimesCmd (void)
+{
+  return static_cast<AdjustMaxTimesCmd *> (this->adj_max_times_cmd_->clone ());
+};
+
+void SA_WorkingPlan::execute (SA_AddTaskCmd *cmd)
+{
+	// Get task ID, condition, and instance ID.
+  TaskID task = cmd->tasks_.front ();
+  Condition cond = cmd->cond_;
+  TaskInstID task_inst;
+  if(cmd->last_task_ != task)
+  {
+	  // The task instance is reused.
+    for(InstToTaskMap::iterator iter = this->task_insts_.begin(); iter!=this->task_insts_.end();iter++)
+      if(iter->second==cmd->tasks_.front()) 
+        cmd->used_task_insts_.insert(iter->first);
+  }
+  if(cmd->used_task_insts_.empty()) 
+  {
+    task_inst = this->get_next_inst_id ();
+    // Add task instance.
+    this->task_insts_.insert (std::make_pair (task_inst, task));
+	  //   Remove task from command and update last task and instance.
+	  cmd->tasks_.pop_front ();
+  }
+  else 
+  {
+	  // Reuse the task instance
+    task_inst = *cmd->used_task_insts_.begin();
+		this->reused_insts.insert(task_inst);
+	}
+  // Create causal links for each task instance depending on the condition.
+  for (TaskInstSet::iterator inst_iter = cmd->task_insts_.begin ();
+    inst_iter != cmd->task_insts_.end (); inst_iter++)
+  {
+    CausalLink clink;
+    clink.cond = cond;
+    clink.first = task_inst;
+    clink.second = *inst_iter;
+    CondToCLinksMap::iterator links_iter;
+    for (links_iter = this->causal_links_.lower_bound (cond);links_iter != this->causal_links_.upper_bound (cond);links_iter++)
+      if(links_iter->second == clink)
+        break;
+    if(links_iter==this->causal_links_.upper_bound(cond))
+    {
+      this->causal_links_.insert (std::make_pair (cond, clink));
+      cmd->added_links_.insert(clink);
+    }
+  }
+	cmd->last_task_ = task;
+	cmd->last_task_inst_ = task_inst;
+};
+
+void SA_WorkingPlan::undo (SA_AddTaskCmd *cmd)
+{
+  if(cmd->used_task_insts_.empty())
+  {
+    // Remove task instance.
+    this->task_insts_.erase (this->task_insts_.find(cmd->last_task_inst_));  
+  }
+  else {
+	// Remove the task instance from the set of reusable task instances
+	  cmd->used_task_insts_.erase(cmd->used_task_insts_.begin());
+    this->reused_insts.erase(this->reused_insts.find(cmd->last_task_inst_));
+  }
+  // Remove causal links.
+  for (SA_WorkingPlan::CondToCLinksMap::iterator cl_iter =
+    this->causal_links_.lower_bound (cmd->cond_);
+    cl_iter != this->causal_links_.upper_bound (cmd->cond_);)
+  {
+    SA_WorkingPlan::CondToCLinksMap::iterator prev_iter = cl_iter;
+    cl_iter++;
+    if (cmd->task_insts_.find (prev_iter->second.second) != cmd->task_insts_.end ())
+    {
+      for(CLSet::iterator iter = cmd->added_links_.begin();iter!=cmd->added_links_.end();iter++)
+      {
+        if(prev_iter->second == *iter)  
+        {
+          this->causal_links_.erase (prev_iter);
+          cmd->added_links_.erase(iter);
+          break;
+        }
+      }
+    }
+  }
+};
+
+// Execute a command to associate an implementation with a
+// task instance in the plan.
+bool SA_WorkingPlan::execute (SA_AssocTaskImplCmd *cmd)
+{
+  // Associate task instance with first implementation in list from command.
+  if(this->reused_insts.find(cmd->task_inst_)==this->reused_insts.end())
+  {
+    this->task_impls_.insert (std::make_pair(cmd->task_inst_, cmd->impls_.front ()));
+    this->durations.insert(std::make_pair(cmd->task_inst_, this->planner_->get_impl(cmd->impls_.front())->get_duration()));
+  }
+  // Update last implementation to this one and remove it from command.
+  cmd->last_impl_ = cmd->impls_.front ();
+  cmd->impls_.pop_front ();
+	// Update the precedence graph
+  return this->init_prec_insert(cmd->task_inst_,cmd);
+};
+
+// Undo a command to associate an implementation with a
+// task instance in the plan.
+void SA_WorkingPlan::undo (SA_AssocTaskImplCmd *cmd)
+{
+	// Undo the time window adjustments and the precedence graph updations.
+  this->undo(&cmd->max_adj_cmd);
+  this->undo(&cmd->min_adj_cmd);
+	this->prec_erase(cmd->task_inst_,cmd);
+  cmd->causal_insertions.clear();
+  cmd->simul_insertions.clear();
+  if(this->reused_insts.find(cmd->task_inst_)==this->reused_insts.end())
+  {
+    this->durations.erase(this->durations.find(cmd->task_inst_));
+    this->task_impls_.erase (cmd->task_inst_);
+  }
+};
+
+// Execute a command to resolve a causal link threat in the
+// plan (with promotion or demotion).
+void SA_WorkingPlan::execute (SA_ResolveCLThreatCmd *)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Undo a command to resolve a causal link threat in the
+// plan (with promotion or demotion).
+void SA_WorkingPlan::undo (SA_ResolveCLThreatCmd *)
+{
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+};
+
+// Execute a command to resolve a scheduling conflict (i.e.
+// non-causal-link ordering constraint with promotion or demotion)
+// between two task instances in the plan.
+bool SA_WorkingPlan::execute (SA_ResolveSchedOrderCmd *cmd)
+{
+	std::cout<<"Scheduling "<<cmd->first<<" before "<<cmd->second<<std::endl;
+	TaskInstID first_task_inst = cmd->first;
+	TaskInstID second_task_inst = cmd->second;
+	TimeWindow first_start,second_start;
+	TimeWindow first_end,second_end;
+	first_start = this->get_start_window(first_task_inst);
+	first_end = this->get_end_window(first_task_inst);
+	second_start = this->get_start_window(second_task_inst);
+	second_end = this->get_end_window(second_task_inst);
+	
+	if(second_start.second!= NULL_TIME && (first_end.second==NULL_TIME || second_start.second<first_end.second))
+	{
+		// There is a need to adjust the max times
+		cmd->adj_max_times_cmd_ = static_cast<SA_AdjustMaxTimesCmd *> (this->get_AdjustMaxTimesCmd());
+		cmd->adj_max_times_cmd_->set_times(first_task_inst,second_start.second-this->get_duration(first_task_inst),second_start.second);
+		if(!this->execute(cmd->adj_max_times_cmd_))
+			return false;
+	}
+	else cmd->adj_max_times_cmd_=NULL;
+	if(first_end.first!= NULL_TIME && second_start.first<first_end.first)
+	{
+		// There is a need to adjust the min times
+		cmd->adj_min_times_cmd_ = static_cast<SA_AdjustMinTimesCmd *> (this->get_AdjustMinTimesCmd());
+		cmd->adj_min_times_cmd_->set_times(second_task_inst,first_end.first,first_end.first+this->get_duration(second_task_inst));
+		if(!this->execute(cmd->adj_min_times_cmd_))
+			return false;
+	}
+	else cmd->adj_min_times_cmd_=NULL;
+	
+	PrecedenceSet *before = &this->precedence_graph_.find(BEFORE)->second;
+	PrecedenceSet *after = &this->precedence_graph_.find(AFTER)->second;
+	PrecedenceSet *simul = &this->precedence_graph_.find(SIMUL)->second;
+	PrecedenceSet *unranked = &this->precedence_graph_.find(UNRANKED)->second;
+	
+	before->find(second_task_inst)->second.insert(first_task_inst);
+	after->find(first_task_inst)->second.insert(second_task_inst);
+	unranked->find(first_task_inst)->second.erase(unranked->find(first_task_inst)->second.find(second_task_inst));
+	unranked->find(second_task_inst)->second.erase(unranked->find(second_task_inst)->second.find(first_task_inst));
+	
+	TaskInstSet after_second = this->after_orderings(second_task_inst);
+	for(TaskInstSet::iterator iter=simul->find(second_task_inst)->second.begin();iter!=simul->find(second_task_inst)->second.end();iter++)
+		after_second.insert(*iter);
+	TaskInstSet before_first = this->before_orderings(first_task_inst);
+	for(TaskInstSet::iterator iter=simul->find(first_task_inst)->second.begin();iter!=simul->find(first_task_inst)->second.end();iter++)
+		before_first.insert(*iter);
+	// All the task instances after and simultaneous to the second task instance should
+	// be after all the task instances before and simultaneous to the first task instance
+	for(TaskInstSet::iterator iter=after_second.begin();iter!=after_second.end();iter++)
+	{
+		if(before->find(*iter)->second.find(first_task_inst)==before->find(*iter)->second.end())
+		{
+			SA_ResolveSchedOrderCmd *temp = static_cast<SA_ResolveSchedOrderCmd *> (this->get_ResolveSchedOrderCmd());
+			temp->set_task_insts(first_task_inst,*iter);
+			cmd->cmds_.push_back(temp);
+			if(!this->execute(temp)) return false;
+		}
+	}
+	// All the task instances before and simultaneous to the first task instance should
+	// be before all the task instances after and simultaneous to the second task instance
+	for(TaskInstSet::iterator iter=before_first.begin();iter!=before_first.end();iter++)
+	{
+		if(after->find(*iter)->second.find(second_task_inst)==after->find(*iter)->second.end())
+		{
+			SA_ResolveSchedOrderCmd *temp = static_cast<SA_ResolveSchedOrderCmd *> (this->get_ResolveSchedOrderCmd());
+			temp->set_task_insts(*iter,second_task_inst);
+			cmd->cmds_.push_back(temp);
+			if(!this->execute(temp)) return false;
+		}
+	}
+	return true;
+};
+
+// Undo a command to resolve a scheduling conflict (i.e.
+// non-causal-link ordering constraint with promotion or demotion)
+// between two task instances in the plan.
+void SA_WorkingPlan::undo (SA_ResolveSchedOrderCmd *cmd)
+{
+  	for(std::list<SA_ResolveSchedOrderCmd*>::reverse_iterator iter=cmd->cmds_.rbegin();iter!=cmd->cmds_.rend();iter++)
+		this->undo(*iter);
+	
+	TaskInstID first_task_inst = cmd->first;
+	TaskInstID second_task_inst = cmd->second;
+
+	PrecedenceSet *before = &this->precedence_graph_.find(BEFORE)->second;
+	PrecedenceSet *after = &this->precedence_graph_.find(AFTER)->second;
+	PrecedenceSet *unranked = &this->precedence_graph_.find(UNRANKED)->second;
+	
+	before->find(second_task_inst)->second.erase(before->find(second_task_inst)->second.find(first_task_inst));
+	after->find(first_task_inst)->second.erase(after->find(first_task_inst)->second.find(second_task_inst));
+	unranked->find(first_task_inst)->second.insert(second_task_inst);
+	unranked->find(second_task_inst)->second.insert(first_task_inst);
+	if(cmd->adj_max_times_cmd_ != NULL) {
+		this->undo(cmd->adj_max_times_cmd_);
+	}
+	if(cmd->adj_min_times_cmd_ != NULL)this->undo(cmd->adj_min_times_cmd_);
+};
+
+// Execute a command to adjust the minimum times of a
+// task instance in the plan.
+bool SA_WorkingPlan::execute (SA_AdjustMinTimesCmd *cmd)
+{
+	std::cout<<"adjusting min time for "<<cmd->task_inst_<<std::endl;
+	TimeWindow *start_win = &this->start_window_map_.find(cmd->task_inst_)->second;
+  TimeWindow *end_win = &this->end_window_map_.find(cmd->task_inst_)->second;
+  // If this adjustment violated and time constraints, return false.
+  if(start_win->second!=NULL_TIME &&(cmd->new_end_min==NULL_TIME || cmd->new_end_min>end_win->second || cmd->new_start_min>start_win->second)) 
+	  return false;
+  // Set the new time window
+  start_win->first = cmd->new_start_min;
+  end_win->first = cmd->new_end_min;
+	
+  TimeWindow ts = this->get_start_window(cmd->task_inst_);
+  TimeWindow es = this->get_end_window(cmd->task_inst_);
+  CLSet after_links = this->get_after(cmd->task_inst_);
+  if(after_links.empty()) std::cout<<"after links is empty"<<std::endl;
+  TaskInstSet causal,sched,data;
+  for(CLSet::iterator iter=after_links.begin();iter!=after_links.end();iter++)
+  {    if(iter->cond.kind!=DATA) causal.insert(iter->second);
+       else data.insert(iter->second);
+  }
+  for(SchedulingLinks::iterator iter=sched_links_.begin();iter!=sched_links_.end();iter++)
+    if(iter->first==cmd->task_inst_) sched.insert(iter->second);
+  
+  // Propagate this time window change to all the task instances ordered after this task instance
+  for(TaskInstSet::iterator iter=causal.begin();iter!=causal.end();iter++)
+  {
+    TimeWindow temp_start = this->get_start_window(*iter);
+    TimeWindow temp_end = this->get_end_window(*iter);
+    if(end_win->first>temp_start.first)
+    {
+		std::cout<<"adjusting time for causal "<<*iter<<std::endl;
+		SA_AdjustMinTimesCmd* temp = static_cast<SA_AdjustMinTimesCmd *> (this->get_AdjustMinTimesCmd());
+		TimeValue dur = this->durations.find(*iter)->second;
+		if(dur!=0) temp->set_times(*iter,end_win->first,end_win->first+this->durations.find(*iter)->second);
+		else temp->set_times(*iter,end_win->first,temp_end.first);
+		cmd->min_adjust_cmds.push_back(temp);
+    }
+  }
+  if(sched.empty()) std::cout<<"sched is empty"<<std::endl;
+  for(TaskInstSet::iterator iter=sched.begin();iter!=sched.end();iter++)
+  {
+    TimeWindow temp_start = this->get_start_window(*iter);
+    TimeWindow temp_end = this->get_end_window(*iter);
+    if(end_win->first>temp_start.first)
+    {
+      SA_AdjustMinTimesCmd* temp = static_cast<SA_AdjustMinTimesCmd *> (this->get_AdjustMinTimesCmd());
+		TimeValue dur = this->durations.find(*iter)->second;
+		if(dur!=0) temp->set_times(*iter,end_win->first,end_win->first+this->durations.find(*iter)->second);
+		else temp->set_times(*iter,end_win->first,temp_end.first);
+      cmd->min_adjust_cmds.push_back(temp);
+    }
+  }
+	// Do the same change for the task instances simultaneous to this one
+  for(TaskInstSet::iterator iter=data.begin();iter!=data.end();iter++)
+  {
+    TimeWindow temp_start = this->get_start_window(*iter);
+    if(start_win->first>temp_start.first)
+    {
+		std::cout<<"adjusting time for data "<<*iter<<std::endl;
+      SA_AdjustMinTimesCmd* temp = static_cast<SA_AdjustMinTimesCmd *> (this->get_AdjustMinTimesCmd());
+      temp->set_times(*iter,start_win->first,end_win->first);
+      cmd->min_adjust_cmds.push_back(temp);
+    }
+  }
+
+  for(SA_AdjustMinTimesCmd::MinTimesAdjustList::iterator iter=cmd->min_adjust_cmds.begin();iter!=cmd->min_adjust_cmds.end();iter++)
+  {
+    if(!this->execute(*iter)) return false;
+  }
+  std::cout<<"the task inst is "<<cmd->task_inst_<<std::endl;
+  // Check to see whether any task instance should be removed from the unranked set due to this time window change
+  TaskInstSet *unranked = &this->precedence_graph_.find(UNRANKED)->second.find(cmd->task_inst_)->second;
+  for(TaskInstSet::iterator iter=unranked->begin();iter!=unranked->end();iter++)
+  {
+	  TimeWindow temp_end = this->get_end_window(*iter);
+	  if(temp_end.second!=NULL_TIME && temp_end.second<start_win->first)
+	  {
+		  this->precedence_graph_.find(BEFORE)->second.find(cmd->task_inst_)->second.insert(*iter);
+		  this->precedence_graph_.find(AFTER)->second.find(*iter)->second.insert(cmd->task_inst_);
+		  this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second.erase(this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second.find(*iter));
+		  cmd->ranked.insert(*iter);
+	  }
+  }
+  for(TaskInstSet::iterator iter=cmd->ranked.begin();iter!=cmd->ranked.end();iter++)
+  {
+	  unranked->erase(unranked->find(*iter));
+  }
+  std::cout<<"min times of "<<cmd->task_inst_<<" : "<<cmd->new_start_min<<" "<<cmd->new_end_min<<std::endl;
+  return true;
+};
+
+// Undo a command to adjust the minimum times of a
+// task instance in the plan.
+void SA_WorkingPlan::undo (SA_AdjustMinTimesCmd *cmd)
+{
+  TimeWindow *start_win = &this->get_start_window(cmd->task_inst_);
+  TimeWindow *end_win = &this->get_end_window(cmd->task_inst_);
+	
+  if(start_win->first==cmd->old_start_min && end_win->first==cmd->old_end_min) return;
+  // Undo all the removal of the tasks from the unranked set
+  TaskInstSet *unranked1 = &this->precedence_graph_.find(UNRANKED)->second.find(cmd->task_inst_)->second;
+  TaskInstSet *before = &this->precedence_graph_.find(BEFORE)->second.find(cmd->task_inst_)->second;
+  for(TaskInstSet::iterator iter=cmd->ranked.begin();iter!=cmd->ranked.end();iter++)
+  {
+	  TaskInstSet *unranked2 = &this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second;
+	  TaskInstSet *after = &this->precedence_graph_.find(AFTER)->second.find(*iter)->second;
+	  unranked1->insert(*iter);
+	  unranked2->insert(cmd->task_inst_);
+	  before->erase(before->find(*iter));
+	  after->erase(after->find(cmd->task_inst_));
+  }
+  
+  // Undo all the time window changes caused by this command
+  for(SA_AdjustMinTimesCmd::MinTimesAdjustList::reverse_iterator iter=cmd->min_adjust_cmds.rbegin();iter!=cmd->min_adjust_cmds.rend();iter++)
+  {
+    this->undo(*iter);
+  }
+	// Reset the time window to the old one  
+  start_win->first=cmd->old_start_min;
+  end_win->first=cmd->old_end_min;
+  
+  return;
+};
+
+// Execute a command to adjust the maximum times of a
+// task instance in the plan.
+bool SA_WorkingPlan::execute (SA_AdjustMaxTimesCmd *cmd)
+{
+	std::cout<<"adjusting max time for "<<cmd->task_inst_<<std::endl;
+	TimeWindow *start_win = &this->start_window_map_.find(cmd->task_inst_)->second;
+  TimeWindow *end_win = &this->end_window_map_.find(cmd->task_inst_)->second;
+  std::cout<<"for "<<cmd->task_inst_<<" "<<cmd->new_end_max<<" "<<end_win->first<<" "<<cmd->new_start_max<<" "<<start_win->first<<std::endl;
+  // If this adjustment violated and time constraints, return false.
+  if((end_win->first==NULL_TIME && cmd->new_end_max!= NULL_TIME) || cmd->new_end_max<end_win->first || cmd->new_start_max<start_win->first) return false;
+  // Set the new time window
+  start_win->second = cmd->new_start_max;
+  end_win->second = cmd->new_end_max;
+  CLSet before_links = this->get_before(cmd->task_inst_);
+  TaskInstSet causal,sched,data;
+  for(CLSet::iterator iter=before_links.begin();iter!=before_links.end();iter++)
+  {    if(iter->cond.kind!=DATA) causal.insert(iter->first);
+       else data.insert(iter->first);
+  }
+  for(SchedulingLinks::iterator iter=sched_links_.begin();iter!=sched_links_.end();iter++)
+    if(iter->second==cmd->task_inst_) sched.insert(iter->first);
+  
+  // Propagate this time window change to all the task instances ordered before this task instance
+  for(TaskInstSet::iterator iter=causal.begin();iter!=causal.end();iter++)
+  {
+    TimeWindow temp_end = this->get_end_window(*iter);
+	if(temp_end.second==NULL_TIME || (temp_end.second!=NULL_TIME && start_win->second<temp_end.second))
+    {
+      SA_AdjustMaxTimesCmd* temp = static_cast<SA_AdjustMaxTimesCmd *> (this->get_AdjustMaxTimesCmd());
+      temp->set_times(*iter,start_win->second-this->durations.find(*iter)->second,start_win->second);
+      cmd->max_adjust_cmds.push_back(temp);
+    }
+  }
+  
+  for(TaskInstSet::iterator iter=sched.begin();iter!=sched.end();iter++)
+  {
+    TimeWindow temp_end = this->get_end_window(*iter);
+    if(temp_end.second==NULL_TIME || (temp_end.second!=NULL_TIME && start_win->second<temp_end.second))
+    {
+      SA_AdjustMaxTimesCmd* temp = static_cast<SA_AdjustMaxTimesCmd *> (this->get_AdjustMaxTimesCmd());
+      temp->set_times(*iter,start_win->second-this->durations.find(*iter)->second,start_win->second);
+      cmd->max_adjust_cmds.push_back(temp);
+    }
+  }
+
+	// Do the same change for the task instances simultaneous to this one
+  for(TaskInstSet::iterator iter=data.begin();iter!=data.end();iter++)
+  {
+    TimeWindow temp_end = this->get_end_window(*iter);
+    if(temp_end.second==NULL_TIME || (temp_end.second!=NULL_TIME && end_win->second<temp_end.second))
+    {
+      SA_AdjustMaxTimesCmd* temp = static_cast<SA_AdjustMaxTimesCmd *> (this->get_AdjustMaxTimesCmd());
+      temp->set_times(*iter,start_win->second,end_win->second);
+      cmd->max_adjust_cmds.push_back(temp);
+    }
+  }
+  for(SA_AdjustMaxTimesCmd::MaxTimesAdjustList::iterator iter=cmd->max_adjust_cmds.begin();iter!=cmd->max_adjust_cmds.end();iter++)
+  {
+    if(!this->execute(*iter)) return false;
+  }
+  // Check to see whether any task instance should be removed from the unranked set due to this time window change
+  TaskInstSet *unranked = &this->precedence_graph_.find(UNRANKED)->second.find(cmd->task_inst_)->second;
+  for(TaskInstSet::iterator iter=unranked->begin();iter!=unranked->end();iter++)
+  {
+	  TimeWindow temp_start = this->get_start_window(*iter);
+	  if(temp_start.first>end_win->second)
+	  {
+		  this->precedence_graph_.find(AFTER)->second.find(cmd->task_inst_)->second.insert(*iter);
+		  this->precedence_graph_.find(BEFORE)->second.find(*iter)->second.insert(cmd->task_inst_);
+		  this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second.erase(this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second.find(*iter));
+		  cmd->ranked.insert(*iter);
+	  }
+  }
+  for(TaskInstSet::iterator iter=cmd->ranked.begin();iter!=cmd->ranked.end();iter++)
+  {
+	  unranked->erase(unranked->find(*iter));
+  }
+  std::cout<<"max times for "<<cmd->task_inst_<<" : "<<cmd->new_start_max<<" "<<cmd->new_end_max<<std::endl;
+  return true;
+};
+
+// Undo a command to adjust the maximum times of a
+// task instance in the plan.
+void SA_WorkingPlan::undo (SA_AdjustMaxTimesCmd *cmd)
+{
+	std::cout<<"task inst is "<<cmd->task_inst_<<std::endl;
+  TimeWindow *start_win = &this->get_start_window(cmd->task_inst_);
+  TimeWindow *end_win = &this->get_end_window(cmd->task_inst_);
+  if(start_win->second==cmd->old_start_max && end_win->second==cmd->old_end_max) return;
+  // Undo all the removal of the tasks from the unranked set
+  TaskInstSet *unranked1 = &this->precedence_graph_.find(UNRANKED)->second.find(cmd->task_inst_)->second;
+  TaskInstSet *after = &this->precedence_graph_.find(AFTER)->second.find(cmd->task_inst_)->second;
+  for(TaskInstSet::iterator iter=cmd->ranked.begin();iter!=cmd->ranked.end();iter++)
+  {
+	  TaskInstSet *unranked2 = &this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second;
+	  TaskInstSet *before = &this->precedence_graph_.find(BEFORE)->second.find(*iter)->second;
+	  unranked1->insert(*iter);
+	  unranked2->insert(cmd->task_inst_);
+	  after->erase(after->find(*iter));
+	  before->erase(before->find(cmd->task_inst_));
+  }
+  
+  // Undo all the time window changes caused by this command
+  for(SA_AdjustMaxTimesCmd::MaxTimesAdjustList::reverse_iterator iter=cmd->max_adjust_cmds.rbegin();iter!=cmd->max_adjust_cmds.rend();iter++)
+  {
+    this->undo(*iter);
+  }
+  
+	// Reset the time window to the old one  
+  start_win->second=cmd->old_start_max;
+  end_win->second=cmd->old_end_max;
+  
+  return;
+};
+// Get the start window of the task instance. If one doesn't exist, then assign it one.
