Thu Jan 14 23:23:05 UTC 2010 John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>

16 files changed, 442 insertions, 357 deletions

diff --git a/SA_POP/ChangeLog b/SA_POP/ChangeLog
index 1f889ff40f1..8028821c607 100644
--- a/SA_POP/ChangeLog
+++ b/SA_POP/ChangeLog
@@ -1,3 +1,39 @@
+Thu Jan 14 23:23:05 UTC 2010  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
+
+        * LogGraphOut.cpp:
+        * LogScreenOut.cpp:
+
+          Minor updates to plan output info & formatting.
+
+        * Planner.h:
+        * Planner.cpp:
+
+          Fixed calculation of plan EU to use a cloned SANet & activate relevant nodes (in calc_plan_eu()).
+
+        * SANet/SANet.h:
+        * SANet/SANet.cpp:
+        * SANet/SANode.h:
+        * SANet/SANode.cpp:
+
+          Corrected probability propagation for inactive nodes (in get_prob() methods) and added reset functionality (reset_sa() methods)
+
+        * SA_POP_Types.h:
+        * SA_WorkingPlan.cpp:
+
+          Set default debug output level to only temporary output and corrected debug levels in some existing debug statements.
+
+        * SAPOP_Exp_EU.mwc:
+
+          Updated SA-POP EU experiment to use Boost (for statistical analysis and random number generation).
+
+        * experiments/EU_Performance/Exp_Core/Exp_EU_Planner.h:
+        * experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp:
+        * experiments/EU_Performance/SAPOP_Exp_EU.mpc:
+        * experiments/EU_Performance/SAPOP_Exp_EU.cpp:
+
+          Updated SA-POP EU experiment interface and recursive planning to find all plans.
+
+
 Thu Jan 14 00:06:06 UTC 2010  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
 
         * Planner.cpp:
diff --git a/SA_POP/LogGraphOut.cpp b/SA_POP/LogGraphOut.cpp
index 67f117f7945..3295f1249e1 100644
--- a/SA_POP/LogGraphOut.cpp
+++ b/SA_POP/LogGraphOut.cpp
@@ -100,18 +100,31 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
   bool done = false;
 
 
-  //This sends planning info not included in the graph to the console,  about timing windows.
+  // This sends planning info not included in the graph to the console,  about timing windows.
+  // REMOVED so both LogScreenOut and LogGraphOut can be used
+  // simultaneously without duplicate info sent to console.
+/*
   this->out_ << std::endl;
-  this->out_ << "Plan (" << plan.name << ") Changed at " << std::endl;
-  this->out_ << ctime (&cur_time) << std::endl;
+  this->out_ << "Plan (" << plan.name << ")" << " changed at " << ctime (&cur_time);
   this->out_ << "ID: " << plan.plan_id << std::endl;
-
+  this->out_ << "Goal Condition(s):";
+  for (GoalMap::iterator goal_iter = plan.goal.goal_conds.begin ();
+    goal_iter != plan.goal.goal_conds.end (); goal_iter++)
+  {
+    this->out_ << "   " << planner->get_cond_name (goal_iter->first);
+    if (goal_iter->second >= 0)
+      this->out_ << " (TRUE) = " << goal_iter->second;
+    else
+      this->out_ << " (FALSE) = " << (-1.0 * goal_iter->second);
+  }
+  this->out_ << 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;
-  
+  this->out_ << "Expected Utility: " << planner->calc_plan_eu (plan) << std::endl << std::endl;
+*/
+
   std::vector<int> startimes;
 
   //Find the plan, and find the ealiest time for the latest time step
diff --git a/SA_POP/LogScreenOut.cpp b/SA_POP/LogScreenOut.cpp
index 531c4f9e3ae..18ba13b0522 100644
--- a/SA_POP/LogScreenOut.cpp
+++ b/SA_POP/LogScreenOut.cpp
@@ -59,108 +59,126 @@ void LogScreenOut::notify_plan (SA_POP::Planner *planner)
   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_ << "Plan (" << plan.name << ")" << " changed at " << ctime (&cur_time);
   this->out_ << "ID: " << plan.plan_id << std::endl;
-
+  this->out_ << "Goal Condition(s):";
+  for (GoalMap::iterator goal_iter = plan.goal.goal_conds.begin ();
+    goal_iter != plan.goal.goal_conds.end (); goal_iter++)
+  {
+    this->out_ << "   " << planner->get_cond_name (goal_iter->first);
+    if (goal_iter->second >= 0)
+      this->out_ << " (TRUE) = " << goal_iter->second;
+    else
+      this->out_ << " (FALSE) = " << (-1.0 * goal_iter->second);
+  }
+  this->out_ << 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;
-  
+  this->out_ << "Expected Utility: " << planner->calc_plan_eu (plan) << std::endl << std::endl;
+
+
+  this->out_ << "ALL Task Instances:" << 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_ << "  Task Instance (" << inst.name << "):" << std::endl;
 