+TimeWindow SA_WorkingPlan::get_start_window(TaskInstID task_inst)
+{
+	InstToWinMap::iterator iter = this->start_window_map_.find(task_inst);
+	if(iter==this->start_window_map_.end()) {
+		// The window doesn't exist
+		// The default start window.
+		TimeWindow temp_start = std::make_pair(0,NULL_TIME);
+		TimeWindow temp_end;
+		if(this->durations.find(task_inst)->second!=0)
+		{
+			// The default end window for non data tasks.
+			temp_end = std::make_pair(this->durations.find(task_inst)->second,NULL_TIME);
+		}
+		else 
+		{
+			// The default end window for data tasks.		
+			temp_end = std::make_pair(NULL_TIME,NULL_TIME);
+		}
+		this->start_window_map_.insert(std::make_pair(task_inst,temp_start));
+		this->end_window_map_.insert(std::make_pair(task_inst,temp_end));
+	}
+	return this->start_window_map_.find(task_inst)->second;
+};
+
+TimeWindow SA_WorkingPlan::get_end_window(TaskInstID task_inst)
+{
+	InstToWinMap::iterator iter = this->end_window_map_.find(task_inst);
+	if(iter==this->end_window_map_.end()) {
+		// The window doesn't exist
+		// The default start window.
+		TimeWindow temp_start = std::make_pair(0,NULL_TIME);
+		TimeWindow temp_end;
+		if(this->durations.find(task_inst)->second!=0) 
+		{
+			// The default end window for non data tasks.
+			temp_end = std::make_pair(this->durations.find(task_inst)->second,NULL_TIME);
+		}
+		else
+		{
+			// The default end window for data tasks.		
+			temp_end = std::make_pair(NULL_TIME,NULL_TIME);
+		}
+		this->start_window_map_.insert(std::make_pair(task_inst,temp_start));
+		this->end_window_map_.insert(std::make_pair(task_inst,temp_end));
+	}
+  return this->end_window_map_.find(task_inst)->second;
+};
+
+//Get the duration of a task instance
+TimeValue SA_WorkingPlan::get_duration(TaskInstID task_inst)
+{
+  return this->durations.find(task_inst)->second;
+};
+
+/// Adds the sched order to the sched_links_ map by putting the first task instance before the second
+void SA_WorkingPlan::add_sched_link(TaskInstID first_task_inst, TaskInstID second_task_inst)
+{
+	this->sched_links_.insert(std::make_pair(first_task_inst,second_task_inst));
+}
+/// Removes the sched order from the sched_links_ map
+void SA_WorkingPlan::remove_sched_link(TaskInstID first_task_inst, TaskInstID second_task_inst)
+{
+	for(SchedulingLinks::iterator iter=this->sched_links_.begin();iter!=this->sched_links_.end();iter++)
+	{
+		if(iter->first==first_task_inst && iter->second==second_task_inst)
+		{
+			this->sched_links_.erase(iter);
+			break;
+		}
+	}
+}
+// Update the precedence graph by inserting the task instance.
+bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd *cmd)
+{
+  TaskInstSet temp;
+  this->precedence_graph_.find(BEFORE)->second.insert(std::make_pair(task_inst,temp));
+  this->precedence_graph_.find(AFTER)->second.insert(std::make_pair(task_inst,temp));
+  this->precedence_graph_.find(UNRANKED)->second.insert(std::make_pair(task_inst,temp));
+  this->precedence_graph_.find(SIMUL)->second.insert(std::make_pair(task_inst,temp));
+
+  TimeWindow win_start = this->init_start.find(task_inst)->second;
+  TimeWindow win_end = this->init_end.find(task_inst)->second;
+  TimeWindow start_win = this->get_start_window(task_inst);
+  TimeWindow end_win = this->get_end_window(task_inst);
+  std::cout<<"for "<<task_inst<<win_start.first<<" "<<win_start.second<<" "<<win_end.first<<" "<<win_end.second<<std::endl;
+  std::cout<<"for "<<task_inst<<start_win.first<<" "<<start_win.second<<" "<<end_win.first<<" "<<end_win.second<<std::endl;
+  if(win_start.first!=NULL_TIME)
+  {
+	  // An initial time constraint is set on the minimum times
+    if(win_start.second!=NULL_TIME)
+    {
+		  // An initial time constraint is set on the maximum times
+  		cmd->min_adj_cmd.set_times(task_inst,win_start.first,win_end.first);
+	  	cmd->max_adj_cmd.set_times(task_inst,win_start.second,win_end.second);
+		  if(!this->execute(&cmd->min_adj_cmd))
+		  {
+		    this->undo(&cmd->min_adj_cmd);
+			  return false;
+		  }
+		  if(!this->execute(&cmd->max_adj_cmd))
+		  {
+			  this->undo(&cmd->max_adj_cmd);
+			  this->undo(&cmd->min_adj_cmd);
+			  return false;
+		  }
+    }
+    else
+    {
+		// No initial time constraint is set on the maximum times
+  	  cmd->min_adj_cmd.set_times(task_inst,win_start.first,win_end.first);
+		  if(!this->execute(&cmd->min_adj_cmd))
+		  {
+			  this->undo(&cmd->min_adj_cmd);
+			  return false;
+		  }
+    }
+  }
+  else
+  {
+	  // No initial time constraint is set on the minimum times
+    if(win_start.second!=NULL_TIME)
+    {
+ 		 // An initial time constraint is set on the maximum times
+ 		cmd->max_adj_cmd.set_times(task_inst,win_start.second,win_end.second);
+	  	if(!this->execute(&cmd->max_adj_cmd))
+		  {
+			  this->undo(&cmd->min_adj_cmd);
+			  return false;
+		  }
+    }
+    else
+    {
+		// No initial time constraint.
+  		cmd->min_adj_cmd.set_times(task_inst,start_win.first,end_win.first);
+	  	cmd->max_adj_cmd.set_times(task_inst,start_win.second,end_win.second);
+      std::cout<<"for "<<task_inst<<" "<<start_win.first<<" "<<start_win.second<<" "<<end_win.first<<" "<<end_win.second<<std::endl;
+		  if(!this->execute(&cmd->min_adj_cmd))
+		  {
+		    this->undo(&cmd->min_adj_cmd);
+			  return false;
+		  }
+		  //if(!this->execute(&cmd->max_adj_cmd))
+		  //{
+			 // this->undo(&cmd->max_adj_cmd);
+			 // this->undo(&cmd->min_adj_cmd);
+			 // return false;
+		  //}
+    }
+  }
+  start_win = this->get_start_window(task_inst);
+  end_win = this->get_end_window(task_inst);
+  TaskInstSet *before,*after,*simul,*unranked;
+  before = &this->precedence_graph_.find(BEFORE)->second.find(task_inst)->second;
+  after = &this->precedence_graph_.find(AFTER)->second.find(task_inst)->second;
+  unranked = &this->precedence_graph_.find(UNRANKED)->second.find(task_inst)->second;
+  simul = &this->precedence_graph_.find(SIMUL)->second.find(task_inst)->second;
+  // If this task instance is not reused, insert all the task instances in it unranked set.
+  if(unranked->empty())
+  {
+    for(PrecedenceSet::iterator iter=this->precedence_graph_.find(BEFORE)->second.begin();iter!=this->precedence_graph_.find(BEFORE)->second.end();iter++)
+    {
+	    if(iter->first!=task_inst)
+	    {
+		    std::cout<<"inserting "<<iter->first<<" in unranked of "<<task_inst<<std::endl;
+		    unranked->insert(iter->first);
+	    }
+    }
+    if(unranked->empty()) return true;
+  }
+  CLSet after_links = this->get_after(task_inst);
+    
+  TaskInstSet causal,data;
+  for(CLSet::iterator iter=after_links.begin();iter!=after_links.end();iter++)
+  { 
+    if(iter->second==GOAL_TASK_INST_ID || iter->second==NULL_TASK_INST_ID) continue;
+    if(iter->cond.kind!=DATA) causal.insert(iter->second);
+    else data.insert(iter->second);
+  }
+
+  for(TaskInstSet::iterator iter=causal.begin();iter!=causal.end();iter++)
+  {
+	  TaskInstSet *iter_after = &this->precedence_graph_.find(AFTER)->second.find(*iter)->second;
+	  TaskInstSet *iter_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter)->second;
+	  TaskInstSet *iter_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second;
+	  TaskInstSet *iter_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter)->second;
+    if(after->find(*iter)!=after->end()) continue;
+    std::cout<<"inserting "<<*iter<<" in after set of "<<task_inst<<std::endl;
+	  TaskInstSet temp = *before;
+    temp.insert(task_inst);
+    for(TaskInstSet::iterator iter2=simul->begin();iter2!=simul->end();iter2++)
+      temp.insert(*iter2);
+    for(TaskInstSet::iterator iter2=temp.begin();iter2!=temp.end();iter2++)
+    {
+      TaskInstSet *iter2_before,*iter2_after,*iter2_simul,*iter2_unranked;
+      iter2_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter2)->second;
+      iter2_after = &this->precedence_graph_.find(AFTER)->second.find(*iter2)->second;
+      iter2_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter2)->second;
+      iter2_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter2)->second;
+      for(TaskInstSet::iterator iter1=iter_after->begin();iter1!=iter_after->end();iter1++)
+	    {
+		    std::cout<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl;
+	        TaskInstSet *iter1_before,*iter1_unranked;
+		    iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second;
+			iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second;
+		    if(iter1_before->find(*iter2)!=iter1_before->end()) continue;
+			else cmd->causal_insertions.insert(std::make_pair(*iter2,*iter1));
+			iter1_before->insert(*iter2);
+		    iter2_after->insert(*iter1);
+		    if(iter1_unranked->find(*iter2)!=iter1_unranked->end()) iter1_unranked->erase(*iter2);
+		    if(iter2_unranked->find(*iter1)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter1));
+	    }
+	    for(TaskInstSet::iterator iter1=iter_simul->begin();iter1!=iter_simul->end();iter1++)
+	    {
+		    std::cout<<*iter1<<" is siml to "<<*iter<<" so it is after "<<*iter2<<std::endl;
+	        TaskInstSet *iter1_before,*iter1_unranked;
+		    iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second;
+			iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second;
+		    if(iter1_before->find(*iter2)!=iter1_before->end()) continue;
+			else cmd->causal_insertions.insert(std::make_pair(*iter2,*iter1));
+		    iter1_before->insert(*iter2);
+		    iter2_after->insert(*iter1);
+		    if(iter1_unranked->find(*iter2)!=iter1_unranked->end()) iter1_unranked->erase(*iter2);
+		    if(iter2_unranked->find(*iter1)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter1));
+	    }
+	    if(iter_before->find(*iter2)!=iter_before->end()) continue;
+		else cmd->causal_insertions.insert(std::make_pair(*iter2,*iter));
+	    iter_before->insert(*iter2);
+	    iter2_after->insert(*iter);
+		if(iter_unranked->find(*iter2)!=iter_unranked->end()) iter_unranked->erase(*iter2);
+	    if(iter2_unranked->find(*iter)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter));
+    }
+  }
+  for(TaskInstSet::iterator iter=data.begin();iter!=data.end();iter++)
+  {
+	  TaskInstSet *iter_after = &this->precedence_graph_.find(AFTER)->second.find(*iter)->second;
+	  TaskInstSet *iter_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter)->second;
+	  TaskInstSet *iter_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second;
+	  TaskInstSet *iter_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter)->second;
+    if(simul->find(*iter)!=simul->end()) continue;
+	  std::cout<<"inserting "<<*iter<<" in simul set of "<<task_inst<<std::endl;
+    TaskInstSet temp = *before;
+    for(TaskInstSet::iterator iter2=temp.begin();iter2!=temp.end();iter2++)
+    {
+		std::cout<<"iter2 is "<<*iter2<<std::endl;
+		TaskInstSet *iter2_before,*iter2_after,*iter2_simul,*iter2_unranked;
+      iter2_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter2)->second;
+      iter2_after = &this->precedence_graph_.find(AFTER)->second.find(*iter2)->second;
+      iter2_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter2)->second;
+      iter2_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter2)->second;
+	    for(TaskInstSet::iterator iter1=iter_after->begin();iter1!=iter_after->end();iter1++)
+	    {
+		    std::cout<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl;
+	        TaskInstSet *iter1_before,*iter1_unranked;
+		    iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second;
+			iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second;
+		    if(iter1_before->find(*iter2)!=iter1_before->end()) continue;
+			else cmd->causal_insertions.insert(std::make_pair(*iter2,*iter1));
+		    iter1_before->insert(*iter2);
+		    iter2_after->insert(*iter1);
+		    if(iter1_unranked->find(*iter2)!=iter1_unranked->end()) iter1_unranked->erase(*iter2);
+		    if(iter2_unranked->find(*iter1)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter1));
+	    }
+	    for(TaskInstSet::iterator iter1=iter_simul->begin();iter1!=iter_simul->end();iter1++)
+	    {
+		    std::cout<<*iter1<<" is simul to "<<*iter<<" so it is after "<<*iter2<<std::endl;
+	        TaskInstSet *iter1_before,*iter1_unranked;
+		    iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second;
+			iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second;
+		    if(iter1_before->find(*iter2)!=iter1_before->end()) continue;
+			else cmd->causal_insertions.insert(std::make_pair(*iter2,*iter1));
+		    iter1_before->insert(*iter2);
+		    iter2_after->insert(*iter1);
+		    if(iter1_unranked->find(*iter2)!=iter1_unranked->end()) iter1_unranked->erase(*iter2);
+		    if(iter2_unranked->find(*iter1)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter1));
+	    }    
+	    if(iter_before->find(*iter2)!=iter_before->end()) continue;
+		else cmd->causal_insertions.insert(std::make_pair(*iter2,*iter));
+	    iter_before->insert(*iter2);
+	    iter2_after->insert(*iter);
+		if(iter_unranked->find(*iter2)!=iter_unranked->end()) iter_unranked->erase(*iter2);
+	    if(iter2_unranked->find(*iter)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter));
+    }
+    temp = *simul;
+    temp.insert(task_inst);
+    for(TaskInstSet::iterator iter2=temp.begin();iter2!=temp.end();iter2++)
+    {
+      TaskInstSet *iter2_before,*iter2_after,*iter2_simul,*iter2_unranked;
+      iter2_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter2)->second;
+      iter2_after = &this->precedence_graph_.find(AFTER)->second.find(*iter2)->second;
+      iter2_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter2)->second;
+      iter2_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter2)->second;
+	    for(TaskInstSet::iterator iter1=iter_after->begin();iter1!=iter_after->end();iter1++)
+	    {
+		    std::cout<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl;
+	        TaskInstSet *iter1_before,*iter1_unranked;
+		    iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second;
+			iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second;
+		    if(iter1_before->find(*iter2)!=iter1_before->end()) continue;
+			else cmd->causal_insertions.insert(std::make_pair(*iter2,*iter1));
+		    iter1_before->insert(*iter2);
+		    iter2_after->insert(*iter1);
+		    if(iter1_unranked->find(*iter2)!=iter1_unranked->end()) iter1_unranked->erase(*iter2);
+		    if(iter2_unranked->find(*iter1)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter1));
+	    }
+	    for(TaskInstSet::iterator iter1=iter_simul->begin();iter1!=iter_simul->end();iter1++)
+	    {
+		    std::cout<<*iter1<<" is simul "<<*iter<<" so it is simul "<<*iter2<<std::endl;
+	        TaskInstSet *iter1_simul,*iter1_unranked;
+		    iter1_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter1)->second;
+			iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second;
+		    if(iter1_simul->find(*iter2)!=iter1_simul->end()) continue;
+			else 
+			{
+				cmd->simul_insertions.insert(std::make_pair(*iter2,*iter1));
+			}
+			iter1_simul->insert(*iter2);
+		    iter2_simul->insert(*iter1);
+		    if(iter1_unranked->find(*iter2)!=iter1_unranked->end()) iter1_unranked->erase(*iter2);
+		    if(iter2_unranked->find(*iter1)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter1));
+	    }
+	    for(TaskInstSet::iterator iter1=iter_before->begin();iter1!=iter_before->end();iter1++)
+	    {
+		    std::cout<<*iter1<<" is before "<<*iter<<" so it is before "<<*iter2<<std::endl;
+	        TaskInstSet *iter1_after,*iter1_unranked;
+		    iter1_after = &this->precedence_graph_.find(AFTER)->second.find(*iter1)->second;
+			iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second;
+		    if(iter1_after->find(*iter2)!=iter1_after->end()) continue;
+			else cmd->causal_insertions.insert(std::make_pair(*iter1,*iter2));
+		    iter1_after->insert(*iter2);
+		    iter2_before->insert(*iter1);
+		    if(iter1_unranked->find(*iter2)!=iter1_unranked->end()) iter1_unranked->erase(*iter2);
+		    if(iter2_unranked->find(*iter1)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter1));
+	    }
+	    if(iter_simul->find(*iter2)!=iter_simul->end()) continue;
+		else cmd->simul_insertions.insert(std::make_pair(*iter2,*iter));
+	    iter2_simul->insert(*iter);
+	    iter_simul->insert(*iter2);
+		if(iter_unranked->find(*iter2)!=iter_unranked->end()) iter_unranked->erase(*iter2);
+	    if(iter2_unranked->find(*iter)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter));
+    }
+  }
+  std::cout<<"for "<<task_inst<<" start window: "<<start_win.first<<"-"<<start_win.second<<" and end window "<<end_win.first<<"-"<<end_win.second<<std::endl;
+  for(TaskInstSet::iterator iter = unranked->begin();iter!=unranked->end();iter++)
+  {
+	  TimeWindow temp_start = this->get_start_window(*iter);
+	  TimeWindow temp_end = this->get_end_window(*iter);
+	  std::cout<<"checking "<<*iter<<" in all with start window: "<<temp_start.first<<"-"<<temp_start.second<<" and end window "<<temp_end.first<<"-"<<temp_end.second<<std::endl;
+	  if(end_win.second!=NULL_TIME && temp_start.first>end_win.second)
+	  {
+		  after->insert(*iter);
+		  this->precedence_graph_.find(BEFORE)->second.find(*iter)->second.insert(task_inst);
+	  }
+	  else if(temp_end.second!=NULL_TIME && temp_end.second<start_win.first)
+	  {
+		  before->insert(*iter);
+		  this->precedence_graph_.find(AFTER)->second.find(*iter)->second.insert(task_inst);
+	  }
+	  else
+	  {
+		  this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second.insert(task_inst);
+	  }
+  }
+	this->print_prec();
+  for(InstToWinMap::iterator iter=this->start_window_map_.begin();iter!=this->start_window_map_.end();iter++)
+  {
+    std::cout<<"The start window for "<<iter->first<<" is "<<iter->second.first<<" - "<<iter->second.second<<std::endl;
+  }
+  for(InstToWinMap::iterator iter=this->end_window_map_.begin();iter!=this->end_window_map_.end();iter++)
+  {
+    std::cout<<"The end window for "<<iter->first<<" is "<<iter->second.first<<" - "<<iter->second.second<<std::endl;
+  }
+  return true;
+};
+
+// Print the precedence graph
+void SA_WorkingPlan::print_prec()
+{
+	std::cout<<"BEFORE : "<<BEFORE<<", AFTER : "<<AFTER<<", SIMUL : "<<SIMUL<<", UNRANKED : "<<UNRANKED<<std::endl;
+	for(PrecedenceGraph::iterator iter1 = this->precedence_graph_.begin(); iter1 != this->precedence_graph_.end(); iter1++)
+	{
+		std::cout<<"The precedence set "<<iter1->first<<": "<<std::endl;
+		for(PrecedenceSet::iterator iter2 = iter1->second.begin(); iter2 != iter1->second.end(); iter2++)
+		{
+			std::cout<<"The task inst set of "<<iter2->first<<" is ";
+			for(TaskInstSet::iterator iter3 = iter2->second.begin(); iter3 != iter2->second.end(); iter3++)
+			{
+				std::cout<<*iter3<<",";
+			}
+			std::cout<<std::endl;
+		}
+	}
+};
+
+// Undo all the updation to the precedence graph due to the chosen task instance
+void SA_WorkingPlan::prec_erase(TaskInstID task_inst, SA_AssocTaskImplCmd *cmd)
+{
+PrecedenceSet *before = &this->precedence_graph_.find(BEFORE)->second;
+PrecedenceSet *simul = &this->precedence_graph_.find(SIMUL)->second;
+PrecedenceSet *after = &this->precedence_graph_.find(AFTER)->second;
+PrecedenceSet *unranked = &this->precedence_graph_.find(UNRANKED)->second;
+	for(std::set< std::pair<TaskInstID,TaskInstID> >::iterator iter = cmd->causal_insertions.begin();iter!=cmd->causal_insertions.end();iter++)
+	{
+		// iter->second has been inserted in the after set of iter->first
+		std::cout<<"removing "<<iter->second<<" from after of "<<iter->first<<std::endl;
+		before->find(iter->second)->second.erase(iter->first);
+		after->find(iter->first)->second.erase(iter->second);
+		unranked->find(iter->first)->second.insert(iter->second);
+		unranked->find(iter->second)->second.insert(iter->first);
+	}
+	for(std::set< std::pair<TaskInstID,TaskInstID> >::iterator iter = cmd->simul_insertions.begin();iter!=cmd->simul_insertions.end();iter++)
+	{
+		// iter->second has been inserted in the simul set of iter->first
+		std::cout<<"removing "<<iter->second<<" from simul of "<<iter->first<<std::endl;
+		simul->find(iter->second)->second.erase(iter->first);
+		simul->find(iter->first)->second.erase(iter->second);
+		unranked->find(iter->first)->second.insert(iter->second);
+		unranked->find(iter->second)->second.insert(iter->first);
+	}
+	//if(before->find(task_inst)->second.empty() && after->find(task_inst)->second.empty() && simul->find(task_inst)->second.empty())
+	//{
+	//	CondToCLinksMap::iterator iter;
+	//	for(iter = this->causal_links_.begin();iter!=this->causal_links_.end();iter++)
+	//		if(iter->second.second == GOAL_TASK_INST_ID && iter->second.first == task_inst) break;
+	//	if(iter==this->causal_links_.end() || cmd->impls_.size()!=0)
+	//	{
+	std::cout<<this->reused_insts.size()<<std::endl;
+	if(this->reused_insts.find(task_inst)==this->reused_insts.end())
+	{
+			before->erase(before->find(task_inst));
+			after->erase(after->find(task_inst));
+			simul->erase(simul->find(task_inst));
+			unranked->erase(unranked->find(task_inst));
+			this->start_window_map_.erase(this->start_window_map_.find(task_inst));
+			this->end_window_map_.erase(this->end_window_map_.find(task_inst));
+			for(PrecedenceSet::iterator iter1 = unranked->begin();iter1!=unranked->end();iter1++)
+				iter1->second.erase(task_inst);
+		}
+//	}
+	//std::cout<<"after erasing the precedence graph is "<<std::endl;
+	//this->print_prec();
+};
+/// Get all the task instances
+TaskInstSet SA_WorkingPlan::get_all_insts()
+{
+	TaskInstSet all;
+	for(PrecedenceSet::iterator iter=this->precedence_graph_.find(BEFORE)->second.begin();iter!=this->precedence_graph_.find(BEFORE)->second.end();iter++)
+	{
+		all.insert(iter->first);
+	}	  
+  return all;
+}
+/// Check if the instance id already exists and is being reused.
+bool SA_WorkingPlan::inst_exists (TaskInstID task_inst)
+{
+  if(this->task_impls_.find(task_inst)!=this->task_impls_.end()) return true;
+  else return false;
+}
+
+/// Get task implementation for a task instance.
+TaskImplID SA_WorkingPlan::get_impl_id (TaskInstID task_inst)
+{
+  return this->task_impls_.find(task_inst)->second;
+}
+
diff --git a/SA_POP/SA_WorkingPlan.h b/SA_POP/SA_WorkingPlan.h
new file mode 100644
index 00000000000..e9944e5fea0
--- /dev/null
+++ b/SA_POP/SA_WorkingPlan.h
@@ -0,0 +1,451 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_WorkingPlan.h
+ *
+ * This file contains the definition of the SA_WorkingPlan concrete class,
+ * which implements a WorkingPlan that uses precedence graphs for scheduling.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_SA_WORKING_PLAN_H_
+#define SA_POP_SA_WORKING_PLAN_H_
+
+#include <map>
+#include "SA_POP_Types.h"
+#include "WorkingPlan.h"
+#include "PlanCommands.h"
+#include "SA_PlanCommands.h"
+
+
+namespace SA_POP {
+
+  /**
+   * @class SA_WorkingPlan
+   *
+   * @brief WorkingPlan concrete class for encapsulation of a plan that uses
+   *        precedence graphs for scheduling.
+   */
+  class SA_WorkingPlan : public WorkingPlan {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    SA_WorkingPlan (SA_POP::Planner *planner);
+
+    /// Destructor.
+    virtual ~SA_WorkingPlan (void);
+
+    /// Set command prototypes to use.
+    /**
+     * @param add_threats_cmd  Prototype of command for adding open causal
+     *                         link threats to be handled.
+     */
+    virtual void set_commands (AddOpenThreatsCmd *add_threats_cmd);
+
+    /// Get current plan.
+    /**
+     * @return  Reference to current plan.
+     */
+    virtual const Plan& get_plan (void);
+
+    /// Get set of task instances for a precedence relation to a task instance.
+    /**
+     * @param task_inst  Task instance for which to get precedence set.
+     *
+     * @param prec_rel  Precedence relation.
+     *
+     * @return  Set of task instances for given precedence relation to given
+     *          task instance.
+     */
+    virtual const TaskInstSet *get_prec_set (TaskInstID task_inst,
+      PrecedenceRelation prec_rel);
+
+    /// Get task id of a task instance.
+    /**
+     * @param inst_id  The task instance id.
+     *
+     * @return  The task id of this task instance.
+     */
+    virtual TaskID get_task_from_inst (TaskInstID inst_id);
+
+    /// Get task implementation id of a task instance.
+    /**
+     * @param inst_id  The task instance id.
+     *
+     * @return  The task implementation id of this task instance.
+     */
+	virtual TaskImplID get_task_impl_from_inst (TaskInstID inst_id);
+
+	/// Get all current causal link threats.
+    /**
+     * @return  Set of all current causal link threats.
+     */
+    virtual CLThreatSet get_all_threats (void);
+
+   //Get the Start Window for a task instance
+    /**
+     * @param task_inst The task instance of which the start window is returned
+     *
+     * @return The start window for the task instance
+     */
+    virtual TimeWindow get_start_window(TaskInstID task_inst);
+
+    //Get the End Window for a task instance
+    /**
+     * @param task_inst The task instance of which the end window is returned
+     *
+     * @return The end window for the task instance
+     */
+    virtual TimeWindow get_end_window(TaskInstID task_inst);
+
+    //Get the duration of a task instance
+    /**
+     * @param task_inst The task instance of which the duration is returned
+     *
+     * @return The duration of the task instance
+     */
+    virtual TimeValue get_duration(TaskInstID task_inst);
+
+    //Get all the causal and data links TO the task instance
+    /**
+     * @param task_inst All causal and data links to this task instance have to be returned
+     *
+     * @return All causal and data links to this task instance
+     */
+    virtual CLSet get_before(TaskInstID task_inst);
+    //Get all the causal and data links FROM the task instance
+    /**
+     * @param task_inst All causal and data links from this task instance have to be returned
+     *
+     * @return All causal and data links from this task instance
+     */
+    virtual CLSet get_after(TaskInstID task_inst);
+
+    /// Get the Causal and Scheduling orderings to this task instance
+    /**
+     * @param inst_id The task instance to which all orderings are required
+     */
+  virtual TaskInstSet before_orderings (TaskInstID inst_id);
+
+    /// Get the Causal and Scheduling orderings from this task instance
+    /**
+     * @param inst_id The task instance from which all orderings are required
+     */
+  virtual TaskInstSet after_orderings (TaskInstID inst_id);
+
+  /// Adds the sched order to the sched_links_ map by putting the first task instance before the second
+  /**
+   * @param first_task_inst The task instance before the second one
+   *
+   * @param second_task_inst The task instance after the first one
+   */
+	virtual void add_sched_link(TaskInstID first_task_inst, TaskInstID second_task_inst);
+	/// Removes the sched order from the sched_links_ map
+  /**
+   * @param first_task_inst The task instance before the second one
+   *
+   * @param second_task_inst The task instance after the first one
+   */
+	virtual void remove_sched_link(TaskInstID first_task_inst, TaskInstID second_task_inst);
+    
+	/// Get all the task instances
+	virtual TaskInstSet get_all_insts();
+
+     /// Check if the instance id already exists and is being reused.
+    /**
+     * @param task_inst The task instance being checked
+     *
+     * @return  True If this task instance already exists.
+     */
+    virtual bool inst_exists (TaskInstID task_inst);
+
+    /// Get task implementation for a task instance.
+    /**
+     * @param task_inst  The task instance.
+     *
+     * @return The task implementation id.
+     */
+    virtual TaskImplID get_impl_id (TaskInstID task_inst);
+
+    // ************************************************************************
+    // Methods for obtaining prototypes of commands that work on this object.
+    // ************************************************************************
+
+    /// Get a PlanCommand prototype for adding a task to the plan.
+    /**
+     * @return  An AddTaskCmd prototype for this WorkingPlan.
+     */
+    virtual AddTaskCmd *get_AddTaskCmd (void);
+
+    /// Get a PlanCommand prototype for associating an implementation with a
+    /// task instance in the plan.
+    /**
+     * @return  An AssocTaskImplCmd prototype for this WorkingPlan.
+     */
+    virtual AssocTaskImplCmd *get_AssocTaskImplCmd (void);
+
+    /// Get a PlanCommand prototype for resolving a causal link threat in the
+    /// plan (with promotion or demotion).
+    /**
+     * @return  An ResolveCLThreatCmd prototype for this WorkingPlan.
+     */
+    virtual ResolveCLThreatCmd *get_ResolveCLThreatCmd (void);
+
+    /// Get a PlanCommand prototype for resolving a scheduling conflict (i.e.
+    /// non-causal-link ordering constraint (with promotion or demotion)
+    /// between two task instances in the plan.
+    /**
+     * @return  An ResolveSchedOrderCmd prototype for this WorkingPlan.
+     */
+    virtual ResolveSchedOrderCmd *get_ResolveSchedOrderCmd (void);
+
+    /// Get a PlanCommand prototype for adjusting the minimum times of a
+    /// task instance in the plan.
+    /**
+     * @return  An AdjustStartWindowCmd prototype for this WorkingPlan.
+     */
+    virtual AdjustMinTimesCmd *get_AdjustMinTimesCmd (void);
+
+    /// Get a PlanCommand prototype for adjusting the max times of a
+    /// task instance in the plan.
+    /**
+     * @return  An AdjustEndWindowCmd prototype for this WorkingPlan.
+     */
+    virtual AdjustMaxTimesCmd *get_AdjustMaxTimesCmd (void);
+
+
+
+    // ************************************************************************
+    // Methods for executing and undoing commands.
+    // ************************************************************************
+
+    /// Execute a command to add a task to the plan.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_AddTaskCmd *cmd);
+
+    /// Undo a command to add a task to the plan.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_AddTaskCmd *cmd);
+
+    /// Execute a command to associate an implementation with a
+    /// task instance in the plan.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual bool execute (SA_AssocTaskImplCmd *cmd);
+
+    /// Undo a command to associate an implementation with a
+    /// task instance in the plan.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_AssocTaskImplCmd *cmd);
+
+    /// Execute a command to resolve a causal link threat in the
+    /// plan (with promotion or demotion).
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_ResolveCLThreatCmd *cmd);
+
+    /// Undo a command to resolve a causal link threat in the
+    /// plan (with promotion or demotion).
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_ResolveCLThreatCmd *cmd);
+
+    /// Execute a command to resolve a scheduling conflict (i.e.
+    /// non-causal-link ordering constraint with promotion or demotion)
+    /// between two task instances in the plan.
+    /**
+     * @param cmd  Command object.
+     *
+     * @return Returns true if the new scheduling order is without any violations
+     */
+    virtual bool execute (SA_ResolveSchedOrderCmd *cmd);
+
+    /// Undo a command to resolve a scheduling conflict (i.e.
+    /// non-causal-link ordering constraint with promotion or demotion)
+    /// between two task instances in the plan.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_ResolveSchedOrderCmd *cmd);
+
+    /// Execute a command to adjust the minimum times of a
+    /// task instance in the plan.
+    /**
+     * @param cmd  Command object.
+     *
+     * @return Returns true if the adjustment succeeded without any violations
+     */
+    virtual bool execute (SA_AdjustMinTimesCmd *cmd);
+
+    /// Undo a command to adjust the minimum times of a
+    /// task instance in the plan.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_AdjustMinTimesCmd *cmd);
+
+    /// Execute a command to adjust the maximum times of a
+    /// task instance in the plan.
+    /**
+     * @param cmd  Command object.
+     *
+     * @return Returns true if the adjustment succeeded without any violations
+     */
+    virtual bool execute (SA_AdjustMaxTimesCmd *cmd);
+
+    /// Undo a command to adjust the maximum times of a
+    /// task instance in the plan.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_AdjustMaxTimesCmd *cmd);
+
+  protected:
+    // ************************************************************************
+    // State information.
+    // ************************************************************************
+
+    /// Flag for whether command prototypes have been set.
+    bool has_cmds_;
+
+    /// Task instance ID to use for next instance created.
+    TaskInstID next_inst_id_;
+
+    typedef std::map <TaskInstID, TaskID> InstToTaskMap;
+    /// Task instances in plan (mapping to task id).
+    InstToTaskMap task_insts_;
+
+    /// Implementations of task instances in plan (mapping from task instance).
+    InstToImplMap task_impls_;
+
+    // Type of a map from conditions to causal links.
+    typedef std::multimap <Condition, CausalLink> CondToCLinksMap;
+
+    /// Causal links in plan (mapping from conditions to all causal links
+    /// containing that condition).
+    CondToCLinksMap causal_links_;
+
+    /// Current plan (generated upon request).
+    Plan plan_;
+
+    /// Helper function to create next instance id.
+    virtual TaskInstID get_next_inst_id (void);
+
+  	/// Type of particular Task Implementation mapped to a Task Implementation Set.
+  	/// This is a particular Precedence set. Like Before, After etc.
+	  typedef std::map <TaskInstID, TaskInstSet> PrecedenceSet;
+
+	  /// Type of a Precedence Relation mapped to a Precedence Set. 
+	  /// This gives the whole Precedence Graph
+	  typedef std::map <PrecedenceRelation, PrecedenceSet> PrecedenceGraph;
+
+	/// PrecedenceGraph
+	PrecedenceGraph precedence_graph_;
+	
+	/// Type of an ordering imposed during Scheduling.
+	/// First task instance is ordered before the second.
+	typedef std::multimap <TaskInstID, TaskInstID> SchedulingLinks;
+	
+	/// Map of the imposed orderings
+	SchedulingLinks sched_links_;
+
+	/// Map from task instances to the time windows
+	typedef std::map <TaskInstID, TimeWindow> InstToWinMap;
+	typedef std::map <TaskInstID, TimeWindow> InstToWinMap;
+
+	/// InstToWinMap and InstToWinMap
+	InstToWinMap start_window_map_;
+	InstToWinMap end_window_map_;
+	
+  /// Type of a map of task instances and the durations
+  typedef std::map <TaskInstID, TimeValue> DurationMap;
+
+  DurationMap durations;
+
+  // The initial start and end windows. There has to be something 
+  // in this for every task instance be it {NULL_TIME,NULL_TIME}
+  InstToWinMap init_start;
+	InstToWinMap init_end;
+
+	// The set of reused task instances
+	std::multiset<TaskInstID> reused_insts;
+  /// Insert initially task by task in the precedence graph
+  /**
+   * @param task_inst The task instance to insert into the precedence graph
+   *
+   * @param cmd The task Command executing this
+   *
+   * @return True if this can be successfully added into the precedence graph
+   */
+	virtual bool init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd *cmd);
+
+/// prints the precedence graph
+  	virtual void print_prec(void);
+
+	/// Erases a task instance from the precedence graph
+	/**
+	 * @param task_instance The task instance to be erased
+   *
+   * @param cmd The task Command executing this
+   *
+	 */
+	virtual void prec_erase(TaskInstID task_inst, SA_AssocTaskImplCmd *cmd);
+
+
+    // ************************************************************************
+    // Prototypes of commands that work on this object.
+    // ************************************************************************
+
+    /// PlanCommand prototype for adding a task to the plan.
+    SA_AddTaskCmd *add_task_cmd_;
+
+    /// PlanCommand prototype for associating an implementation with a
+    /// task instance in the plan.
+    SA_AssocTaskImplCmd *assoc_impl_cmd_;
+
+    /// PlanCommand prototype for resolving a causal link threat in the
+    /// plan (with promotion or demotion).
+    SA_ResolveCLThreatCmd *resolve_threat_cmd_;
+
+    /// PlanCommand prototype for resolving a scheduling conflict (i.e.
+    /// non-causal-link ordering constraint (with promotion or demotion)
+    /// between two task instances in the plan.
+    SA_ResolveSchedOrderCmd *resolve_sched_cmd_;
+
+    /// PlanCommand prototype for adjusting the minimum times of a
+    /// task instance in the plan.
+    SA_AdjustMinTimesCmd *adj_min_times_cmd_;
+
+    /// PlanCommand prototype for adjusting the maximum times of a
+    /// task instance in the plan.
+    SA_AdjustMaxTimesCmd *adj_max_times_cmd_;
+
+
+
+    // ************************************************************************
+    // Prototypes of commands that work on other objects.
+    // ************************************************************************
+
+    /// PlanCommand prototype for adding open causal link threats to be
+    /// handled.
+    AddOpenThreatsCmd *add_threats_cmd_;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_SA_WORKING_PLAN_H_ */
diff --git a/SA_POP/SPACE.san.xml b/SA_POP/SPACE.san.xml
new file mode 100644
index 00000000000..1f512f0b569
--- /dev/null
+++ b/SA_POP/SPACE.san.xml
@@ -0,0 +1,357 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<SANet:network
+  xmlns:SANet="http://www.vanderbilt.edu/SANet"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://www.vanderbilt.edu/SANet SANet_Network.xsd"
+  xmlns="http://www.vanderbilt.edu/SANet">
+
+  <defaultAttenFactor />
+  <defaultTaskCost />
+  <defaultCondUtil />
+  <defaultCondProbTrue />
+  <linkThresh />
+
+
+  <taskNode>
+    <nodeID>2221</nodeID>
+    <name>Gizmo1</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2222</nodeID>
+    <name>Gizmo2</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2223</nodeID>
+    <name>Gizmo3</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2231</nodeID>
+    <name>Filter_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2232</nodeID>
+    <name>Filter_G2_G3</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2233</nodeID>
+    <name>Compression_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2234</nodeID>
+    <name>Compression_G2_G3</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2235</nodeID>
+    <name>Comm_Ex_G1</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2236</nodeID>
+    <name>Comm_Ex_G2_G3</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2237</nodeID>
+    <name>Exec</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2241</nodeID>
+    <name>Ground_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2242</nodeID>
+    <name>Ground_G2_G3</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+
+
+
+
+  <condNode>
+    <nodeID>1121</nodeID>
+    <name>Gizmo1_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1122</nodeID>
+    <name>Gizmo2_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1123</nodeID>
+    <name>Gizmo3_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1131</nodeID>
+    <name>G1_Filter_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1132</nodeID>
+    <name>G2_G3_Filter_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1133</nodeID>
+    <name>G1_Comp_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1134</nodeID>
+    <name>G2_G3_Comp_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1135</nodeID>
+    <name>G1_Comm_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1136</nodeID>
+    <name>G2_G3_Comm_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1137</nodeID>
+    <name>Exec_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1141</nodeID>
+    <name>G1_Data_Recvd</name>
+    <probTrue>0</probTrue>
+    <utility>10</utility>
+    <kind />
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1142</nodeID>
+    <name>G2_G3_Data_Recvd</name>
+    <probTrue>0</probTrue>
+    <utility>10</utility>
+    <kind />
+    <attenFactor />
+  </condNode>
+
+
+
+
+  <precondLink>
+    <condID>1121</condID>
+    <taskID>2231</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1122</condID>
+    <taskID>2232</taskID>
+    <portID>recv_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1123</condID>
+    <taskID>2232</taskID>
+    <portID>recv_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1131</condID>
+    <taskID>2233</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1132</condID>
+    <taskID>2234</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1133</condID>
+    <taskID>2235</taskID>
+    <portID>science_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1134</condID>
+    <taskID>2236</taskID>
+    <portID>science_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1137</condID>
+    <taskID>2235</taskID>
+    <portID>recv_command</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1137</condID>
+    <taskID>2236</taskID>
+    <portID>recv_command</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1135</condID>
+    <taskID>2241</taskID>
+    <portID>recv_transmission</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1136</condID>
+    <taskID>2242</taskID>
+    <portID>recv_transmission</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+
+
+
+
+  <effectLink>
+    <taskID>2221</taskID>
+    <condID>1121</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2222</taskID>
+    <condID>1122</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2223</taskID>
+    <condID>1123</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2231</taskID>
+    <condID>1131</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2232</taskID>
+    <condID>1132</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2233</taskID>
+    <condID>1133</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2234</taskID>
+    <condID>1134</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2235</taskID>
+    <condID>1135</condID>
+    <portID>transmit_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2236</taskID>
+    <condID>1136</condID>
+    <portID>transmit_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2237</taskID>
+    <condID>1137</condID>
+    <portID>send_command</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2241</taskID>
+    <condID>1141</condID>
+    <portID>NONE</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2242</taskID>
+    <condID>1142</condID>
+    <portID>NONE</portID>
+    <weight>1.0</weight>
+  </effectLink>
+
+</SANet:network>
\ No newline at end of file
diff --git a/SA_POP/SPACE.tm.xml b/SA_POP/SPACE.tm.xml
new file mode 100644
index 00000000000..96cded96543
--- /dev/null
+++ b/SA_POP/SPACE.tm.xml
@@ -0,0 +1,194 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<SA-POP:taskMap
+  xmlns:SA-POP="http://www.vanderbilt.edu/SA-POP"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://www.vanderbilt.edu/SA-POP Task_Map.xsd"
+  xmlns="http://www.vanderbilt.edu/SA-POP">
+
+
+
+  <taskImpl>
+    <implID>IDL:SPACE/Ground_Station:1.0</implID>
+    <param>
+      <paramID></paramID>
+      <kind></kind>
+      <value></value>
+    </param>
+  </taskImpl> 
+  <taskImpl>
+    <implID>IDL:SPACE/Exec_Component:1.0</implID>
+    <param>
+      <paramID></paramID>
+      <kind></kind>
+      <value></value>
+    </param>
+  </taskImpl> 
+  <taskImpl>
+    <implID>IDL:SPACE/Exec_Component:1.0</implID>
+    <param>
+      <paramID></paramID>
+      <kind></kind>
+      <value></value>
+    </param>
+  </taskImpl> 
+  <taskImpl>
+    <implID>IDL:SPACE/Compression_Component:1.0</implID>
+    <param>
+      <paramID></paramID>
+      <kind></kind>
+      <value></value>
+    </param>
+  </taskImpl> 
+  <taskImpl>
+    <implID>IDL:SPACE/Comm_Component:1.0</implID>
+    <param>
+      <paramID></paramID>
+      <kind></kind>
+      <value></value>
+    </param>
+  </taskImpl> 
+  <taskImpl>
+    <implID>IDL:SPACE/Backup_Gizmo_High:1.0</implID>
+    <param>
+      <paramID></paramID>
+      <kind></kind>
+      <value></value>
+    </param>
+  </taskImpl> 
+  <taskImpl>
+    <implID>IDL:SPACE/Backup_Gizmo_Low:1.0</implID>
+    <param>
+      <paramID></paramID>
+      <kind></kind>
+      <value></value>
+    </param>
+  </taskImpl> 
+  <taskImpl>
+    <implID>IDL:SPACE/Primary_Gizmo:1.0</implID>
+    <param>
+      <paramID></paramID>
+      <kind></kind>
+      <value></value>
+    </param>
+  </taskImpl> 
+
+
+
+  <resource>
+    <resourceID>Memory</resourceID>
+    <kind>DISCRETE</kind>
+    <capacity>512</capacity>
+  </resource>
+  <resource>
+    <resourceID>CPU</resourceID>
+    <kind>DISCRETE</kind>
+    <capacity />
+  </resource>
+
+
+  <taskToImpl>
+    <taskID>2241</taskID>
+    <implID>IDL:SPACE/Ground_Station:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2242</taskID>
+    <implID>IDL:SPACE/Ground_Station:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2237</taskID>
+    <implID>IDL:SPACE/Exec_Component:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2231</taskID>
+    <implID>IDL:SPACE/Exec_Component:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2232</taskID>
+    <implID>IDL:SPACE/Exec_Component:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2233</taskID>
+    <implID>IDL:SPACE/Compression_Component:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2234</taskID>
+    <implID>IDL:SPACE/Compression_Component:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2235</taskID>
+    <implID>IDL:SPACE/Comm_Component:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2236</taskID>
+    <implID>IDL:SPACE/Comm_Component:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2223</taskID>
+    <implID>IDL:SPACE/Backup_Gizmo_High:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2222</taskID>
+    <implID>IDL:SPACE/Backup_Gizmo_Low:1.0</implID> 
+    <duration />
+  </taskToImpl>
+  <taskToImpl>
+    <taskID>2221</taskID>
+    <implID>IDL:SPACE/Primary_Gizmo:1.0</implID> 
+    <duration />
+  </taskToImpl>
+
+
+
+
+  <implToResource>
+    <implID>IDL:SPACE/Ground_Station:1.0</implID>
+    <resourceID>CPU</resourceID>
+    <utilization>5</utilization>
+  </implToResource> 
+  <implToResource>
+    <implID>IDL:SPACE/Exec_Component:1.0</implID>
+    <resourceID>CPU</resourceID>
+    <utilization>5</utilization>
+  </implToResource> 
+  <implToResource>
+    <implID>IDL:SPACE/Exec_Component:1.0</implID>
+    <resourceID>CPU</resourceID>
+    <utilization>5</utilization>
+  </implToResource> 
+  <implToResource>
+    <implID>IDL:SPACE/Compression_Component:1.0</implID>
+    <resourceID>CPU</resourceID>
+    <utilization>5</utilization>
+  </implToResource> 
+  <implToResource>
+    <implID>IDL:SPACE/Comm_Component:1.0</implID>
+    <resourceID>CPU</resourceID>
+    <utilization>5</utilization>
+  </implToResource> 
+  <implToResource>
+    <implID>IDL:SPACE/Backup_Gizmo_High:1.0</implID>
+    <resourceID>CPU</resourceID>
+    <utilization>5</utilization>
+  </implToResource> 
+  <implToResource>
+    <implID>IDL:SPACE/Backup_Gizmo_Low:1.0</implID>
+    <resourceID>CPU</resourceID>
+    <utilization>5</utilization>
+  </implToResource> 
+  <implToResource>
+    <implID>IDL:SPACE/Primary_Gizmo:1.0</implID>
+    <resourceID>CPU</resourceID>
+    <utilization>5</utilization>
+  </implToResource> 
+
+</SA-POP:taskMap>
\ No newline at end of file
diff --git a/SA_POP/SPACE_Goal1.san.xml b/SA_POP/SPACE_Goal1.san.xml
new file mode 100644
index 00000000000..6f1a8865b84
--- /dev/null
+++ b/SA_POP/SPACE_Goal1.san.xml
@@ -0,0 +1,357 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<SANet:network
+  xmlns:SANet="http://www.vanderbilt.edu/SANet"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://www.vanderbilt.edu/SANet SANet_Network.xsd"
+  xmlns="http://www.vanderbilt.edu/SANet">
+
+  <defaultAttenFactor />
+  <defaultTaskCost />
+  <defaultCondUtil />
+  <defaultCondProbTrue />
+  <linkThresh />
+
+
+  <taskNode>
+    <nodeID>2221</nodeID>
+    <name>Gizmo1</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2222</nodeID>
+    <name>Gizmo2</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2223</nodeID>
+    <name>Gizmo3</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2231</nodeID>
+    <name>Filter_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2232</nodeID>
+    <name>Filter_G2_G3</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2233</nodeID>
+    <name>Compression_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2234</nodeID>
+    <name>Compression_G2_G3</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2235</nodeID>
+    <name>Comm_Ex_G1</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2236</nodeID>
+    <name>Comm_Ex_G2_G3</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2237</nodeID>
+    <name>Exec</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2241</nodeID>
+    <name>Ground_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2242</nodeID>
+    <name>Ground_G2_G3</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+
+
+
+
+  <condNode>
+    <nodeID>1121</nodeID>
+    <name>Gizmo1_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1122</nodeID>
+    <name>Gizmo2_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1123</nodeID>
+    <name>Gizmo3_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1131</nodeID>
+    <name>G1_Filter_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1132</nodeID>
+    <name>G2_G3_Filter_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1133</nodeID>
+    <name>G1_Comp_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1134</nodeID>
+    <name>G2_G3_Comp_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1135</nodeID>
+    <name>G1_Comm_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1136</nodeID>
+    <name>G2_G3_Comm_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1137</nodeID>
+    <name>Exec_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1141</nodeID>
+    <name>G1_Data_Recvd</name>
+    <probTrue>0</probTrue>
+    <utility>10</utility>
+    <kind />
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1142</nodeID>
+    <name>G2_G3_Data_Recvd</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind />
+    <attenFactor />
+  </condNode>
+
+
+
+
+  <precondLink>
+    <condID>1121</condID>
+    <taskID>2231</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1122</condID>
+    <taskID>2232</taskID>
+    <portID>recv_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1123</condID>
+    <taskID>2232</taskID>
+    <portID>recv_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1131</condID>
+    <taskID>2233</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1132</condID>
+    <taskID>2234</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1133</condID>
+    <taskID>2235</taskID>
+    <portID>science_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1134</condID>
+    <taskID>2236</taskID>
+    <portID>science_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1137</condID>
+    <taskID>2235</taskID>
+    <portID>recv_command</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1137</condID>
+    <taskID>2236</taskID>
+    <portID>recv_command</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1135</condID>
+    <taskID>2241</taskID>
+    <portID>recv_transmission</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1136</condID>
+    <taskID>2242</taskID>
+    <portID>recv_transmission</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+
+
+
+
+  <effectLink>
+    <taskID>2221</taskID>
+    <condID>1121</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2222</taskID>
+    <condID>1122</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2223</taskID>
+    <condID>1123</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2231</taskID>
+    <condID>1131</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2232</taskID>
+    <condID>1132</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2233</taskID>
+    <condID>1133</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2234</taskID>
+    <condID>1134</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2235</taskID>
+    <condID>1135</condID>
+    <portID>transmit_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2236</taskID>
+    <condID>1136</condID>
+    <portID>transmit_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2237</taskID>
+    <condID>1137</condID>
+    <portID>send_command</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2241</taskID>
+    <condID>1141</condID>
+    <portID>NONE</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2242</taskID>
+    <condID>1142</condID>
+    <portID>NONE</portID>
+    <weight>1.0</weight>
+  </effectLink>
+
+</SANet:network>
\ No newline at end of file
diff --git a/SA_POP/SPACE_Goal2.san.xml b/SA_POP/SPACE_Goal2.san.xml
new file mode 100644
index 00000000000..e91b6e2df99
--- /dev/null
+++ b/SA_POP/SPACE_Goal2.san.xml
@@ -0,0 +1,357 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<SANet:network
+  xmlns:SANet="http://www.vanderbilt.edu/SANet"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://www.vanderbilt.edu/SANet SANet_Network.xsd"
+  xmlns="http://www.vanderbilt.edu/SANet">
+
+  <defaultAttenFactor />
+  <defaultTaskCost />
+  <defaultCondUtil />
+  <defaultCondProbTrue />
+  <linkThresh />
+
+
+  <taskNode>
+    <nodeID>2221</nodeID>
+    <name>Gizmo1</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2222</nodeID>
+    <name>Gizmo2</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2223</nodeID>
+    <name>Gizmo3</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2231</nodeID>
+    <name>Filter_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2232</nodeID>
+    <name>Filter_G2_G3</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2233</nodeID>
+    <name>Compression_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2234</nodeID>
+    <name>Compression_G2_G3</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2235</nodeID>
+    <name>Comm_Ex_G1</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2236</nodeID>
+    <name>Comm_Ex_G2_G3</name>
+    <priorProb>0.25</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2237</nodeID>
+    <name>Exec</name>
+    <priorProb>1.0</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2241</nodeID>
+    <name>Ground_G1</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+  <taskNode>
+    <nodeID>2242</nodeID>
+    <name>Ground_G2_G3</name>
+    <priorProb>0.5</priorProb>
+    <attenFactor />
+    <cost />
+  </taskNode>
+
+
+
+
+  <condNode>
+    <nodeID>1121</nodeID>
+    <name>Gizmo1_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1122</nodeID>
+    <name>Gizmo2_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1123</nodeID>
+    <name>Gizmo3_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1131</nodeID>
+    <name>G1_Filter_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1132</nodeID>
+    <name>G2_G3_Filter_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1133</nodeID>
+    <name>G1_Comp_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1134</nodeID>
+    <name>G2_G3_Comp_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1135</nodeID>
+    <name>G1_Comm_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1136</nodeID>
+    <name>G2_G3_Comm_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1137</nodeID>
+    <name>Exec_Data</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind>DATA</kind>
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1141</nodeID>
+    <name>G1_Data_Recvd</name>
+    <probTrue>0</probTrue>
+    <utility>0</utility>
+    <kind />
+    <attenFactor />
+  </condNode>
+  <condNode>
+    <nodeID>1142</nodeID>
+    <name>G2_G3_Data_Recvd</name>
+    <probTrue>0</probTrue>
+    <utility>10</utility>
+    <kind />
+    <attenFactor />
+  </condNode>
+
+
+
+
+  <precondLink>
+    <condID>1121</condID>
+    <taskID>2231</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1122</condID>
+    <taskID>2232</taskID>
+    <portID>recv_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1123</condID>
+    <taskID>2232</taskID>
+    <portID>recv_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1131</condID>
+    <taskID>2233</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1132</condID>
+    <taskID>2234</taskID>
+    <portID>recv_data</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1133</condID>
+    <taskID>2235</taskID>
+    <portID>science_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1134</condID>
+    <taskID>2236</taskID>
+    <portID>science_data</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1137</condID>
+    <taskID>2235</taskID>
+    <portID>recv_command</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1137</condID>
+    <taskID>2236</taskID>
+    <portID>recv_command</portID>
+    <trueProb>0.5</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1135</condID>
+    <taskID>2241</taskID>
+    <portID>recv_transmission</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+  <precondLink>
+    <condID>1136</condID>
+    <taskID>2242</taskID>
+    <portID>recv_transmission</portID>
+    <trueProb>1.0</trueProb>
+    <falseProb>0</falseProb>
+  </precondLink>
+
+
+
+
+  <effectLink>
+    <taskID>2221</taskID>
+    <condID>1121</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2222</taskID>
+    <condID>1122</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2223</taskID>
+    <condID>1123</condID>
+    <portID>observation_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2231</taskID>
+    <condID>1131</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2232</taskID>
+    <condID>1132</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2233</taskID>
+    <condID>1133</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2234</taskID>
+    <condID>1134</condID>
+    <portID>send_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2235</taskID>
+    <condID>1135</condID>
+    <portID>transmit_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2236</taskID>
+    <condID>1136</condID>
+    <portID>transmit_data</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2237</taskID>
+    <condID>1137</condID>
+    <portID>send_command</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2241</taskID>
+    <condID>1141</condID>
+    <portID>NONE</portID>
+    <weight>1.0</weight>
+  </effectLink>
+  <effectLink>
+    <taskID>2242</taskID>
+    <condID>1142</condID>
+    <portID>NONE</portID>
+    <weight>1.0</weight>
+  </effectLink>
+
+</SANet:network>
\ No newline at end of file
diff --git a/SA_POP/SchedStrategy.h b/SA_POP/SchedStrategy.h
new file mode 100644
index 00000000000..962be086889
--- /dev/null
+++ b/SA_POP/SchedStrategy.h
@@ -0,0 +1,66 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SchedStrategy.h
+ *
+ * This file contains the SchedStrategy abstract base class definition for
+ * the high-level scheduling algorithm.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_SCHED_STRATEGY_H_
+#define SA_POP_SCHED_STRATEGY_H_
+
+#include "SA_POP_Types.h"
+
+namespace SA_POP {
+
+  // Forward declaration of Planner.
+  class Planner;
+
+  /**
+   * @class SchedStrategy
+   *
+   * @brief  Abstract base class for the high-level scheduling algorithm.
+   */
+  class SchedStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    SchedStrategy (SA_POP::Planner *planner)
+      : planner_ (planner) { };
+
+    /// Destructor.
+    virtual ~SchedStrategy (void) { };
+
+    /// Recursively satisfy all scheduling constraints (and continue
+    /// satisfaction of open conditions by recursive call back to planning).
+    /**
+     * @param task_inst  Current task instance being tried in the plan.
+     *
+     * @return  True if fully satisfied plan found, false otherwise.
+     */
+    virtual bool satisfy_sched (TaskInstID task_inst) = 0;
+
+    /// Satisfy fully instantiated plan.
+    /**
+     * @param task_inst  Current task instance being tried in the plan.
+     *
+     * @return  True if fully satisfied plan found, false otherwise.
+     */
+    virtual bool satisfy_full_sched () = 0;
+
+  protected:
+    /// Pointer to Planner object.
+    SA_POP::Planner *planner_;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_SCHED_STRATEGY_H_ */
diff --git a/SA_POP/TaskImpl.cpp b/SA_POP/TaskImpl.cpp
new file mode 100644
index 00000000000..cdc72f878c2
--- /dev/null
+++ b/SA_POP/TaskImpl.cpp
@@ -0,0 +1,80 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  TaskImpl.cpp
+ *
+ * This file contains the TaskImpl class implementation for the encapsulation
+ * of a task implementation's details.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SA_POP_Types.h"
+#include "TaskImpl.h"
+
+using namespace SA_POP;
+
+// Constructor.
+TaskImpl::TaskImpl (TaskImplID id, const ImplParamSet &params)
+: id_ (id),
+  params_ (params),
+  duration_ (NULL_TIME)
+  
+{
+  this->resources_.clear ();
+};
+
+// Destructor.
+TaskImpl::~TaskImpl (void)
+{
+  // Nothing to do.
+};
+
+// Set duration.
+void TaskImpl::set_duration (TimeValue duration)
+{
+  this->duration_ = duration;
+};
+// Get duration.
+TimeValue TaskImpl::get_duration (void)
+{
+  return this->duration_;
+};
+
+// Add resource utilization.
+void TaskImpl::add_resource (ResourceID id, ResourceValue value)
+{
+  this->resources_.insert (std::make_pair (id, value));
+};
+
+// Get task implementation id.
+TaskImplID TaskImpl::get_id (void)
+{
+  return this->id_;
+};
+
+// Get task implementation parameters.
+ImplParamSet TaskImpl::get_params (void)
+{
+  return this->params_;
+};
+
+// Get utilization of a resource.
+ResourceValue TaskImpl::get_resource_usage (ResourceID resource_id)
+{
+  ResourceMap::iterator iter = this->resources_.find (resource_id);
+  if (iter == this->resources_.end ())
+    return 0;
+
+  return iter->second;
+};
+
+// Get all resources with utilization.
+const ResourceMap& TaskImpl::get_all_resources ()
+{
+  return this->resources_;
+};
+
diff --git a/SA_POP/TaskImpl.h b/SA_POP/TaskImpl.h
new file mode 100644
index 00000000000..aac61ef3d94
--- /dev/null
+++ b/SA_POP/TaskImpl.h
@@ -0,0 +1,101 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  TaskImpl.h
+ *
+ * This file contains the TaskImpl class definition for the encapsulation
+ * of a task implementation's details.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_TASK_IMPL_H_
+#define SA_POP_TASK_IMPL_H_
+
+#include "SA_POP_Types.h"
+
+namespace SA_POP {
+
+  /**
+   * @class TaskImpl
+   *
+   * @brief Encapsulation of a task implementation's details.
+   */
+  class TaskImpl {
+  public:
+    /// Constructor.
+    /**
+     * @param id  Unique ID of this task implementation.
+     *
+     * @param params  Implementation parameters (ID, kind, and value).
+     */
+    TaskImpl (TaskImplID id, const ImplParamSet &params);
+
+    /// Destructor.
+    virtual ~TaskImpl (void);
+
+    /// Set duration.
+    /**
+     * @param duration  Duration of implementation.
+     */
+    virtual void set_duration (TimeValue duration);
+    /// Get duration.
+    /**
+     * @return Duration of implementation.
+     */
+    virtual TimeValue get_duration (void);
+
+    /// Add resource utilization.
+    /**
+     * @param id  Resource id.
+     *
+     * @param value  Resource utilization value.
+     */
+    virtual void add_resource (ResourceID id, ResourceValue value);
+
+    /// Get task implementation id.
+    /**
+     * @return  Unique ID of this this task implementation.
+     */
+    virtual TaskImplID get_id (void);
+
+    /// Get task implementation parameters.
+    /**
+     * @return  Set of parameters for this implementation.
+     */
+    virtual ImplParamSet get_params (void);
+
+    /// Get utilization of a resource.
+    /**
+     * @param resource_id  The resource id.
+     *
+     * @return  The quantity of resource used.
+     */
+    virtual ResourceValue get_resource_usage (ResourceID resource_id);
+
+    /// Get all resources with utilization.
+    /**
+     * @return  The set of all resources used (with associated usage values).
+     */
+    virtual const ResourceMap& get_all_resources ();
+
+  protected:
+    /// Unique ID of the task implementation.
+    TaskImplID id_;
+
+    /// Set of parameters.
+    ImplParamSet params_;
+
+    /// Duration.
+    TimeValue duration_;
+
+    /// Map from resource IDs to resource utilization.
+    ResourceMap resources_;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_TASK_IMPL_H_ */
diff --git a/SA_POP/TaskMap.cpp b/SA_POP/TaskMap.cpp
new file mode 100644
index 00000000000..96bfde39989
--- /dev/null
+++ b/SA_POP/TaskMap.cpp
@@ -0,0 +1,122 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  TaskMap.cpp
+ *
+ * This file contains the TaskMap class implementation for objects that provide
+ * the mapping from tasks to parameterized components, resource capacities, and
+ * resource usage for parameterized components.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include <set>
+#include <map>
+#include "SA_POP_Types.h"
+#include "TaskMap.h"
+#include "TaskImpl.h"
+
+using namespace SA_POP;
+
+// Constructor.
+TaskMap::TaskMap (void)
+{
+  this->task_impls_.clear ();
+  this->task_to_impls_.clear ();
+  this->resources_.clear ();
+};
+
+// Destructor.
+TaskMap::~TaskMap (void)
+{
+  // Delete task implementations.
+  for (TaskMap::ImplIDObjMap::iterator iter = this->task_impls_.begin ();
+    iter != this->task_impls_.end (); iter++)
+  {
+    delete iter->second;
+  }
+};
+
+// Add a resource.
+void TaskMap::add_resource (Resource resource)
+{
+  this->resources_.insert (std::make_pair (resource.id, resource));
+};
+
+// Add an implementation.
+void TaskMap::add_task_impl (TaskImpl *task_impl)
+{
+  this->task_impls_.insert (std::make_pair (task_impl->get_id (), task_impl));
+};
+
+// Associate a task with a task implementation.
+void TaskMap::assoc_task_with_impl (TaskID task_id, TaskImplID task_impl_id,
+  TimeValue duration)
+{
+  this->task_to_impls_.insert (std::make_pair (task_id, task_impl_id));
+  ImplIDObjMap::iterator iter = this->task_impls_.find (task_impl_id);
+  if (iter == this->task_impls_.end ())
+    throw "SA_POP::TaskMap::assoc_task_with_impl (): Unknown implementation ID.";
+  iter->second->set_duration (duration);
+};
+
+// Associate a task implementation with its utilization of a resource.
+void TaskMap::assoc_impl_with_resource (TaskImplID impl_id,
+  ResourceID resource_id, ResourceValue resource_usage)
+{
+  ImplIDObjMap::iterator iter = this->task_impls_.find (impl_id);
+  if (iter == this->task_impls_.end ())
+    throw "SA_POP::TaskMap::assoc_impl_with_resource (): Unknown implementation ID.";
+  iter->second->add_resource (resource_id, resource_usage);
+};
+
+// Get all implementations of a task.
+TaskImplSet TaskMap::get_all_impls (TaskID task_id)
+{
+  TaskImplSet temp;
+  temp.clear ();
+  for (TaskMap::TaskToImplMap::iterator iter =
+    this->task_to_impls_.lower_bound (task_id);
+    iter != this->task_to_impls_.upper_bound (task_id); iter++)
+  {
+    temp.insert (iter->second);
+  }
+  return temp;
+};
+
+// Get task implementation.
+TaskImpl *TaskMap::get_impl (TaskImplID impl_id)
+{
+  ImplIDObjMap::iterator iter = this->task_impls_.find (impl_id);
+  if (iter == this->task_impls_.end ())
+    throw "SA_POP::TaskMap::get_impl (): Unknown implementation ID.";
+  return iter->second;
+};
+
+// Get utilization info of a task implementation for a resource.
+ResourceValue TaskMap::get_resource_usage (TaskImplID impl_id,
+  ResourceID resource_id)
+{
+  ImplIDObjMap::iterator iter = this->task_impls_.find (impl_id);
+  if (iter == this->task_impls_.end ())
+    throw "SA_POP::TaskMap::get_resource_usage (): Unknown implementation ID.";
+  return iter->second->get_resource_usage (resource_id);
+};
+
+// Get all resources used by a task implementation.
+ResourceMap TaskMap::get_all_resources (TaskImplID impl_id)
+{
+  ImplIDObjMap::iterator iter = this->task_impls_.find (impl_id);
+  if (iter == this->task_impls_.end ())
+    throw "SA_POP::TaskMap::get_all_resources (): Unknown implementation ID.";
+  return iter->second->get_all_resources ();
+};
+
+/// Get the capacity of a resource.
+ResourceValue TaskMap::get_capacity (ResourceID res_id)
+{
+  return this->resources_.find(res_id)->second.capacity;
+}
diff --git a/SA_POP/TaskMap.h b/SA_POP/TaskMap.h
new file mode 100644
index 00000000000..807f9759de3
--- /dev/null
+++ b/SA_POP/TaskMap.h
@@ -0,0 +1,147 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  TaskMap.h
+ *
+ * This file contains the TaskMap class definition for objects that provide
+ * the mapping from tasks to parameterized components, resource capacities, and
+ * resource usage for parameterized components.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_TASK_MAP_H_
+#define SA_POP_TASK_MAP_H_
+
+#include <set>
+#include <map>
+#include "SA_POP_Types.h"
+#include "TaskImpl.h"
+
+namespace SA_POP {
+
+
+  /**
+   * @class TaskMap
+   *
+   * @brief Object that provides the mapping from tasks to parameterized
+   *        components, resource capacities, and resource usage for
+   *        parameterized components.
+   */
+  class TaskMap {
+  public:
+    /// Constructor.
+    TaskMap (void);
+
+    /// Destructor.
+    virtual ~TaskMap (void);
+
+
+
+    // ************************************************************************
+    // TaskMap construction methods.
+    // ************************************************************************
+
+    /// Add a resource.
+    /**
+     * @param resource  The resource info.
+     */
+    virtual void add_resource (Resource resource);
+
+    /// Add an implementation.
+    /**
+     * @param task_impl  The task implementation info.
+     */
+    virtual void add_task_impl (TaskImpl *task_impl);
+
+    /// Associate a task with a task implementation.
+    /**
+     * @param task_id  ID of the task.
+     *
+     * @param task_impl_id  ID of the task implementation.
+     *
+     * @param duration  The duration of the task implementation for this task.
+     */
+    virtual void assoc_task_with_impl (TaskID task_id, TaskImplID task_impl_id,
+      TimeValue duration);
+
+    /// Associate a task implementation with its utilization of a resource.
+    /**
+     * @param impl_id  ID of the task implementation.
+     *
+     * @param resource_id  ID of the associated resource.
+     *
+     * @param resource_usage  The quantity of resource used.
+     */
+    virtual void assoc_impl_with_resource (TaskImplID impl_id,
+      ResourceID resource_id, ResourceValue resource_usage);
+
+
+
+    // ************************************************************************
+    // Implementation and resource accessor methods.
+    // ************************************************************************
+
+    /// Get all implementations of a task.
+    /**
+     * @param task_id  The task id.
+     *
+     * @return  The set of all implementations (ids) for the given task.
+     */
+    virtual TaskImplSet get_all_impls (TaskID task_id);
+
+    /// Get task implementation.
+    /**
+     * @param impl_id  The task implementation id.
+     *
+     * @return  Reference to the task implementation.
+     */
+    virtual TaskImpl *get_impl (TaskImplID impl_id);
+
+    /// Get utilization info of a task implementation for a resource.
+    /**
+     * @param impl_id  The task implementation id.
+     *
+     * @param resource_id  The resource id.
+     *
+     * @return  The quantity of resource used.
+     */
+    virtual ResourceValue get_resource_usage (TaskImplID impl_id,
+      ResourceID resource_id);
+
+    /// Get all resources used by a task implementation.
+    /**
+     * @param impl_id  The task implementation id.
+     *
+     * @return  The set of all resources used (with associated usage values).
+     */
+    virtual ResourceMap get_all_resources (TaskImplID impl_id);
+
+    /// Get the capacity of a resource.
+    /**
+     * @param res_id The resource id whose capacity that we want to get.
+     *
+     * @return The capacity of the resource
+     */
+    virtual ResourceValue get_capacity (ResourceID res_id);
+
+  protected:
+    /// Map from task implementation IDs to objects.
+    typedef std::map <TaskImplID, TaskImpl *> ImplIDObjMap;
+    ImplIDObjMap task_impls_;
+
+    /// Map from tasks to task implementations.
+    typedef std::multimap <TaskID, TaskImplID> TaskToImplMap;
+    TaskToImplMap task_to_impls_;
+
+    /// Set of resources and associated capacity.
+    Resources resources_;
+
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_TASK_MAP_H_ */
diff --git a/SA_POP/TaskMapFileIn.cpp b/SA_POP/TaskMapFileIn.cpp
new file mode 100644
index 00000000000..076dab26587
--- /dev/null
+++ b/SA_POP/TaskMapFileIn.cpp
@@ -0,0 +1,173 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  TaskMapFileIn.cpp
+ *
+ * This file contains the TaskMapFileIn class implementation for the input adapter
+ * that initializes a TaskMap object using an XML TaskMap file.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SA_POP_Types.h"
+#include "TaskMapFileIn.h"
+#include "Builder.h"
+#include "Utils/XML_Helper.h"
+#include "XML_TaskMap.hpp"
+
+using namespace SA_POP;
+
+// Constructor.
+TaskMapFileIn::TaskMapFileIn (void)
+{
+  // Nothing to do.
+};
+
+// Destructor.
+TaskMapFileIn::~TaskMapFileIn (void)
+{
+  // Nothing to do.
+};
+
+// Build task map from XML file.
+void TaskMapFileIn::build_task_map (std::string filename, Builder *builder)
+{
+  CIAO::Config_Handlers::XML_Helper helper;
+  if (!helper.is_initialized ())
+    throw "SA_POP::TaskMapFileIn::build_task_map (): Could not initialize XML_Helper";
+
+  // Parse file with Xerces.
+  XERCES_CPP_NAMESPACE::DOMDocument *dom =
+#if defined (SA_POP_HAS_CIAO)
+    helper.create_dom (filename.c_str ());
+#else
+    helper.create_dom (filename.c_str (), "");
+#endif  /* SA_POP_HAS_CIAO */
+  if (!dom)
+    throw "SA_POP::TaskMapFileIn::build_task_map (): Could not create Xerces DOMDocument from file";
+
+  SA_POP::XML::TaskMap xml_tm = SA_POP::XML::taskMap (dom);
+
+  // Get task implementations.
+  for (SA_POP::XML::TaskMap::taskImpl_iterator impl_iter =
+    xml_tm.begin_taskImpl ();
+    impl_iter != xml_tm.end_taskImpl (); impl_iter++)
+  {
+    // Get implementation ID.
+    char implID[SA_POP::TaskMapFileIn::STR_BUF_SIZE];
+    wcstombs (implID, (*impl_iter).implID ().c_str (),
+      SA_POP::TaskMapFileIn::STR_BUF_SIZE);
+
+    // Get implementation parameters.
+    ImplParamSet params;
+    params.clear ();
+    for (SA_POP::XML::TaskImpl::param_iterator param_iter =
+      (*impl_iter).begin_param ();
+      param_iter != (*impl_iter).end_param (); param_iter++)
+    {
+      // Get parameter ID.
+      char paramID[SA_POP::TaskMapFileIn::STR_BUF_SIZE];
+      wcstombs (paramID, (*param_iter).paramID ().c_str (),
+        SA_POP::TaskMapFileIn::STR_BUF_SIZE);
+
+      // Get parameter kind.
+      char kind[SA_POP::TaskMapFileIn::STR_BUF_SIZE];
+      wcstombs (kind, (*param_iter).kind ().c_str (),
+        SA_POP::TaskMapFileIn::STR_BUF_SIZE);
+
+      // Get parameter value.
+      char value[SA_POP::TaskMapFileIn::STR_BUF_SIZE];
+      wcstombs (value, (*param_iter).value ().c_str (),
+        SA_POP::TaskMapFileIn::STR_BUF_SIZE);
+
+      // Add parameter to implementation parameter set.
+      ImplParam param;
+      param.id = paramID;
+      param.kind = kind;
+      param.value = value;
+      params.insert (param);
+    }
+
+    // Add task implementation.
+    TaskImpl *impl = new TaskImpl (implID, params);
+    builder->add_task_impl (impl);
+  }
+
+  // Get resources.
+  for (SA_POP::XML::TaskMap::resource_iterator res_iter =
+    xml_tm.begin_resource ();
+    res_iter != xml_tm.end_resource (); res_iter++)
+  {
+    // Get resource ID.
+    char resourceID[SA_POP::TaskMapFileIn::STR_BUF_SIZE];
+    wcstombs (resourceID, (*res_iter).resourceID ().c_str (),
+      SA_POP::TaskMapFileIn::STR_BUF_SIZE);
+
+    // Get resource kind.
+    SA_POP::ResourceKind kind;
+    if ((*res_iter).kind () == SA_POP::XML::ResourceKind::DISCRETE)
+      kind = SA_POP::DISCRETE;
+    else if ((*res_iter).kind () == SA_POP::XML::ResourceKind::RESERVOIR)
+      kind = SA_POP::RESERVOIR;
+    else if ((*res_iter).kind () == SA_POP::XML::ResourceKind::UNARY)
+      kind = SA_POP::UNARY;
+    else
+      kind = SA_POP::DISCRETE;
+
+    // Get resource capacity.
+    ResourceValue capacity = (*res_iter).capacity ();
+
+    // Add resource.
+    Resource resource;
+    resource.id = resourceID;
+    resource.kind = kind;
+    resource.capacity = capacity;
+
+    builder->add_resource (resource);
+  }
+
+  // Get task to implementation associations.
+  for (SA_POP::XML::TaskMap::taskToImpl_iterator tassoci_iter =
+    xml_tm.begin_taskToImpl ();
+    tassoci_iter != xml_tm.end_taskToImpl (); tassoci_iter++)
+  {
+    // Get task ID.
+    TaskID taskID = (*tassoci_iter).taskID ();
+
+    // Get impl ID.
+    char implID[SA_POP::TaskMapFileIn::STR_BUF_SIZE];
+    wcstombs (implID, (*tassoci_iter).implID ().c_str (),
+      SA_POP::TaskMapFileIn::STR_BUF_SIZE);
+
+    // Get duration.
+    TimeValue duration = (*tassoci_iter).duration ();
+
+    // Add association.
+    builder->assoc_task_with_impl (taskID, implID, duration);
+  }
+
+  // Get task implementation to resource associations.
+  for (SA_POP::XML::TaskMap::implToResource_iterator iassocr_iter =
+    xml_tm.begin_implToResource ();
+    iassocr_iter != xml_tm.end_implToResource (); iassocr_iter++)
+  {
+    // Get impl ID.
+    char implID[SA_POP::TaskMapFileIn::STR_BUF_SIZE];
+    wcstombs (implID, (*iassocr_iter).implID ().c_str (),
+      SA_POP::TaskMapFileIn::STR_BUF_SIZE);
+
+    // Get resource ID.
+    char resourceID[SA_POP::TaskMapFileIn::STR_BUF_SIZE];
+    wcstombs (resourceID, (*iassocr_iter).resourceID ().c_str (),
+      SA_POP::TaskMapFileIn::STR_BUF_SIZE);
+
+    // Get duration.
+    ResourceValue utilization = (*iassocr_iter).utilization ();
+
+    // Add association.
+    builder->assoc_impl_with_resource (implID, resourceID, utilization);
+  }
+};
diff --git a/SA_POP/TaskMapFileIn.h b/SA_POP/TaskMapFileIn.h
new file mode 100644
index 00000000000..4b962f20955
--- /dev/null
+++ b/SA_POP/TaskMapFileIn.h
@@ -0,0 +1,52 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  TaskMapFileIn.h
+ *
+ * This file contains the TaskMapFileIn class definition for the input adapter
+ * that initializes a TaskMap object using an XML TaskMap file.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_TASK_MAP_FILE_IN_H_
+#define SA_POP_TASK_MAP_FILE_IN_H_
+
+#include "SA_POP_Types.h"
+#include "Builder.h"
+
+
+namespace SA_POP {
+
+  /**
+   * @class TaskMapFileIn
+   *
+   * @brief Input adapter that initializes a TaskMap object using an XML
+   *        TaskMap file.
+   */
+  class TaskMapFileIn {
+  public:
+    /// Constructor.
+    TaskMapFileIn (void);
+
+    /// Destructor.
+    virtual ~TaskMapFileIn (void);
+
+    /// Buffer size for string conversion.
+    static const size_t STR_BUF_SIZE = 129;
+
+    /// Build task map from XML file.
+    /**
+     * @param filename  Name of XML task map file.
+     *
+     * @param builder  SA-POP builder to use in building task map.
+     */
+    virtual void build_task_map (std::string filename, Builder *builder);
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_TASK_MAP_FILE_IN_H_ */
diff --git a/SA_POP/WorkingPlan.h b/SA_POP/WorkingPlan.h
new file mode 100644
index 00000000000..48fe05a0540
--- /dev/null
+++ b/SA_POP/WorkingPlan.h
@@ -0,0 +1,192 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  WorkingPlan.h
+ *
+ * This file contains the WorkingPlan abstract base class definition for the
+ * encapsulation of a plan (partial or complete).
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_WORKING_PLAN_H_
+#define SA_POP_WORKING_PLAN_H_
+
+#include "SA_POP_Types.h"
+#include "PlanCommands.h"
+
+namespace SA_POP {
+
+  // Forward declaration of Planner.
+  class Planner;
+
+  /**
+   * @class WorkingPlan
+   *
+   * @brief Abstract base class for the encapsulation of a plan (partial or
+   *        complete).
+   */
+  class WorkingPlan {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     */
+    WorkingPlan (SA_POP::Planner *planner)
+      : planner_ (planner) { };
+
+    /// Destructor.
+    virtual ~WorkingPlan (void) { };
+
+    /// Get current plan.
+    /**	
+     * @return  Reference to current plan.
+     */
+    virtual const Plan& get_plan (void) = 0;
+
+    /// Get set of task instances for a precedence relation to a task instance.
+    /**
+     * @param task_inst  Task instance for which to get precedence set.
+     *
+     * @param prec_rel  Precedence relation.
+     *
+     * @return  Set of task instances for given precedence relation to given
+     *          task instance.
+     */
+    virtual const TaskInstSet *get_prec_set (TaskInstID task_inst,
+      PrecedenceRelation prec_rel) = 0;
+
+    /// Get task id of a task instance.
+    /**
+     * @param inst_id  The task instance id.
+     *
+     * @return  The task id of this task instance.
+     */
+    virtual TaskID get_task_from_inst (TaskInstID inst_id) = 0;
+
+    /// Get task implementation id of a task instance.
+    /**
+     * @param inst_id  The task instance id.
+     *
+     * @return  The task implementation id of this task instance.
+     */
+	virtual TaskImplID get_task_impl_from_inst (TaskInstID inst_id) = 0;
+
+	/// Get all current causal link threats.
+    /**
+     * @return  Set of all current causal link threats.
+     */
+    virtual CLThreatSet get_all_threats (void) = 0;
+
+    //Get the Start Window for a task instance
+    /**
+     * @param task_inst The task instance of which the start window is returned
+     *
+     * @return The start window for the task instance
+     */
+    virtual TimeWindow get_start_window(TaskInstID task_inst) = 0;
+
+    //Get the End Window for a task instance
+    /**
+     * @param task_inst The task instance of which the end window is returned
+     *
+     * @return The end window for the task instance
+     */
+    virtual TimeWindow get_end_window(TaskInstID task_inst) = 0;
+
+    //Get the duration of a task instance
+    /**
+     * @param task_inst The task instance of which the duration is returned
+     *
+     * @return The duration of the task instance
+     */
+    virtual TimeValue get_duration(TaskInstID task_inst) = 0;
+
+     /// Get the Causal and Scheduling orderings to this task instance
+    /**
+     * @param inst_id The task instance to which all orderings are required
+     */
+  virtual TaskInstSet before_orderings (TaskInstID inst_id) = 0;
+
+    /// Get the Causal and Scheduling orderings from this task instance
+    /**
+     * @param inst_id The task instance from which all orderings are required
+     */
+  virtual TaskInstSet after_orderings (TaskInstID inst_id) = 0;
+
+	/// Get all the task instances
+	virtual TaskInstSet get_all_insts() = 0;
+    
+    /// Check if the instance id already exists and is being reused.
+    /**
+     * @param task_inst The task instance being checked
+     *
+     * @return  True If this task instance already exists.
+     */
+    virtual bool inst_exists (TaskInstID task_inst) = 0;
+
+    /// Get task implementation for a task instance.
+    /**
+     * @param task_inst  The task instance.
+     *
+     * @return The task implementation id.
+     */
+    virtual TaskImplID get_impl_id (TaskInstID task_inst) = 0;
+
+    // ************************************************************************
+    // Methods for obtaining prototypes of commands that work on this object.
+    // ************************************************************************
+
+    /// Get a PlanCommand prototype for adding a task to the plan.
+    /**
+     * @return  An AddTaskCmd prototype for this WorkingPlan.
+     */
+    virtual AddTaskCmd *get_AddTaskCmd (void) = 0;
+
+    /// Get a PlanCommand prototype for associating an implementation with a
+    /// task instance in the plan.
+    /**
+     * @return  An AssocTaskImplCmd prototype for this WorkingPlan.
+     */
+    virtual AssocTaskImplCmd *get_AssocTaskImplCmd (void) = 0;
+
+    /// Get a PlanCommand prototype for resolving a causal link threat in the
+    /// plan (with promotion or demotion).
+    /**
+     * @return  An ResolveCLThreatCmd prototype for this WorkingPlan.
+     */
+    virtual ResolveCLThreatCmd *get_ResolveCLThreatCmd (void) = 0;
+
+    /// Get a PlanCommand prototype for resolving a scheduling (i.e.
+    /// non-causal-link ordering constraint (with promotion or demotion)
+    /// between two task instances in the plan.
+    /**
+     * @return  An ResolveSchedOrderCmd prototype for this WorkingPlan.
+     */
+    virtual ResolveSchedOrderCmd *get_ResolveSchedOrderCmd (void) = 0;
+
+    /// Get a PlanCommand prototype for adjusting the minimum times of a
+    /// task instance in the plan.
+    /**
+     * @return  An AdjustStartWindowCmd prototype for this WorkingPlan.
+     */
+    virtual AdjustMinTimesCmd *get_AdjustMinTimesCmd (void) = 0;
+
+    /// Get a PlanCommand prototype for adjusting the max times of a
+    /// task instance in the plan.
+    /**
+     * @return  An AdjustEndWindowCmd prototype for this WorkingPlan.
+     */
+    virtual AdjustMaxTimesCmd *get_AdjustMaxTimesCmd (void) = 0;
+
+  protected:
+    /// Pointer to Planner object.
+    SA_POP::Planner *planner_;
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_WORKING_PLAN_H_ */
diff --git a/SA_POP/XML_TaskMap.cpp b/SA_POP/XML_TaskMap.cpp
new file mode 100644
index 00000000000..a8e00344203
--- /dev/null
+++ b/SA_POP/XML_TaskMap.cpp
@@ -0,0 +1,3259 @@
+#include "XML_TaskMap.hpp"
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    // TaskID
+    // 
+
+    TaskID::
+    TaskID (::XMLSchema::int_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    TaskID::
+    TaskID (::SA_POP::XML::TaskID const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SA_POP::XML::TaskID& TaskID::
+    operator= (::SA_POP::XML::TaskID const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // TaskImplID
+    // 
+
+    TaskImplID::
+    TaskImplID (::XMLSchema::string< wchar_t > const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    TaskImplID::
+    TaskImplID (::SA_POP::XML::TaskImplID const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SA_POP::XML::TaskImplID& TaskImplID::
+    operator= (::SA_POP::XML::TaskImplID const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // ResourceID
+    // 
+
+    ResourceID::
+    ResourceID (::XMLSchema::string< wchar_t > const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    ResourceID::
+    ResourceID (::SA_POP::XML::ResourceID const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SA_POP::XML::ResourceID& ResourceID::
+    operator= (::SA_POP::XML::ResourceID const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // ResourceKind
+    // 
+
+    ResourceKind::Value ResourceKind::
+    integral () const
+    {
+      return v_;
+    }
+
+    bool
+    operator== (::SA_POP::XML::ResourceKind const& a, ::SA_POP::XML::ResourceKind const& b)
+    {
+      return a.v_ == b.v_;
+    }
+
+    bool
+    operator!= (::SA_POP::XML::ResourceKind const& a, ::SA_POP::XML::ResourceKind const& b)
+    {
+      return a.v_ != b.v_;
+    }
+
+    ResourceKind::
+    ResourceKind (ResourceKind::Value v)
+    : v_ (v)
+    {
+    }
+
+    // ResourceValue
+    // 
+
+    ResourceValue::
+    ResourceValue (::XMLSchema::int_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    ResourceValue::
+    ResourceValue (::SA_POP::XML::ResourceValue const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SA_POP::XML::ResourceValue& ResourceValue::
+    operator= (::SA_POP::XML::ResourceValue const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // ImplParamID
+    // 
+
+    ImplParamID::
+    ImplParamID (::XMLSchema::string< wchar_t > const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    ImplParamID::
+    ImplParamID (::SA_POP::XML::ImplParamID const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SA_POP::XML::ImplParamID& ImplParamID::
+    operator= (::SA_POP::XML::ImplParamID const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // ImplParamKind
+    // 
+
+    ImplParamKind::
+    ImplParamKind (::XMLSchema::string< wchar_t > const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    ImplParamKind::
+    ImplParamKind (::SA_POP::XML::ImplParamKind const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SA_POP::XML::ImplParamKind& ImplParamKind::
+    operator= (::SA_POP::XML::ImplParamKind const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // ImplParamValue
+    // 
+
+    ImplParamValue::
+    ImplParamValue (::XMLSchema::string< wchar_t > const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    ImplParamValue::
+    ImplParamValue (::SA_POP::XML::ImplParamValue const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SA_POP::XML::ImplParamValue& ImplParamValue::
+    operator= (::SA_POP::XML::ImplParamValue const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // TimeValue
+    // 
+
+    TimeValue::
+    TimeValue (::XMLSchema::int_ const& b__)
+    : 
+    Base__ (b__),
+    regulator__ ()
+    {
+    }
+
+    TimeValue::
+    TimeValue (::SA_POP::XML::TimeValue const& s)
+    :
+    Base__ (s),
+    regulator__ ()
+    {
+    }
+
+    ::SA_POP::XML::TimeValue& TimeValue::
+    operator= (::SA_POP::XML::TimeValue const& s)
+    {
+      static_cast< Base__& > (*this) = static_cast< Base__ const& > (s);
+
+      return *this;
+    }
+
+
+
+    // Resource
+    // 
+
+    Resource::
+    Resource (::SA_POP::XML::ResourceID const& resourceID__,
+              ::SA_POP::XML::ResourceKind const& kind__,
+              ::SA_POP::XML::ResourceValue const& capacity__)
+    : 
+    ::XSCRT::Type (), 
+    resourceID_ (new ::SA_POP::XML::ResourceID (resourceID__)),
+    kind_ (new ::SA_POP::XML::ResourceKind (kind__)),
+    capacity_ (new ::SA_POP::XML::ResourceValue (capacity__)),
+    regulator__ ()
+    {
+      resourceID_->container (this);
+      kind_->container (this);
+      capacity_->container (this);
+    }
+
+    Resource::
+    Resource (::SA_POP::XML::Resource const& s)
+    :
+    ::XSCRT::Type (),
+    resourceID_ (new ::SA_POP::XML::ResourceID (*s.resourceID_)),
+    kind_ (new ::SA_POP::XML::ResourceKind (*s.kind_)),
+    capacity_ (new ::SA_POP::XML::ResourceValue (*s.capacity_)),
+    regulator__ ()
+    {
+      resourceID_->container (this);
+      kind_->container (this);
+      capacity_->container (this);
+    }
+
+    ::SA_POP::XML::Resource& Resource::
+    operator= (::SA_POP::XML::Resource const& s)
+    {
+      resourceID (s.resourceID ());
+
+      kind (s.kind ());
+
+      capacity (s.capacity ());
+
+      return *this;
+    }
+
+
+    // Resource
+    // 
+    ::SA_POP::XML::ResourceID const& Resource::
+    resourceID () const
+    {
+      return *resourceID_;
+    }
+
+    void Resource::
+    resourceID (::SA_POP::XML::ResourceID const& e)
+    {
+      *resourceID_ = e;
+    }
+
+    // Resource
+    // 
+    ::SA_POP::XML::ResourceKind const& Resource::
+    kind () const
+    {
+      return *kind_;
+    }
+
+    void Resource::
+    kind (::SA_POP::XML::ResourceKind const& e)
+    {
+      *kind_ = e;
+    }
+
+    // Resource
+    // 
+    ::SA_POP::XML::ResourceValue const& Resource::
+    capacity () const
+    {
+      return *capacity_;
+    }
+
+    void Resource::
+    capacity (::SA_POP::XML::ResourceValue const& e)
+    {
+      *capacity_ = e;
+    }
+
+
+    // ImplParam
+    // 
+
+    ImplParam::
+    ImplParam (::SA_POP::XML::ImplParamID const& paramID__,
+               ::SA_POP::XML::ImplParamKind const& kind__,
+               ::SA_POP::XML::ImplParamValue const& value__)
+    : 
+    ::XSCRT::Type (), 
+    paramID_ (new ::SA_POP::XML::ImplParamID (paramID__)),
+    kind_ (new ::SA_POP::XML::ImplParamKind (kind__)),
+    value_ (new ::SA_POP::XML::ImplParamValue (value__)),
+    regulator__ ()
+    {
+      paramID_->container (this);
+      kind_->container (this);
+      value_->container (this);
+    }
+
+    ImplParam::
+    ImplParam (::SA_POP::XML::ImplParam const& s)
+    :
+    ::XSCRT::Type (),
+    paramID_ (new ::SA_POP::XML::ImplParamID (*s.paramID_)),
+    kind_ (new ::SA_POP::XML::ImplParamKind (*s.kind_)),
+    value_ (new ::SA_POP::XML::ImplParamValue (*s.value_)),
+    regulator__ ()
+    {
+      paramID_->container (this);
+      kind_->container (this);
+      value_->container (this);
+    }
+
+    ::SA_POP::XML::ImplParam& ImplParam::
+    operator= (::SA_POP::XML::ImplParam const& s)
+    {
+      paramID (s.paramID ());
+
+      kind (s.kind ());
+
+      value (s.value ());
+
+      return *this;
+    }
+
+
+    // ImplParam
+    // 
+    ::SA_POP::XML::ImplParamID const& ImplParam::
+    paramID () const
+    {
+      return *paramID_;
+    }
+
+    void ImplParam::
+    paramID (::SA_POP::XML::ImplParamID const& e)
+    {
+      *paramID_ = e;
+    }
+
+    // ImplParam
+    // 
+    ::SA_POP::XML::ImplParamKind const& ImplParam::
+    kind () const
+    {
+      return *kind_;
+    }
+
+    void ImplParam::
+    kind (::SA_POP::XML::ImplParamKind const& e)
+    {
+      *kind_ = e;
+    }
+
+    // ImplParam
+    // 
+    ::SA_POP::XML::ImplParamValue const& ImplParam::
+    value () const
+    {
+      return *value_;
+    }
+
+    void ImplParam::
+    value (::SA_POP::XML::ImplParamValue const& e)
+    {
+      *value_ = e;
+    }
+
+
+    // TaskImpl
+    // 
+
+    TaskImpl::
+    TaskImpl (::SA_POP::XML::TaskImplID const& implID__)
+    : 
+    ::XSCRT::Type (), 
+    implID_ (new ::SA_POP::XML::TaskImplID (implID__)),
+    regulator__ ()
+    {
+      implID_->container (this);
+    }
+
+    TaskImpl::
+    TaskImpl (::SA_POP::XML::TaskImpl const& s)
+    :
+    ::XSCRT::Type (),
+    implID_ (new ::SA_POP::XML::TaskImplID (*s.implID_)),
+    regulator__ ()
+    {
+      implID_->container (this);
+      {
+        for (param_const_iterator i (s.param_.begin ());i != s.param_.end ();++i) add_param (*i);
+      }
+    }
+
+    ::SA_POP::XML::TaskImpl& TaskImpl::
+    operator= (::SA_POP::XML::TaskImpl const& s)
+    {
+      implID (s.implID ());
+
+      param_.clear ();
+      {
+        for (param_const_iterator i (s.param_.begin ());i != s.param_.end ();++i) add_param (*i);
+      }
+
+      return *this;
+    }
+
+
+    // TaskImpl
+    // 
+    ::SA_POP::XML::TaskImplID const& TaskImpl::
+    implID () const
+    {
+      return *implID_;
+    }
+
+    void TaskImpl::
+    implID (::SA_POP::XML::TaskImplID const& e)
+    {
+      *implID_ = e;
+    }
+
+    // TaskImpl
+    // 
+    TaskImpl::param_iterator TaskImpl::
+    begin_param ()
+    {
+      return param_.begin ();
+    }
+
+    TaskImpl::param_iterator TaskImpl::
+    end_param ()
+    {
+      return param_.end ();
+    }
+
+    TaskImpl::param_const_iterator TaskImpl::
+    begin_param () const
+    {
+      return param_.begin ();
+    }
+
+    TaskImpl::param_const_iterator TaskImpl::
+    end_param () const
+    {
+      return param_.end ();
+    }
+
+    void TaskImpl::
+    add_param (::SA_POP::XML::ImplParam const& e)
+    {
+      param_.push_back (e);
+    }
+
+    size_t TaskImpl::
+    count_param(void) const
+    {
+      return param_.size ();
+    }
+
+
+    // TaskToImpl
+    // 
+
+    TaskToImpl::
+    TaskToImpl (::SA_POP::XML::TaskID const& taskID__,
+                ::SA_POP::XML::TaskImplID const& implID__,
+                ::SA_POP::XML::TimeValue const& duration__)
+    : 
+    ::XSCRT::Type (), 
+    taskID_ (new ::SA_POP::XML::TaskID (taskID__)),
+    implID_ (new ::SA_POP::XML::TaskImplID (implID__)),
+    duration_ (new ::SA_POP::XML::TimeValue (duration__)),
+    regulator__ ()
+    {
+      taskID_->container (this);
+      implID_->container (this);
+      duration_->container (this);
+    }
+
+    TaskToImpl::
+    TaskToImpl (::SA_POP::XML::TaskToImpl const& s)
+    :
+    ::XSCRT::Type (),
+    taskID_ (new ::SA_POP::XML::TaskID (*s.taskID_)),
+    implID_ (new ::SA_POP::XML::TaskImplID (*s.implID_)),
+    duration_ (new ::SA_POP::XML::TimeValue (*s.duration_)),
+    regulator__ ()
+    {
+      taskID_->container (this);
+      implID_->container (this);
+      duration_->container (this);
+    }
+
+    ::SA_POP::XML::TaskToImpl& TaskToImpl::
+    operator= (::SA_POP::XML::TaskToImpl const& s)
+    {
+      taskID (s.taskID ());
+
+      implID (s.implID ());
+
+      duration (s.duration ());
+
+      return *this;
+    }
+
+
+    // TaskToImpl
+    // 
+    ::SA_POP::XML::TaskID const& TaskToImpl::
+    taskID () const
+    {
+      return *taskID_;
+    }
+
+    void TaskToImpl::
+    taskID (::SA_POP::XML::TaskID const& e)
+    {
+      *taskID_ = e;
+    }
+
+    // TaskToImpl
+    // 
+    ::SA_POP::XML::TaskImplID const& TaskToImpl::
+    implID () const
+    {
+      return *implID_;
+    }
+
+    void TaskToImpl::
+    implID (::SA_POP::XML::TaskImplID const& e)
+    {
+      *implID_ = e;
+    }
+
+    // TaskToImpl
+    // 
+    ::SA_POP::XML::TimeValue const& TaskToImpl::
+    duration () const
+    {
+      return *duration_;
+    }
+
+    void TaskToImpl::
+    duration (::SA_POP::XML::TimeValue const& e)
+    {
+      *duration_ = e;
+    }
+
+
+    // ImplToResource
+    // 
+
+    ImplToResource::
+    ImplToResource (::SA_POP::XML::TaskImplID const& implID__,
+                    ::SA_POP::XML::ResourceID const& resourceID__,
+                    ::SA_POP::XML::ResourceValue const& utilization__)
+    : 
+    ::XSCRT::Type (), 
+    implID_ (new ::SA_POP::XML::TaskImplID (implID__)),
+    resourceID_ (new ::SA_POP::XML::ResourceID (resourceID__)),
+    utilization_ (new ::SA_POP::XML::ResourceValue (utilization__)),
+    regulator__ ()
+    {
+      implID_->container (this);
+      resourceID_->container (this);
+      utilization_->container (this);
+    }
+
+    ImplToResource::
+    ImplToResource (::SA_POP::XML::ImplToResource const& s)
+    :
+    ::XSCRT::Type (),
+    implID_ (new ::SA_POP::XML::TaskImplID (*s.implID_)),
+    resourceID_ (new ::SA_POP::XML::ResourceID (*s.resourceID_)),
+    utilization_ (new ::SA_POP::XML::ResourceValue (*s.utilization_)),
+    regulator__ ()
+    {
+      implID_->container (this);
+      resourceID_->container (this);
+      utilization_->container (this);
+    }
+
+    ::SA_POP::XML::ImplToResource& ImplToResource::
+    operator= (::SA_POP::XML::ImplToResource const& s)
+    {
+      implID (s.implID ());
+
+      resourceID (s.resourceID ());
+
+      utilization (s.utilization ());
+
+      return *this;
+    }
+
+
+    // ImplToResource
+    // 
+    ::SA_POP::XML::TaskImplID const& ImplToResource::
+    implID () const
+    {
+      return *implID_;
+    }
+
+    void ImplToResource::
+    implID (::SA_POP::XML::TaskImplID const& e)
+    {
+      *implID_ = e;
+    }
+
+    // ImplToResource
+    // 
+    ::SA_POP::XML::ResourceID const& ImplToResource::
+    resourceID () const
+    {
+      return *resourceID_;
+    }
+
+    void ImplToResource::
+    resourceID (::SA_POP::XML::ResourceID const& e)
+    {
+      *resourceID_ = e;
+    }
+
+    // ImplToResource
+    // 
+    ::SA_POP::XML::ResourceValue const& ImplToResource::
+    utilization () const
+    {
+      return *utilization_;
+    }
+
+    void ImplToResource::
+    utilization (::SA_POP::XML::ResourceValue const& e)
+    {
+      *utilization_ = e;
+    }
+
+
+    // TaskMap
+    // 
+
+    TaskMap::
+    TaskMap ()
+    : 
+    ::XSCRT::Type (), 
+    regulator__ ()
+    {
+    }
+
+    TaskMap::
+    TaskMap (::SA_POP::XML::TaskMap const& s)
+    :
+    ::XSCRT::Type (),
+    regulator__ ()
+    {
+      {
+        for (taskImpl_const_iterator i (s.taskImpl_.begin ());i != s.taskImpl_.end ();++i) add_taskImpl (*i);
+      }
+
+      {
+        for (resource_const_iterator i (s.resource_.begin ());i != s.resource_.end ();++i) add_resource (*i);
+      }
+
+      {
+        for (taskToImpl_const_iterator i (s.taskToImpl_.begin ());i != s.taskToImpl_.end ();++i) add_taskToImpl (*i);
+      }
+
+      {
+        for (implToResource_const_iterator i (s.implToResource_.begin ());i != s.implToResource_.end ();++i) add_implToResource (*i);
+      }
+    }
+
+    ::SA_POP::XML::TaskMap& TaskMap::
+    operator= (::SA_POP::XML::TaskMap const& s)
+    {
+      taskImpl_.clear ();
+      {
+        for (taskImpl_const_iterator i (s.taskImpl_.begin ());i != s.taskImpl_.end ();++i) add_taskImpl (*i);
+      }
+
+      resource_.clear ();
+      {
+        for (resource_const_iterator i (s.resource_.begin ());i != s.resource_.end ();++i) add_resource (*i);
+      }
+
+      taskToImpl_.clear ();
+      {
+        for (taskToImpl_const_iterator i (s.taskToImpl_.begin ());i != s.taskToImpl_.end ();++i) add_taskToImpl (*i);
+      }
+
+      implToResource_.clear ();
+      {
+        for (implToResource_const_iterator i (s.implToResource_.begin ());i != s.implToResource_.end ();++i) add_implToResource (*i);
+      }
+
+      return *this;
+    }
+
+
+    // TaskMap
+    // 
+    TaskMap::taskImpl_iterator TaskMap::
+    begin_taskImpl ()
+    {
+      return taskImpl_.begin ();
+    }
+
+    TaskMap::taskImpl_iterator TaskMap::
+    end_taskImpl ()
+    {
+      return taskImpl_.end ();
+    }
+
+    TaskMap::taskImpl_const_iterator TaskMap::
+    begin_taskImpl () const
+    {
+      return taskImpl_.begin ();
+    }
+
+    TaskMap::taskImpl_const_iterator TaskMap::
+    end_taskImpl () const
+    {
+      return taskImpl_.end ();
+    }
+
+    void TaskMap::
+    add_taskImpl (::SA_POP::XML::TaskImpl const& e)
+    {
+      taskImpl_.push_back (e);
+    }
+
+    size_t TaskMap::
+    count_taskImpl(void) const
+    {
+      return taskImpl_.size ();
+    }
+
+    // TaskMap
+    // 
+    TaskMap::resource_iterator TaskMap::
+    begin_resource ()
+    {
+      return resource_.begin ();
+    }
+
+    TaskMap::resource_iterator TaskMap::
+    end_resource ()
+    {
+      return resource_.end ();
+    }
+
+    TaskMap::resource_const_iterator TaskMap::
+    begin_resource () const
+    {
+      return resource_.begin ();
+    }
+
+    TaskMap::resource_const_iterator TaskMap::
+    end_resource () const
+    {
+      return resource_.end ();
+    }
+
+    void TaskMap::
+    add_resource (::SA_POP::XML::Resource const& e)
+    {
+      resource_.push_back (e);
+    }
+
+    size_t TaskMap::
+    count_resource(void) const
+    {
+      return resource_.size ();
+    }
+
+    // TaskMap
+    // 
+    TaskMap::taskToImpl_iterator TaskMap::
+    begin_taskToImpl ()
+    {
+      return taskToImpl_.begin ();
+    }
+
+    TaskMap::taskToImpl_iterator TaskMap::
+    end_taskToImpl ()
+    {
+      return taskToImpl_.end ();
+    }
+
+    TaskMap::taskToImpl_const_iterator TaskMap::
+    begin_taskToImpl () const
+    {
+      return taskToImpl_.begin ();
+    }
+
+    TaskMap::taskToImpl_const_iterator TaskMap::
+    end_taskToImpl () const
+    {
+      return taskToImpl_.end ();
+    }
+
+    void TaskMap::
+    add_taskToImpl (::SA_POP::XML::TaskToImpl const& e)
+    {
+      taskToImpl_.push_back (e);
+    }
+
+    size_t TaskMap::
+    count_taskToImpl(void) const
+    {
+      return taskToImpl_.size ();
+    }
+
+    // TaskMap
+    // 
+    TaskMap::implToResource_iterator TaskMap::
+    begin_implToResource ()
+    {
+      return implToResource_.begin ();
+    }
+
+    TaskMap::implToResource_iterator TaskMap::
+    end_implToResource ()
+    {
+      return implToResource_.end ();
+    }
+
+    TaskMap::implToResource_const_iterator TaskMap::
+    begin_implToResource () const
+    {
+      return implToResource_.begin ();
+    }
+
+    TaskMap::implToResource_const_iterator TaskMap::
+    end_implToResource () const
+    {
+      return implToResource_.end ();
+    }
+
+    void TaskMap::
+    add_implToResource (::SA_POP::XML::ImplToResource const& e)
+    {
+      implToResource_.push_back (e);
+    }
+
+    size_t TaskMap::
+    count_implToResource(void) const
+    {
+      return implToResource_.size ();
+    }
+  }
+}
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    // TaskID
+    //
+
+    TaskID::
+    TaskID (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    TaskID::
+    TaskID (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // TaskImplID
+    //
+
+    TaskImplID::
+    TaskImplID (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    TaskImplID::
+    TaskImplID (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // ResourceID
+    //
+
+    ResourceID::
+    ResourceID (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    ResourceID::
+    ResourceID (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // ResourceKind
+    //
+
+    ResourceKind::
+    ResourceKind (::XSCRT::XML::Element< wchar_t > const& e)
+    : ::XSCRT::Type (e)
+    {
+      ::std::basic_string< wchar_t > v (e.value ());
+
+      if (v == L"UNARY") v_ = UNARY_l;
+      else if (v == L"DISCRETE") v_ = DISCRETE_l;
+      else if (v == L"RESERVOIR") v_ = RESERVOIR_l;
+      else 
+      {
+      }
+    }
+
+    ResourceKind::
+    ResourceKind (::XSCRT::XML::Attribute< wchar_t > const& a)
+    : ::XSCRT::Type (a)
+    {
+      ::std::basic_string< wchar_t > v (a.value ());
+
+      if (v == L"UNARY") v_ = UNARY_l;
+      else if (v == L"DISCRETE") v_ = DISCRETE_l;
+      else if (v == L"RESERVOIR") v_ = RESERVOIR_l;
+      else 
+      {
+      }
+    }
+
+    ResourceKind const ResourceKind::UNARY (ResourceKind::UNARY_l);
+    ResourceKind const ResourceKind::DISCRETE (ResourceKind::DISCRETE_l);
+    ResourceKind const ResourceKind::RESERVOIR (ResourceKind::RESERVOIR_l);
+
+    // ResourceValue
+    //
+
+    ResourceValue::
+    ResourceValue (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    ResourceValue::
+    ResourceValue (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // ImplParamID
+    //
+
+    ImplParamID::
+    ImplParamID (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    ImplParamID::
+    ImplParamID (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // ImplParamKind
+    //
+
+    ImplParamKind::
+    ImplParamKind (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    ImplParamKind::
+    ImplParamKind (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // ImplParamValue
+    //
+
+    ImplParamValue::
+    ImplParamValue (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    ImplParamValue::
+    ImplParamValue (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // TimeValue
+    //
+
+    TimeValue::
+    TimeValue (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+    }
+
+    TimeValue::
+    TimeValue (::XSCRT::XML::Attribute< wchar_t > const& a)
+    :
+    Base__ (a),
+    regulator__ ()
+    {
+    }
+
+    // Resource
+    //
+
+    Resource::
+    Resource (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"resourceID")
+        {
+          resourceID_ = ::std::auto_ptr< ::SA_POP::XML::ResourceID > (new ::SA_POP::XML::ResourceID (e));
+          resourceID_->container (this);
+        }
+
+        else if (n == L"kind")
+        {
+          kind_ = ::std::auto_ptr< ::SA_POP::XML::ResourceKind > (new ::SA_POP::XML::ResourceKind (e));
+          kind_->container (this);
+        }
+
+        else if (n == L"capacity")
+        {
+          capacity_ = ::std::auto_ptr< ::SA_POP::XML::ResourceValue > (new ::SA_POP::XML::ResourceValue (e));
+          capacity_->container (this);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // ImplParam
+    //
+
+    ImplParam::
+    ImplParam (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"paramID")
+        {
+          paramID_ = ::std::auto_ptr< ::SA_POP::XML::ImplParamID > (new ::SA_POP::XML::ImplParamID (e));
+          paramID_->container (this);
+        }
+
+        else if (n == L"kind")
+        {
+          kind_ = ::std::auto_ptr< ::SA_POP::XML::ImplParamKind > (new ::SA_POP::XML::ImplParamKind (e));
+          kind_->container (this);
+        }
+
+        else if (n == L"value")
+        {
+          value_ = ::std::auto_ptr< ::SA_POP::XML::ImplParamValue > (new ::SA_POP::XML::ImplParamValue (e));
+          value_->container (this);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // TaskImpl
+    //
+
+    TaskImpl::
+    TaskImpl (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"implID")
+        {
+          implID_ = ::std::auto_ptr< ::SA_POP::XML::TaskImplID > (new ::SA_POP::XML::TaskImplID (e));
+          implID_->container (this);
+        }
+
+        else if (n == L"param")
+        {
+          ::SA_POP::XML::ImplParam t (e);
+          add_param (t);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // TaskToImpl
+    //
+
+    TaskToImpl::
+    TaskToImpl (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"taskID")
+        {
+          taskID_ = ::std::auto_ptr< ::SA_POP::XML::TaskID > (new ::SA_POP::XML::TaskID (e));
+          taskID_->container (this);
+        }
+
+        else if (n == L"implID")
+        {
+          implID_ = ::std::auto_ptr< ::SA_POP::XML::TaskImplID > (new ::SA_POP::XML::TaskImplID (e));
+          implID_->container (this);
+        }
+
+        else if (n == L"duration")
+        {
+          duration_ = ::std::auto_ptr< ::SA_POP::XML::TimeValue > (new ::SA_POP::XML::TimeValue (e));
+          duration_->container (this);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // ImplToResource
+    //
+
+    ImplToResource::
+    ImplToResource (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"implID")
+        {
+          implID_ = ::std::auto_ptr< ::SA_POP::XML::TaskImplID > (new ::SA_POP::XML::TaskImplID (e));
+          implID_->container (this);
+        }
+
+        else if (n == L"resourceID")
+        {
+          resourceID_ = ::std::auto_ptr< ::SA_POP::XML::ResourceID > (new ::SA_POP::XML::ResourceID (e));
+          resourceID_->container (this);
+        }
+
+        else if (n == L"utilization")
+        {
+          utilization_ = ::std::auto_ptr< ::SA_POP::XML::ResourceValue > (new ::SA_POP::XML::ResourceValue (e));
+          utilization_->container (this);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+
+    // TaskMap
+    //
+
+    TaskMap::
+    TaskMap (::XSCRT::XML::Element< wchar_t > const& e)
+    :Base__ (e), regulator__ ()
+    {
+
+      ::XSCRT::Parser< wchar_t > p (e);
+
+      while (p.more_elements ())
+      {
+        ::XSCRT::XML::Element< wchar_t > e (p.next_element ());
+        ::std::basic_string< wchar_t > n (::XSCRT::XML::uq_name (e.name ()));
+
+        if (n == L"taskImpl")
+        {
+          ::SA_POP::XML::TaskImpl t (e);
+          add_taskImpl (t);
+        }
+
+        else if (n == L"resource")
+        {
+          ::SA_POP::XML::Resource t (e);
+          add_resource (t);
+        }
+
+        else if (n == L"taskToImpl")
+        {
+          ::SA_POP::XML::TaskToImpl t (e);
+          add_taskToImpl (t);
+        }
+
+        else if (n == L"implToResource")
+        {
+          ::SA_POP::XML::ImplToResource t (e);
+          add_implToResource (t);
+        }
+
+        else 
+        {
+        }
+      }
+    }
+  }
+}
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    ::SA_POP::XML::TaskMap
+    taskMap (xercesc::DOMDocument const* d)
+    {
+      ::XSCRT::XML::Element< wchar_t > e (d->getDocumentElement ());
+      if (e.name () == L"taskMap")
+      {
+        ::SA_POP::XML::TaskMap r (e);
+        return r;
+      }
+
+      else
+      {
+        throw 1;
+      }
+    }
+  }
+}
+
+#include "XMLSchema/TypeInfo.hpp"
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    namespace
+    {
+      ::XMLSchema::TypeInfoInitializer < wchar_t > XMLSchemaTypeInfoInitializer_ (::XSCRT::extended_type_info_map ());
+
+      struct TaskIDTypeInfoInitializer
+      {
+        TaskIDTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (TaskID));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::int_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      TaskIDTypeInfoInitializer TaskIDTypeInfoInitializer_;
+
+      struct TaskImplIDTypeInfoInitializer
+      {
+        TaskImplIDTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (TaskImplID));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::string< wchar_t >));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      TaskImplIDTypeInfoInitializer TaskImplIDTypeInfoInitializer_;
+
+      struct ResourceIDTypeInfoInitializer
+      {
+        ResourceIDTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (ResourceID));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::string< wchar_t >));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ResourceIDTypeInfoInitializer ResourceIDTypeInfoInitializer_;
+
+      struct ResourceKindTypeInfoInitializer
+      {
+        ResourceKindTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (ResourceKind));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ResourceKindTypeInfoInitializer ResourceKindTypeInfoInitializer_;
+
+      struct ResourceValueTypeInfoInitializer
+      {
+        ResourceValueTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (ResourceValue));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::int_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ResourceValueTypeInfoInitializer ResourceValueTypeInfoInitializer_;
+
+      struct ImplParamIDTypeInfoInitializer
+      {
+        ImplParamIDTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (ImplParamID));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::string< wchar_t >));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ImplParamIDTypeInfoInitializer ImplParamIDTypeInfoInitializer_;
+
+      struct ImplParamKindTypeInfoInitializer
+      {
+        ImplParamKindTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (ImplParamKind));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::string< wchar_t >));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ImplParamKindTypeInfoInitializer ImplParamKindTypeInfoInitializer_;
+
+      struct ImplParamValueTypeInfoInitializer
+      {
+        ImplParamValueTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (ImplParamValue));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::string< wchar_t >));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ImplParamValueTypeInfoInitializer ImplParamValueTypeInfoInitializer_;
+
+      struct TimeValueTypeInfoInitializer
+      {
+        TimeValueTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (TimeValue));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XMLSchema::int_));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      TimeValueTypeInfoInitializer TimeValueTypeInfoInitializer_;
+
+      struct ResourceTypeInfoInitializer
+      {
+        ResourceTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (Resource));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ResourceTypeInfoInitializer ResourceTypeInfoInitializer_;
+
+      struct ImplParamTypeInfoInitializer
+      {
+        ImplParamTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (ImplParam));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ImplParamTypeInfoInitializer ImplParamTypeInfoInitializer_;
+
+      struct TaskImplTypeInfoInitializer
+      {
+        TaskImplTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (TaskImpl));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      TaskImplTypeInfoInitializer TaskImplTypeInfoInitializer_;
+
+      struct TaskToImplTypeInfoInitializer
+      {
+        TaskToImplTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (TaskToImpl));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      TaskToImplTypeInfoInitializer TaskToImplTypeInfoInitializer_;
+
+      struct ImplToResourceTypeInfoInitializer
+      {
+        ImplToResourceTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (ImplToResource));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      ImplToResourceTypeInfoInitializer ImplToResourceTypeInfoInitializer_;
+
+      struct TaskMapTypeInfoInitializer
+      {
+        TaskMapTypeInfoInitializer ()
+        {
+          ::XSCRT::TypeId id (typeid (TaskMap));
+          ::XSCRT::ExtendedTypeInfo nf (id);
+
+          nf.add_base (::XSCRT::ExtendedTypeInfo::Access::public_, false, typeid (::XSCRT::Type));
+          ::XSCRT::extended_type_info_map ().insert (::std::make_pair (id, nf));
+        }
+      };
+
+      TaskMapTypeInfoInitializer TaskMapTypeInfoInitializer_;
+    }
+  }
+}
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    namespace Traversal
+    {
+      // TaskID
+      //
+      //
+
+      void TaskID::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void TaskID::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void TaskID::
+      pre (Type&)
+      {
+      }
+
+      void TaskID::
+      pre (Type const&)
+      {
+      }
+
+      void TaskID::
+      post (Type&)
+      {
+      }
+
+      void TaskID::
+      post (Type const&)
+      {
+      }
+
+      // TaskImplID
+      //
+      //
+
+      void TaskImplID::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void TaskImplID::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void TaskImplID::
+      pre (Type&)
+      {
+      }
+
+      void TaskImplID::
+      pre (Type const&)
+      {
+      }
+
+      void TaskImplID::
+      post (Type&)
+      {
+      }
+
+      void TaskImplID::
+      post (Type const&)
+      {
+      }
+
+      // ResourceID
+      //
+      //
+
+      void ResourceID::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ResourceID::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ResourceID::
+      pre (Type&)
+      {
+      }
+
+      void ResourceID::
+      pre (Type const&)
+      {
+      }
+
+      void ResourceID::
+      post (Type&)
+      {
+      }
+
+      void ResourceID::
+      post (Type const&)
+      {
+      }
+
+      // ResourceValue
+      //
+      //
+
+      void ResourceValue::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ResourceValue::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ResourceValue::
+      pre (Type&)
+      {
+      }
+
+      void ResourceValue::
+      pre (Type const&)
+      {
+      }
+
+      void ResourceValue::
+      post (Type&)
+      {
+      }
+
+      void ResourceValue::
+      post (Type const&)
+      {
+      }
+
+      // ImplParamID
+      //
+      //
+
+      void ImplParamID::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ImplParamID::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ImplParamID::
+      pre (Type&)
+      {
+      }
+
+      void ImplParamID::
+      pre (Type const&)
+      {
+      }
+
+      void ImplParamID::
+      post (Type&)
+      {
+      }
+
+      void ImplParamID::
+      post (Type const&)
+      {
+      }
+
+      // ImplParamKind
+      //
+      //
+
+      void ImplParamKind::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ImplParamKind::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ImplParamKind::
+      pre (Type&)
+      {
+      }
+
+      void ImplParamKind::
+      pre (Type const&)
+      {
+      }
+
+      void ImplParamKind::
+      post (Type&)
+      {
+      }
+
+      void ImplParamKind::
+      post (Type const&)
+      {
+      }
+
+      // ImplParamValue
+      //
+      //
+
+      void ImplParamValue::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ImplParamValue::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void ImplParamValue::
+      pre (Type&)
+      {
+      }
+
+      void ImplParamValue::
+      pre (Type const&)
+      {
+      }
+
+      void ImplParamValue::
+      post (Type&)
+      {
+      }
+
+      void ImplParamValue::
+      post (Type const&)
+      {
+      }
+
+      // TimeValue
+      //
+      //
+
+      void TimeValue::
+      traverse (Type& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void TimeValue::
+      traverse (Type const& o)
+      {
+        pre (o);
+        post (o);
+      }
+
+      void TimeValue::
+      pre (Type&)
+      {
+      }
+
+      void TimeValue::
+      pre (Type const&)
+      {
+      }
+
+      void TimeValue::
+      post (Type&)
+      {
+      }
+
+      void TimeValue::
+      post (Type const&)
+      {
+      }
+
+      // Resource
+      //
+      //
+
+      void Resource::
+      traverse (Type& o)
+      {
+        pre (o);
+        resourceID (o);
+        kind (o);
+        capacity (o);
+        post (o);
+      }
+
+      void Resource::
+      traverse (Type const& o)
+      {
+        pre (o);
+        resourceID (o);
+        kind (o);
+        capacity (o);
+        post (o);
+      }
+
+      void Resource::
+      pre (Type&)
+      {
+      }
+
+      void Resource::
+      pre (Type const&)
+      {
+      }
+
+      void Resource::
+      resourceID (Type& o)
+      {
+        dispatch (o.resourceID ());
+      }
+
+      void Resource::
+      resourceID (Type const& o)
+      {
+        dispatch (o.resourceID ());
+      }
+
+      void Resource::
+      kind (Type& o)
+      {
+        dispatch (o.kind ());
+      }
+
+      void Resource::
+      kind (Type const& o)
+      {
+        dispatch (o.kind ());
+      }
+
+      void Resource::
+      capacity (Type& o)
+      {
+        dispatch (o.capacity ());
+      }
+
+      void Resource::
+      capacity (Type const& o)
+      {
+        dispatch (o.capacity ());
+      }
+
+      void Resource::
+      post (Type&)
+      {
+      }
+
+      void Resource::
+      post (Type const&)
+      {
+      }
+
+      // ImplParam
+      //
+      //
+
+      void ImplParam::
+      traverse (Type& o)
+      {
+        pre (o);
+        paramID (o);
+        kind (o);
+        value (o);
+        post (o);
+      }
+
+      void ImplParam::
+      traverse (Type const& o)
+      {
+        pre (o);
+        paramID (o);
+        kind (o);
+        value (o);
+        post (o);
+      }
+
+      void ImplParam::
+      pre (Type&)
+      {
+      }
+
+      void ImplParam::
+      pre (Type const&)
+      {
+      }
+
+      void ImplParam::
+      paramID (Type& o)
+      {
+        dispatch (o.paramID ());
+      }
+
+      void ImplParam::
+      paramID (Type const& o)
+      {
+        dispatch (o.paramID ());
+      }
+
+      void ImplParam::
+      kind (Type& o)
+      {
+        dispatch (o.kind ());
+      }
+
+      void ImplParam::
+      kind (Type const& o)
+      {
+        dispatch (o.kind ());
+      }
+
+      void ImplParam::
+      value (Type& o)
+      {
+        dispatch (o.value ());
+      }
+
+      void ImplParam::
+      value (Type const& o)
+      {
+        dispatch (o.value ());
+      }
+
+      void ImplParam::
+      post (Type&)
+      {
+      }
+
+      void ImplParam::
+      post (Type const&)
+      {
+      }
+
+      // TaskImpl
+      //
+      //
+
+      void TaskImpl::
+      traverse (Type& o)
+      {
+        pre (o);
+        implID (o);
+        param (o);
+        post (o);
+      }
+
+      void TaskImpl::
+      traverse (Type const& o)
+      {
+        pre (o);
+        implID (o);
+        param (o);
+        post (o);
+      }
+
+      void TaskImpl::
+      pre (Type&)
+      {
+      }
+
+      void TaskImpl::
+      pre (Type const&)
+      {
+      }
+
+      void TaskImpl::
+      implID (Type& o)
+      {
+        dispatch (o.implID ());
+      }
+
+      void TaskImpl::
+      implID (Type const& o)
+      {
+        dispatch (o.implID ());
+      }
+
+      void TaskImpl::
+      param (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskImpl::Type::param_iterator b (o.begin_param()), e (o.end_param());
+
+        if (b != e)
+        {
+          param_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) param_next (o);
+          }
+
+          param_post (o);
+        }
+      }
+
+      void TaskImpl::
+      param (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskImpl::Type::param_const_iterator b (o.begin_param()), e (o.end_param());
+
+        if (b != e)
+        {
+          param_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) param_next (o);
+          }
+
+          param_post (o);
+        }
+      }
+
+      void TaskImpl::
+      param_pre (Type&)
+      {
+      }
+
+      void TaskImpl::
+      param_pre (Type const&)
+      {
+      }
+
+      void TaskImpl::
+      param_next (Type&)
+      {
+      }
+
+      void TaskImpl::
+      param_next (Type const&)
+      {
+      }
+
+      void TaskImpl::
+      param_post (Type&)
+      {
+      }
+
+      void TaskImpl::
+      param_post (Type const&)
+      {
+      }
+
+      void TaskImpl::
+      post (Type&)
+      {
+      }
+
+      void TaskImpl::
+      post (Type const&)
+      {
+      }
+
+      // TaskToImpl
+      //
+      //
+
+      void TaskToImpl::
+      traverse (Type& o)
+      {
+        pre (o);
+        taskID (o);
+        implID (o);
+        duration (o);
+        post (o);
+      }
+
+      void TaskToImpl::
+      traverse (Type const& o)
+      {
+        pre (o);
+        taskID (o);
+        implID (o);
+        duration (o);
+        post (o);
+      }
+
+      void TaskToImpl::
+      pre (Type&)
+      {
+      }
+
+      void TaskToImpl::
+      pre (Type const&)
+      {
+      }
+
+      void TaskToImpl::
+      taskID (Type& o)
+      {
+        dispatch (o.taskID ());
+      }
+
+      void TaskToImpl::
+      taskID (Type const& o)
+      {
+        dispatch (o.taskID ());
+      }
+
+      void TaskToImpl::
+      implID (Type& o)
+      {
+        dispatch (o.implID ());
+      }
+
+      void TaskToImpl::
+      implID (Type const& o)
+      {
+        dispatch (o.implID ());
+      }
+
+      void TaskToImpl::
+      duration (Type& o)
+      {
+        dispatch (o.duration ());
+      }
+
+      void TaskToImpl::
+      duration (Type const& o)
+      {
+        dispatch (o.duration ());
+      }
+
+      void TaskToImpl::
+      post (Type&)
+      {
+      }
+
+      void TaskToImpl::
+      post (Type const&)
+      {
+      }
+
+      // ImplToResource
+      //
+      //
+
+      void ImplToResource::
+      traverse (Type& o)
+      {
+        pre (o);
+        implID (o);
+        resourceID (o);
+        utilization (o);
+        post (o);
+      }
+
+      void ImplToResource::
+      traverse (Type const& o)
+      {
+        pre (o);
+        implID (o);
+        resourceID (o);
+        utilization (o);
+        post (o);
+      }
+
+      void ImplToResource::
+      pre (Type&)
+      {
+      }
+
+      void ImplToResource::
+      pre (Type const&)
+      {
+      }
+
+      void ImplToResource::
+      implID (Type& o)
+      {
+        dispatch (o.implID ());
+      }
+
+      void ImplToResource::
+      implID (Type const& o)
+      {
+        dispatch (o.implID ());
+      }
+
+      void ImplToResource::
+      resourceID (Type& o)
+      {
+        dispatch (o.resourceID ());
+      }
+
+      void ImplToResource::
+      resourceID (Type const& o)
+      {
+        dispatch (o.resourceID ());
+      }
+
+      void ImplToResource::
+      utilization (Type& o)
+      {
+        dispatch (o.utilization ());
+      }
+
+      void ImplToResource::
+      utilization (Type const& o)
+      {
+        dispatch (o.utilization ());
+      }
+
+      void ImplToResource::
+      post (Type&)
+      {
+      }
+
+      void ImplToResource::
+      post (Type const&)
+      {
+      }
+
+      // TaskMap
+      //
+      //
+
+      void TaskMap::
+      traverse (Type& o)
+      {
+        pre (o);
+        taskImpl (o);
+        resource (o);
+        taskToImpl (o);
+        implToResource (o);
+        post (o);
+      }
+
+      void TaskMap::
+      traverse (Type const& o)
+      {
+        pre (o);
+        taskImpl (o);
+        resource (o);
+        taskToImpl (o);
+        implToResource (o);
+        post (o);
+      }
+
+      void TaskMap::
+      pre (Type&)
+      {
+      }
+
+      void TaskMap::
+      pre (Type const&)
+      {
+      }
+
+      void TaskMap::
+      taskImpl (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskMap::Type::taskImpl_iterator b (o.begin_taskImpl()), e (o.end_taskImpl());
+
+        if (b != e)
+        {
+          taskImpl_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) taskImpl_next (o);
+          }
+
+          taskImpl_post (o);
+        }
+      }
+
+      void TaskMap::
+      taskImpl (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskMap::Type::taskImpl_const_iterator b (o.begin_taskImpl()), e (o.end_taskImpl());
+
+        if (b != e)
+        {
+          taskImpl_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) taskImpl_next (o);
+          }
+
+          taskImpl_post (o);
+        }
+      }
+
+      void TaskMap::
+      taskImpl_pre (Type&)
+      {
+      }
+
+      void TaskMap::
+      taskImpl_pre (Type const&)
+      {
+      }
+
+      void TaskMap::
+      taskImpl_next (Type&)
+      {
+      }
+
+      void TaskMap::
+      taskImpl_next (Type const&)
+      {
+      }
+
+      void TaskMap::
+      taskImpl_post (Type&)
+      {
+      }
+
+      void TaskMap::
+      taskImpl_post (Type const&)
+      {
+      }
+
+      void TaskMap::
+      resource (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskMap::Type::resource_iterator b (o.begin_resource()), e (o.end_resource());
+
+        if (b != e)
+        {
+          resource_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) resource_next (o);
+          }
+
+          resource_post (o);
+        }
+      }
+
+      void TaskMap::
+      resource (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskMap::Type::resource_const_iterator b (o.begin_resource()), e (o.end_resource());
+
+        if (b != e)
+        {
+          resource_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) resource_next (o);
+          }
+
+          resource_post (o);
+        }
+      }
+
+      void TaskMap::
+      resource_pre (Type&)
+      {
+      }
+
+      void TaskMap::
+      resource_pre (Type const&)
+      {
+      }
+
+      void TaskMap::
+      resource_next (Type&)
+      {
+      }
+
+      void TaskMap::
+      resource_next (Type const&)
+      {
+      }
+
+      void TaskMap::
+      resource_post (Type&)
+      {
+      }
+
+      void TaskMap::
+      resource_post (Type const&)
+      {
+      }
+
+      void TaskMap::
+      taskToImpl (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskMap::Type::taskToImpl_iterator b (o.begin_taskToImpl()), e (o.end_taskToImpl());
+
+        if (b != e)
+        {
+          taskToImpl_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) taskToImpl_next (o);
+          }
+
+          taskToImpl_post (o);
+        }
+      }
+
+      void TaskMap::
+      taskToImpl (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskMap::Type::taskToImpl_const_iterator b (o.begin_taskToImpl()), e (o.end_taskToImpl());
+
+        if (b != e)
+        {
+          taskToImpl_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) taskToImpl_next (o);
+          }
+
+          taskToImpl_post (o);
+        }
+      }
+
+      void TaskMap::
+      taskToImpl_pre (Type&)
+      {
+      }
+
+      void TaskMap::
+      taskToImpl_pre (Type const&)
+      {
+      }
+
+      void TaskMap::
+      taskToImpl_next (Type&)
+      {
+      }
+
+      void TaskMap::
+      taskToImpl_next (Type const&)
+      {
+      }
+
+      void TaskMap::
+      taskToImpl_post (Type&)
+      {
+      }
+
+      void TaskMap::
+      taskToImpl_post (Type const&)
+      {
+      }
+
+      void TaskMap::
+      implToResource (Type& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskMap::Type::implToResource_iterator b (o.begin_implToResource()), e (o.end_implToResource());
+
+        if (b != e)
+        {
+          implToResource_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) implToResource_next (o);
+          }
+
+          implToResource_post (o);
+        }
+      }
+
+      void TaskMap::
+      implToResource (Type const& o)
+      {
+        // VC6 anathema strikes again
+        //
+        TaskMap::Type::implToResource_const_iterator b (o.begin_implToResource()), e (o.end_implToResource());
+
+        if (b != e)
+        {
+          implToResource_pre (o);
+          for (; b != e;)
+          {
+            dispatch (*b);
+            if (++b != e) implToResource_next (o);
+          }
+
+          implToResource_post (o);
+        }
+      }
+
+      void TaskMap::
+      implToResource_pre (Type&)
+      {
+      }
+
+      void TaskMap::
+      implToResource_pre (Type const&)
+      {
+      }
+
+      void TaskMap::
+      implToResource_next (Type&)
+      {
+      }
+
+      void TaskMap::
+      implToResource_next (Type const&)
+      {
+      }
+
+      void TaskMap::
+      implToResource_post (Type&)
+      {
+      }
+
+      void TaskMap::
+      implToResource_post (Type const&)
+      {
+      }
+
+      void TaskMap::
+      post (Type&)
+      {
+      }
+
+      void TaskMap::
+      post (Type const&)
+      {
+      }
+    }
+  }
+}
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    namespace Writer
+    {
+      // TaskID
+      //
+      //
+
+      TaskID::
+      TaskID (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      TaskID::
+      TaskID ()
+      {
+      }
+
+      void TaskID::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::int_, wchar_t >::traverse (o);
+        Traversal::TaskID::traverse (o);
+      }
+
+      // TaskImplID
+      //
+      //
+
+      TaskImplID::
+      TaskImplID (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      TaskImplID::
+      TaskImplID ()
+      {
+      }
+
+      void TaskImplID::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >::traverse (o);
+        Traversal::TaskImplID::traverse (o);
+      }
+
+      // ResourceID
+      //
+      //
+
+      ResourceID::
+      ResourceID (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      ResourceID::
+      ResourceID ()
+      {
+      }
+
+      void ResourceID::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >::traverse (o);
+        Traversal::ResourceID::traverse (o);
+      }
+
+      // ResourceKind
+      //
+      //
+
+      ResourceKind::
+      ResourceKind (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      ResourceKind::
+      ResourceKind ()
+      {
+      }
+
+      void ResourceKind::
+      traverse (Type const& o)
+      {
+        ::std::basic_string< wchar_t > s;
+
+        if (o == ::SA_POP::XML::ResourceKind::UNARY) s = L"UNARY";
+        else if (o == ::SA_POP::XML::ResourceKind::DISCRETE) s = L"DISCRETE";
+        else if (o == ::SA_POP::XML::ResourceKind::RESERVOIR) s = L"RESERVOIR";
+        else 
+        {
+        }
+
+        if (::XSCRT::XML::Attribute< wchar_t >* a = attr_ ())
+        {
+          a->value (s);
+        }
+
+        else
+        {
+          top_().value (s);
+        }
+      }
+
+      // ResourceValue
+      //
+      //
+
+      ResourceValue::
+      ResourceValue (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      ResourceValue::
+      ResourceValue ()
+      {
+      }
+
+      void ResourceValue::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::int_, wchar_t >::traverse (o);
+        Traversal::ResourceValue::traverse (o);
+      }
+
+      // ImplParamID
+      //
+      //
+
+      ImplParamID::
+      ImplParamID (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      ImplParamID::
+      ImplParamID ()
+      {
+      }
+
+      void ImplParamID::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >::traverse (o);
+        Traversal::ImplParamID::traverse (o);
+      }
+
+      // ImplParamKind
+      //
+      //
+
+      ImplParamKind::
+      ImplParamKind (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      ImplParamKind::
+      ImplParamKind ()
+      {
+      }
+
+      void ImplParamKind::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >::traverse (o);
+        Traversal::ImplParamKind::traverse (o);
+      }
+
+      // ImplParamValue
+      //
+      //
+
+      ImplParamValue::
+      ImplParamValue (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      ImplParamValue::
+      ImplParamValue ()
+      {
+      }
+
+      void ImplParamValue::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >::traverse (o);
+        Traversal::ImplParamValue::traverse (o);
+      }
+
+      // TimeValue
+      //
+      //
+
+      TimeValue::
+      TimeValue (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      TimeValue::
+      TimeValue ()
+      {
+      }
+
+      void TimeValue::
+      traverse (Type const& o)
+      {
+        ::XMLSchema::Writer::FundamentalType< ::XMLSchema::int_, wchar_t >::traverse (o);
+        Traversal::TimeValue::traverse (o);
+      }
+
+      // Resource
+      //
+      //
+
+      Resource::
+      Resource (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      Resource::
+      Resource ()
+      {
+      }
+
+      void Resource::
+      traverse (Type const& o)
+      {
+        Traversal::Resource::traverse (o);
+      }
+
+      void Resource::
+      resourceID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"resourceID", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::Resource::resourceID (o);
+        pop_ ();
+      }
+
+      void Resource::
+      kind (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"kind", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::Resource::kind (o);
+        pop_ ();
+      }
+
+      void Resource::
+      capacity (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"capacity", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::Resource::capacity (o);
+        pop_ ();
+      }
+
+      // ImplParam
+      //
+      //
+
+      ImplParam::
+      ImplParam (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      ImplParam::
+      ImplParam ()
+      {
+      }
+
+      void ImplParam::
+      traverse (Type const& o)
+      {
+        Traversal::ImplParam::traverse (o);
+      }
+
+      void ImplParam::
+      paramID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"paramID", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::ImplParam::paramID (o);
+        pop_ ();
+      }
+
+      void ImplParam::
+      kind (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"kind", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::ImplParam::kind (o);
+        pop_ ();
+      }
+
+      void ImplParam::
+      value (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"value", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::ImplParam::value (o);
+        pop_ ();
+      }
+
+      // TaskImpl
+      //
+      //
+
+      TaskImpl::
+      TaskImpl (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      TaskImpl::
+      TaskImpl ()
+      {
+      }
+
+      void TaskImpl::
+      traverse (Type const& o)
+      {
+        Traversal::TaskImpl::traverse (o);
+      }
+
+      void TaskImpl::
+      implID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"implID", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::TaskImpl::implID (o);
+        pop_ ();
+      }
+
+      void TaskImpl::
+      param_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"param", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+      }
+
+      void TaskImpl::
+      param_next (Type const& o)
+      {
+        param_post (o);
+        param_pre (o);
+      }
+
+      void TaskImpl::
+      param_post (Type const&)
+      {
+        pop_ ();
+      }
+
+      // TaskToImpl
+      //
+      //
+
+      TaskToImpl::
+      TaskToImpl (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      TaskToImpl::
+      TaskToImpl ()
+      {
+      }
+
+      void TaskToImpl::
+      traverse (Type const& o)
+      {
+        Traversal::TaskToImpl::traverse (o);
+      }
+
+      void TaskToImpl::
+      taskID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"taskID", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::TaskToImpl::taskID (o);
+        pop_ ();
+      }
+
+      void TaskToImpl::
+      implID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"implID", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::TaskToImpl::implID (o);
+        pop_ ();
+      }
+
+      void TaskToImpl::
+      duration (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"duration", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::TaskToImpl::duration (o);
+        pop_ ();
+      }
+
+      // ImplToResource
+      //
+      //
+
+      ImplToResource::
+      ImplToResource (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      ImplToResource::
+      ImplToResource ()
+      {
+      }
+
+      void ImplToResource::
+      traverse (Type const& o)
+      {
+        Traversal::ImplToResource::traverse (o);
+      }
+
+      void ImplToResource::
+      implID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"implID", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::ImplToResource::implID (o);
+        pop_ ();
+      }
+
+      void ImplToResource::
+      resourceID (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"resourceID", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::ImplToResource::resourceID (o);
+        pop_ ();
+      }
+
+      void ImplToResource::
+      utilization (Type const& o)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"utilization", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+        Traversal::ImplToResource::utilization (o);
+        pop_ ();
+      }
+
+      // TaskMap
+      //
+      //
+
+      TaskMap::
+      TaskMap (::XSCRT::XML::Element< wchar_t >& e)
+      : ::XSCRT::Writer< wchar_t > (e)
+      {
+      }
+
+      TaskMap::
+      TaskMap ()
+      {
+      }
+
+      void TaskMap::
+      traverse (Type const& o)
+      {
+        Traversal::TaskMap::traverse (o);
+      }
+
+      void TaskMap::
+      taskImpl_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"taskImpl", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+      }
+
+      void TaskMap::
+      taskImpl_next (Type const& o)
+      {
+        taskImpl_post (o);
+        taskImpl_pre (o);
+      }
+
+      void TaskMap::
+      taskImpl_post (Type const&)
+      {
+        pop_ ();
+      }
+
+      void TaskMap::
+      resource_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"resource", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+      }
+
+      void TaskMap::
+      resource_next (Type const& o)
+      {
+        resource_post (o);
+        resource_pre (o);
+      }
+
+      void TaskMap::
+      resource_post (Type const&)
+      {
+        pop_ ();
+      }
+
+      void TaskMap::
+      taskToImpl_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"taskToImpl", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+      }
+
+      void TaskMap::
+      taskToImpl_next (Type const& o)
+      {
+        taskToImpl_post (o);
+        taskToImpl_pre (o);
+      }
+
+      void TaskMap::
+      taskToImpl_post (Type const&)
+      {
+        pop_ ();
+      }
+
+      void TaskMap::
+      implToResource_pre (Type const&)
+      {
+        push_ (::XSCRT::XML::Element< wchar_t > (L"implToResource", L"http://www.vanderbilt.edu/SA-POP", top_ ()));
+      }
+
+      void TaskMap::
+      implToResource_next (Type const& o)
+      {
+        implToResource_post (o);
+        implToResource_pre (o);
+      }
+
+      void TaskMap::
+      implToResource_post (Type const&)
+      {
+        pop_ ();
+      }
+    }
+  }
+}
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    void
+    taskMap (::SA_POP::XML::TaskMap const& s, xercesc::DOMDocument* d)
+    {
+      ::XSCRT::XML::Element< wchar_t > e (d->getDocumentElement ());
+      if (e.name () != L"taskMap")
+      {
+        throw 1;
+      }
+
+      struct W : virtual ::SA_POP::XML::Writer::TaskMap,
+      virtual ::SA_POP::XML::Writer::TaskImpl,
+      virtual ::SA_POP::XML::Writer::TaskImplID,
+      virtual ::SA_POP::XML::Writer::ImplParam,
+      virtual ::SA_POP::XML::Writer::ImplParamID,
+      virtual ::SA_POP::XML::Writer::ImplParamKind,
+      virtual ::SA_POP::XML::Writer::ImplParamValue,
+      virtual ::SA_POP::XML::Writer::Resource,
+      virtual ::SA_POP::XML::Writer::ResourceID,
+      virtual ::SA_POP::XML::Writer::ResourceKind,
+      virtual ::SA_POP::XML::Writer::ResourceValue,
+      virtual ::SA_POP::XML::Writer::TaskToImpl,
+      virtual ::SA_POP::XML::Writer::TaskID,
+      virtual ::SA_POP::XML::Writer::TimeValue,
+      virtual ::SA_POP::XML::Writer::ImplToResource,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        W (::XSCRT::XML::Element< wchar_t >& e)
+        : ::XSCRT::Writer< wchar_t > (e)
+        {
+        }
+      };
+
+      W w (e);
+      w.dispatch (s);
+    }
+  }
+}
+
diff --git a/SA_POP/XML_TaskMap.hpp b/SA_POP/XML_TaskMap.hpp
new file mode 100644
index 00000000000..b972fd9e848
--- /dev/null
+++ b/SA_POP/XML_TaskMap.hpp
@@ -0,0 +1,1703 @@
+#ifndef XML_TASKMAP_HPP
+#define XML_TASKMAP_HPP
+
+// Forward declarations.
+//
+namespace SA_POP
+{
+  namespace XML
+  {
+    class TaskID;
+    class TaskImplID;
+    class ResourceID;
+    class ResourceKind;
+    class ResourceValue;
+    class ImplParamID;
+    class ImplParamKind;
+    class ImplParamValue;
+    class TimeValue;
+    class Resource;
+    class ImplParam;
+    class TaskImpl;
+    class TaskToImpl;
+    class ImplToResource;
+    class TaskMap;
+  }
+}
+
+#include <memory>
+#include <list>
+#include "XMLSchema/Types.hpp"
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    class TaskID : public ::XMLSchema::int_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::int_ Base__;
+
+      public:
+      TaskID (::XMLSchema::int_ const& b__);
+
+      TaskID (::XSCRT::XML::Element< wchar_t > const&);
+      TaskID (::XSCRT::XML::Attribute< wchar_t > const&);
+      TaskID (TaskID const& s);
+
+      TaskID&
+      operator= (TaskID const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class TaskImplID : public ::XMLSchema::string< wchar_t >
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::string< wchar_t > Base__;
+
+      public:
+      TaskImplID (::XMLSchema::string< wchar_t > const& b__);
+
+      TaskImplID (::XSCRT::XML::Element< wchar_t > const&);
+      TaskImplID (::XSCRT::XML::Attribute< wchar_t > const&);
+      TaskImplID (TaskImplID const& s);
+
+      TaskImplID&
+      operator= (TaskImplID const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class ResourceID : public ::XMLSchema::string< wchar_t >
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::string< wchar_t > Base__;
+
+      public:
+      ResourceID (::XMLSchema::string< wchar_t > const& b__);
+
+      ResourceID (::XSCRT::XML::Element< wchar_t > const&);
+      ResourceID (::XSCRT::XML::Attribute< wchar_t > const&);
+      ResourceID (ResourceID const& s);
+
+      ResourceID&
+      operator= (ResourceID const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class ResourceKind : public ::XSCRT::Type
+    {
+      public:
+      ResourceKind (::XSCRT::XML::Element< wchar_t > const&);
+      ResourceKind (::XSCRT::XML::Attribute< wchar_t > const&);
+
+      static ResourceKind const UNARY;
+      static ResourceKind const DISCRETE;
+      static ResourceKind const RESERVOIR;
+
+      enum Value
+      {
+        UNARY_l,DISCRETE_l,RESERVOIR_l,
+      };
+
+
+      Value
+      integral () const;
+
+      friend bool 
+      operator== (ResourceKind const& a, ResourceKind const& b);
+
+      friend bool 
+      operator!= (ResourceKind const& a, ResourceKind const& b);
+
+      private:
+      ResourceKind (Value v);
+
+      Value v_;
+    };
+
+    bool operator== (ResourceKind const &a, ResourceKind const &b);
+
+    bool operator!= (ResourceKind const &a, ResourceKind const &b);
+
+
+    class ResourceValue : public ::XMLSchema::int_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::int_ Base__;
+
+      public:
+      ResourceValue (::XMLSchema::int_ const& b__);
+
+      ResourceValue (::XSCRT::XML::Element< wchar_t > const&);
+      ResourceValue (::XSCRT::XML::Attribute< wchar_t > const&);
+      ResourceValue (ResourceValue const& s);
+
+      ResourceValue&
+      operator= (ResourceValue const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class ImplParamID : public ::XMLSchema::string< wchar_t >
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::string< wchar_t > Base__;
+
+      public:
+      ImplParamID (::XMLSchema::string< wchar_t > const& b__);
+
+      ImplParamID (::XSCRT::XML::Element< wchar_t > const&);
+      ImplParamID (::XSCRT::XML::Attribute< wchar_t > const&);
+      ImplParamID (ImplParamID const& s);
+
+      ImplParamID&
+      operator= (ImplParamID const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class ImplParamKind : public ::XMLSchema::string< wchar_t >
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::string< wchar_t > Base__;
+
+      public:
+      ImplParamKind (::XMLSchema::string< wchar_t > const& b__);
+
+      ImplParamKind (::XSCRT::XML::Element< wchar_t > const&);
+      ImplParamKind (::XSCRT::XML::Attribute< wchar_t > const&);
+      ImplParamKind (ImplParamKind const& s);
+
+      ImplParamKind&
+      operator= (ImplParamKind const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class ImplParamValue : public ::XMLSchema::string< wchar_t >
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::string< wchar_t > Base__;
+
+      public:
+      ImplParamValue (::XMLSchema::string< wchar_t > const& b__);
+
+      ImplParamValue (::XSCRT::XML::Element< wchar_t > const&);
+      ImplParamValue (::XSCRT::XML::Attribute< wchar_t > const&);
+      ImplParamValue (ImplParamValue const& s);
+
+      ImplParamValue&
+      operator= (ImplParamValue const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class TimeValue : public ::XMLSchema::int_
+    {
+      //@@ VC6 anathema
+      typedef ::XMLSchema::int_ Base__;
+
+      public:
+      TimeValue (::XMLSchema::int_ const& b__);
+
+      TimeValue (::XSCRT::XML::Element< wchar_t > const&);
+      TimeValue (::XSCRT::XML::Attribute< wchar_t > const&);
+      TimeValue (TimeValue const& s);
+
+      TimeValue&
+      operator= (TimeValue const& s);
+
+      private:
+      char regulator__;
+    };
+
+    class Resource : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // resourceID
+      // 
+      public:
+      ::SA_POP::XML::ResourceID const& resourceID () const;
+      void resourceID (::SA_POP::XML::ResourceID const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::ResourceID > resourceID_;
+
+      // kind
+      // 
+      public:
+      ::SA_POP::XML::ResourceKind const& kind () const;
+      void kind (::SA_POP::XML::ResourceKind const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::ResourceKind > kind_;
+
+      // capacity
+      // 
+      public:
+      ::SA_POP::XML::ResourceValue const& capacity () const;
+      void capacity (::SA_POP::XML::ResourceValue const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::ResourceValue > capacity_;
+
+      public:
+      Resource (::SA_POP::XML::ResourceID const& resourceID__,
+                ::SA_POP::XML::ResourceKind const& kind__,
+                ::SA_POP::XML::ResourceValue const& capacity__);
+
+      Resource (::XSCRT::XML::Element< wchar_t > const&);
+      Resource (Resource const& s);
+
+      Resource&
+      operator= (Resource const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class ImplParam : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // paramID
+      // 
+      public:
+      ::SA_POP::XML::ImplParamID const& paramID () const;
+      void paramID (::SA_POP::XML::ImplParamID const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::ImplParamID > paramID_;
+
+      // kind
+      // 
+      public:
+      ::SA_POP::XML::ImplParamKind const& kind () const;
+      void kind (::SA_POP::XML::ImplParamKind const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::ImplParamKind > kind_;
+
+      // value
+      // 
+      public:
+      ::SA_POP::XML::ImplParamValue const& value () const;
+      void value (::SA_POP::XML::ImplParamValue const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::ImplParamValue > value_;
+
+      public:
+      ImplParam (::SA_POP::XML::ImplParamID const& paramID__,
+                 ::SA_POP::XML::ImplParamKind const& kind__,
+                 ::SA_POP::XML::ImplParamValue const& value__);
+
+      ImplParam (::XSCRT::XML::Element< wchar_t > const&);
+      ImplParam (ImplParam const& s);
+
+      ImplParam&
+      operator= (ImplParam const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class TaskImpl : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // implID
+      // 
+      public:
+      ::SA_POP::XML::TaskImplID const& implID () const;
+      void implID (::SA_POP::XML::TaskImplID const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::TaskImplID > implID_;
+
+      // param
+      // 
+      public:
+      typedef ::std::list< ::SA_POP::XML::ImplParam >::iterator param_iterator;
+      typedef ::std::list< ::SA_POP::XML::ImplParam >::const_iterator param_const_iterator;
+      param_iterator begin_param ();
+      param_iterator end_param ();
+      param_const_iterator begin_param () const;
+      param_const_iterator end_param () const;
+      void add_param (::SA_POP::XML::ImplParam const& );
+      size_t count_param (void) const;
+
+      protected:
+      ::std::list< ::SA_POP::XML::ImplParam > param_;
+
+      public:
+      TaskImpl (::SA_POP::XML::TaskImplID const& implID__);
+
+      TaskImpl (::XSCRT::XML::Element< wchar_t > const&);
+      TaskImpl (TaskImpl const& s);
+
+      TaskImpl&
+      operator= (TaskImpl const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class TaskToImpl : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // taskID
+      // 
+      public:
+      ::SA_POP::XML::TaskID const& taskID () const;
+      void taskID (::SA_POP::XML::TaskID const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::TaskID > taskID_;
+
+      // implID
+      // 
+      public:
+      ::SA_POP::XML::TaskImplID const& implID () const;
+      void implID (::SA_POP::XML::TaskImplID const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::TaskImplID > implID_;
+
+      // duration
+      // 
+      public:
+      ::SA_POP::XML::TimeValue const& duration () const;
+      void duration (::SA_POP::XML::TimeValue const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::TimeValue > duration_;
+
+      public:
+      TaskToImpl (::SA_POP::XML::TaskID const& taskID__,
+                  ::SA_POP::XML::TaskImplID const& implID__,
+                  ::SA_POP::XML::TimeValue const& duration__);
+
+      TaskToImpl (::XSCRT::XML::Element< wchar_t > const&);
+      TaskToImpl (TaskToImpl const& s);
+
+      TaskToImpl&
+      operator= (TaskToImpl const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class ImplToResource : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // implID
+      // 
+      public:
+      ::SA_POP::XML::TaskImplID const& implID () const;
+      void implID (::SA_POP::XML::TaskImplID const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::TaskImplID > implID_;
+
+      // resourceID
+      // 
+      public:
+      ::SA_POP::XML::ResourceID const& resourceID () const;
+      void resourceID (::SA_POP::XML::ResourceID const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::ResourceID > resourceID_;
+
+      // utilization
+      // 
+      public:
+      ::SA_POP::XML::ResourceValue const& utilization () const;
+      void utilization (::SA_POP::XML::ResourceValue const& );
+
+      protected:
+      ::std::auto_ptr< ::SA_POP::XML::ResourceValue > utilization_;
+
+      public:
+      ImplToResource (::SA_POP::XML::TaskImplID const& implID__,
+                      ::SA_POP::XML::ResourceID const& resourceID__,
+                      ::SA_POP::XML::ResourceValue const& utilization__);
+
+      ImplToResource (::XSCRT::XML::Element< wchar_t > const&);
+      ImplToResource (ImplToResource const& s);
+
+      ImplToResource&
+      operator= (ImplToResource const& s);
+
+      private:
+      char regulator__;
+    };
+
+
+    class TaskMap : public ::XSCRT::Type
+    {
+      //@@ VC6 anathema
+      typedef ::XSCRT::Type Base__;
+
+      // taskImpl
+      // 
+      public:
+      typedef ::std::list< ::SA_POP::XML::TaskImpl >::iterator taskImpl_iterator;
+      typedef ::std::list< ::SA_POP::XML::TaskImpl >::const_iterator taskImpl_const_iterator;
+      taskImpl_iterator begin_taskImpl ();
+      taskImpl_iterator end_taskImpl ();
+      taskImpl_const_iterator begin_taskImpl () const;
+      taskImpl_const_iterator end_taskImpl () const;
+      void add_taskImpl (::SA_POP::XML::TaskImpl const& );
+      size_t count_taskImpl (void) const;
+
+      protected:
+      ::std::list< ::SA_POP::XML::TaskImpl > taskImpl_;
+
+      // resource
+      // 
+      public:
+      typedef ::std::list< ::SA_POP::XML::Resource >::iterator resource_iterator;
+      typedef ::std::list< ::SA_POP::XML::Resource >::const_iterator resource_const_iterator;
+      resource_iterator begin_resource ();
+      resource_iterator end_resource ();
+      resource_const_iterator begin_resource () const;
+      resource_const_iterator end_resource () const;
+      void add_resource (::SA_POP::XML::Resource const& );
+      size_t count_resource (void) const;
+
+      protected:
+      ::std::list< ::SA_POP::XML::Resource > resource_;
+
+      // taskToImpl
+      // 
+      public:
+      typedef ::std::list< ::SA_POP::XML::TaskToImpl >::iterator taskToImpl_iterator;
+      typedef ::std::list< ::SA_POP::XML::TaskToImpl >::const_iterator taskToImpl_const_iterator;
+      taskToImpl_iterator begin_taskToImpl ();
+      taskToImpl_iterator end_taskToImpl ();
+      taskToImpl_const_iterator begin_taskToImpl () const;
+      taskToImpl_const_iterator end_taskToImpl () const;
+      void add_taskToImpl (::SA_POP::XML::TaskToImpl const& );
+      size_t count_taskToImpl (void) const;
+
+      protected:
+      ::std::list< ::SA_POP::XML::TaskToImpl > taskToImpl_;
+
+      // implToResource
+      // 
+      public:
+      typedef ::std::list< ::SA_POP::XML::ImplToResource >::iterator implToResource_iterator;
+      typedef ::std::list< ::SA_POP::XML::ImplToResource >::const_iterator implToResource_const_iterator;
+      implToResource_iterator begin_implToResource ();
+      implToResource_iterator end_implToResource ();
+      implToResource_const_iterator begin_implToResource () const;
+      implToResource_const_iterator end_implToResource () const;
+      void add_implToResource (::SA_POP::XML::ImplToResource const& );
+      size_t count_implToResource (void) const;
+
+      protected:
+      ::std::list< ::SA_POP::XML::ImplToResource > implToResource_;
+
+      public:
+      TaskMap ();
+
+      TaskMap (::XSCRT::XML::Element< wchar_t > const&);
+      TaskMap (TaskMap const& s);
+
+      TaskMap&
+      operator= (TaskMap const& s);
+
+      private:
+      char regulator__;
+    };
+  }
+}
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    ::SA_POP::XML::TaskMap
+    taskMap (xercesc::DOMDocument const*);
+  }
+}
+
+#include "XMLSchema/Traversal.hpp"
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    namespace Traversal
+    {
+      struct TaskID : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::TaskID >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct TaskImplID : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::TaskImplID >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct ResourceID : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::ResourceID >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      typedef
+      ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::ResourceKind >
+      ResourceKind;
+
+      struct ResourceValue : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::ResourceValue >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct ImplParamID : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::ImplParamID >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct ImplParamKind : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::ImplParamKind >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct ImplParamValue : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::ImplParamValue >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct TimeValue : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::TimeValue >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct Resource : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::Resource >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        resourceID (Type&);
+
+        virtual void
+        resourceID (Type const&);
+
+        virtual void
+        kind (Type&);
+
+        virtual void
+        kind (Type const&);
+
+        virtual void
+        capacity (Type&);
+
+        virtual void
+        capacity (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct ImplParam : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::ImplParam >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        paramID (Type&);
+
+        virtual void
+        paramID (Type const&);
+
+        virtual void
+        kind (Type&);
+
+        virtual void
+        kind (Type const&);
+
+        virtual void
+        value (Type&);
+
+        virtual void
+        value (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct TaskImpl : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::TaskImpl >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        implID (Type&);
+
+        virtual void
+        implID (Type const&);
+
+        virtual void
+        param (Type&);
+
+        virtual void
+        param (Type const&);
+
+        virtual void
+        param_pre (Type&);
+
+        virtual void
+        param_pre (Type const&);
+
+        virtual void
+        param_next (Type&);
+
+        virtual void
+        param_next (Type const&);
+
+        virtual void
+        param_post (Type&);
+
+        virtual void
+        param_post (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct TaskToImpl : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::TaskToImpl >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        taskID (Type&);
+
+        virtual void
+        taskID (Type const&);
+
+        virtual void
+        implID (Type&);
+
+        virtual void
+        implID (Type const&);
+
+        virtual void
+        duration (Type&);
+
+        virtual void
+        duration (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct ImplToResource : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::ImplToResource >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        implID (Type&);
+
+        virtual void
+        implID (Type const&);
+
+        virtual void
+        resourceID (Type&);
+
+        virtual void
+        resourceID (Type const&);
+
+        virtual void
+        utilization (Type&);
+
+        virtual void
+        utilization (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+
+      struct TaskMap : ::XMLSchema::Traversal::Traverser< ::SA_POP::XML::TaskMap >
+      {
+        virtual void
+        traverse (Type&);
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void
+        pre (Type&);
+
+        virtual void
+        pre (Type const&);
+
+        virtual void
+        taskImpl (Type&);
+
+        virtual void
+        taskImpl (Type const&);
+
+        virtual void
+        taskImpl_pre (Type&);
+
+        virtual void
+        taskImpl_pre (Type const&);
+
+        virtual void
+        taskImpl_next (Type&);
+
+        virtual void
+        taskImpl_next (Type const&);
+
+        virtual void
+        taskImpl_post (Type&);
+
+        virtual void
+        taskImpl_post (Type const&);
+
+        virtual void
+        resource (Type&);
+
+        virtual void
+        resource (Type const&);
+
+        virtual void
+        resource_pre (Type&);
+
+        virtual void
+        resource_pre (Type const&);
+
+        virtual void
+        resource_next (Type&);
+
+        virtual void
+        resource_next (Type const&);
+
+        virtual void
+        resource_post (Type&);
+
+        virtual void
+        resource_post (Type const&);
+
+        virtual void
+        taskToImpl (Type&);
+
+        virtual void
+        taskToImpl (Type const&);
+
+        virtual void
+        taskToImpl_pre (Type&);
+
+        virtual void
+        taskToImpl_pre (Type const&);
+
+        virtual void
+        taskToImpl_next (Type&);
+
+        virtual void
+        taskToImpl_next (Type const&);
+
+        virtual void
+        taskToImpl_post (Type&);
+
+        virtual void
+        taskToImpl_post (Type const&);
+
+        virtual void
+        implToResource (Type&);
+
+        virtual void
+        implToResource (Type const&);
+
+        virtual void
+        implToResource_pre (Type&);
+
+        virtual void
+        implToResource_pre (Type const&);
+
+        virtual void
+        implToResource_next (Type&);
+
+        virtual void
+        implToResource_next (Type const&);
+
+        virtual void
+        implToResource_post (Type&);
+
+        virtual void
+        implToResource_post (Type const&);
+
+        virtual void
+        post (Type&);
+
+        virtual void
+        post (Type const&);
+      };
+    }
+  }
+}
+
+#include "XMLSchema/Writer.hpp"
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    namespace Writer
+    {
+      struct TaskID : Traversal::TaskID, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::int_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::TaskID Type;
+        TaskID (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        TaskID ();
+      };
+
+      struct TaskImplID : Traversal::TaskImplID, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::TaskImplID Type;
+        TaskImplID (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        TaskImplID ();
+      };
+
+      struct ResourceID : Traversal::ResourceID, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::ResourceID Type;
+        ResourceID (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        ResourceID ();
+      };
+
+      struct ResourceKind : Traversal::ResourceKind, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        ResourceKind (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        ResourceKind ();
+      };
+
+      struct ResourceValue : Traversal::ResourceValue, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::int_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::ResourceValue Type;
+        ResourceValue (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        ResourceValue ();
+      };
+
+      struct ImplParamID : Traversal::ImplParamID, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::ImplParamID Type;
+        ImplParamID (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        ImplParamID ();
+      };
+
+      struct ImplParamKind : Traversal::ImplParamKind, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::ImplParamKind Type;
+        ImplParamKind (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        ImplParamKind ();
+      };
+
+      struct ImplParamValue : Traversal::ImplParamValue, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::string< wchar_t >, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::ImplParamValue Type;
+        ImplParamValue (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        ImplParamValue ();
+      };
+
+      struct TimeValue : Traversal::TimeValue, 
+      virtual ::XMLSchema::Writer::FundamentalType< ::XMLSchema::int_, wchar_t >,
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::TimeValue Type;
+        TimeValue (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        protected:
+        TimeValue ();
+      };
+
+      struct Resource : Traversal::Resource, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::Resource Type;
+        Resource (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        resourceID (Type &o)
+        {
+
+          this->resourceID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        resourceID (Type const&);
+
+        virtual void 
+        kind (Type &o)
+        {
+
+          this->kind (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        kind (Type const&);
+
+        virtual void 
+        capacity (Type &o)
+        {
+
+          this->capacity (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        capacity (Type const&);
+
+        protected:
+        Resource ();
+      };
+
+      struct ImplParam : Traversal::ImplParam, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::ImplParam Type;
+        ImplParam (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        paramID (Type &o)
+        {
+
+          this->paramID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        paramID (Type const&);
+
+        virtual void 
+        kind (Type &o)
+        {
+
+          this->kind (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        kind (Type const&);
+
+        virtual void 
+        value (Type &o)
+        {
+
+          this->value (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        value (Type const&);
+
+        protected:
+        ImplParam ();
+      };
+
+      struct TaskImpl : Traversal::TaskImpl, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::TaskImpl Type;
+        TaskImpl (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        implID (Type &o)
+        {
+
+          this->implID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        implID (Type const&);
+
+        virtual void 
+        param_pre (Type &o)
+        {
+
+          this->param_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        param_pre (Type const&);
+
+        virtual void 
+        param_next (Type &o)
+        {
+
+          this->param_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        param_next (Type const&);
+
+        virtual void 
+        param_post (Type &o)
+        {
+
+          this->param_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        param_post (Type const&);
+
+        protected:
+        TaskImpl ();
+      };
+
+      struct TaskToImpl : Traversal::TaskToImpl, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::TaskToImpl Type;
+        TaskToImpl (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        taskID (Type &o)
+        {
+
+          this->taskID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskID (Type const&);
+
+        virtual void 
+        implID (Type &o)
+        {
+
+          this->implID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        implID (Type const&);
+
+        virtual void 
+        duration (Type &o)
+        {
+
+          this->duration (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        duration (Type const&);
+
+        protected:
+        TaskToImpl ();
+      };
+
+      struct ImplToResource : Traversal::ImplToResource, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::ImplToResource Type;
+        ImplToResource (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        implID (Type &o)
+        {
+
+          this->implID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        implID (Type const&);
+
+        virtual void 
+        resourceID (Type &o)
+        {
+
+          this->resourceID (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        resourceID (Type const&);
+
+        virtual void 
+        utilization (Type &o)
+        {
+
+          this->utilization (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        utilization (Type const&);
+
+        protected:
+        ImplToResource ();
+      };
+
+      struct TaskMap : Traversal::TaskMap, 
+      virtual ::XSCRT::Writer< wchar_t >
+      {
+        typedef ::SA_POP::XML::TaskMap Type;
+        TaskMap (::XSCRT::XML::Element< wchar_t >&);
+
+        virtual void 
+        traverse (Type &o)
+        {
+
+          this->traverse (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        traverse (Type const&);
+
+        virtual void 
+        taskImpl_pre (Type &o)
+        {
+
+          this->taskImpl_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskImpl_pre (Type const&);
+
+        virtual void 
+        taskImpl_next (Type &o)
+        {
+
+          this->taskImpl_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskImpl_next (Type const&);
+
+        virtual void 
+        taskImpl_post (Type &o)
+        {
+
+          this->taskImpl_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskImpl_post (Type const&);
+
+        virtual void 
+        resource_pre (Type &o)
+        {
+
+          this->resource_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        resource_pre (Type const&);
+
+        virtual void 
+        resource_next (Type &o)
+        {
+
+          this->resource_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        resource_next (Type const&);
+
+        virtual void 
+        resource_post (Type &o)
+        {
+
+          this->resource_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        resource_post (Type const&);
+
+        virtual void 
+        taskToImpl_pre (Type &o)
+        {
+
+          this->taskToImpl_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskToImpl_pre (Type const&);
+
+        virtual void 
+        taskToImpl_next (Type &o)
+        {
+
+          this->taskToImpl_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskToImpl_next (Type const&);
+
+        virtual void 
+        taskToImpl_post (Type &o)
+        {
+
+          this->taskToImpl_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        taskToImpl_post (Type const&);
+
+        virtual void 
+        implToResource_pre (Type &o)
+        {
+
+          this->implToResource_pre (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        implToResource_pre (Type const&);
+
+        virtual void 
+        implToResource_next (Type &o)
+        {
+
+          this->implToResource_next (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        implToResource_next (Type const&);
+
+        virtual void 
+        implToResource_post (Type &o)
+        {
+
+          this->implToResource_post (const_cast <Type const &> (o));
+        }
+
+
+        virtual void
+        implToResource_post (Type const&);
+
+        protected:
+        TaskMap ();
+      };
+    }
+  }
+}
+
+namespace SA_POP
+{
+  namespace XML
+  {
+    void
+    taskMap (::SA_POP::XML::TaskMap const&, xercesc::DOMDocument*);
+  }
+}
+
+#endif // XML_TASKMAP_HPP