-    this->out_ << "  ID: " << inst.inst_id << std::endl;
+    this->out_ << "    ID: " << inst.inst_id << std::endl;
 
-    this->out_ << "  Start Window: [" << inst.start_window.first << ", ";
+    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_ << "    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 ID: " << inst.task_id << std::endl;
 
-    this->out_ << " Task Type: " << inst.type_id << std::endl;
+    this->out_ << "    Task Type: " << inst.type_id << std::endl;
 
-    this->out_ << " Suggested Implementation: ";
+    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;
+  if (plan.connections.size () > 0) {
+    this->out_ << "ALL Data Connections:" << 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;
   }
 
-  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;
+  if (plan.causal_links.size () > 0) {
+    this->out_ << "ALL Causal Links:" << 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_ << "  " << 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;
   }
 
-  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;
 
+  if (plan.sched_links.size () > 0) {
+    this->out_ << "ALL Scheduling Links:" << 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_ << "  " << 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;
   }
 
-  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;
-
+  if (plan.threat_links.size () > 0) {
+    this->out_ << "ALL Threat Links:" << 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.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;
   }
 
-  this->out_ << std::endl;
 };
diff --git a/SA_POP/Planner.cpp b/SA_POP/Planner.cpp
index 4646640e34f..77096b87fcb 100644
--- a/SA_POP/Planner.cpp
+++ b/SA_POP/Planner.cpp
@@ -18,6 +18,7 @@
 #include <map>
 #include <stdlib.h>
 #include <fstream>
+#include <sstream>
 #include "SA_POP_Types.h"
 #include "Planner.h"
 #include "PlanStrategy.h"
@@ -118,7 +119,8 @@ bool Planner::plan (size_t sa_max_steps, SA_POP::Goal goal)
   this->working_plan_->set_goal (goal);
   this->sanet_->update_goals (goal.goal_conds);
 
-  // Run spreading activation.
+  // Reset network and run spreading activation.
+  this->sanet_->reset_sa ();
   this->sanet_->update (sa_max_steps);
 
   // Set planning strategy goals and satisfy open conditions.
@@ -151,7 +153,8 @@ bool Planner::replan (size_t sa_max_steps, SA_POP::Goal goal)
   this->working_plan_->set_goal (goal);
   this->sanet_->update_goals (goal.goal_conds);
 
-  // Run spreading activation.
+  // Reset network and run spreading activation.
+  this->sanet_->reset_sa ();
   this->sanet_->update (sa_max_steps);
 
   // Set planning strategy goals and satisfy open conditions.
@@ -177,7 +180,8 @@ bool Planner::replan (size_t sa_max_steps)
   // Reset the working plan
   this->working_plan_->reset_plan ();
 
-  // Run spreading activation.
+  // Reset network and run spreading activation.
+  this->sanet_->reset_sa ();
   this->sanet_->update (sa_max_steps);
 
   // Set planning strategy goals and satisfy open conditions.
@@ -495,14 +499,18 @@ void Planner::notify_plan_changed (void)
   }
 };
 
-double Planner::calc_plan_eu(Plan plan)
+Utility Planner::calc_plan_eu(Plan plan)
 {
   // Probability of goal conditions should be completely updated
   // by spreading activation for <= 2 times the number of tasks
   // in the plan (because even a serial plan will be of no longer
   // than the number of tasks and times 2 to account for
   // update of condition nodes between tasks).
-  size_t sa_max_steps = 2 * plan.task_insts.size ();
+//*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****
+//  size_t sa_max_steps = 2 * plan.task_insts.size ();
+  // Set to times 3 to be extra certain that sufficient SA is done.
+  size_t sa_max_steps = 3 * plan.task_insts.size ();
+//*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****
 
   // Clone current SANet.
   SANet::Network sanet (*(this->sanet_));
@@ -512,76 +520,80 @@ double Planner::calc_plan_eu(Plan plan)
 
   SA_POP::Goal goal = plan.goal;
 
+//  std::ostringstream goal_str;
+//  goal_str << "Activated goal conditions: ";
+
   // Activate goal conditions.
   for (SA_POP::GoalMap::iterator goal_iter = goal.goal_conds.begin (); goal_iter != goal.goal_conds.end (); goal_iter++) {
+//    goal_str << this->get_cond_name (goal_iter->first) << " ";
     sanet.set_cond_state (goal_iter->first, true);
   }
 
-  // Activate only nodes relevant to the plan (tasks in plan and their preconditions).
+//  SA_POP_DEBUG_STR(SA_POP_DEBUG_TEMP, goal_str.str ());
+
+  // Activate tasks in plan and their preconditions.
   for (PlanInstSet::iterator inst_iter = plan.task_insts.begin (); inst_iter != plan.task_insts.end (); inst_iter++) {
     if ((*inst_iter).inst_id == INIT_TASK_INST_ID) {
       std::cerr << "SA_POP::Planner::calc_plan_eu(Plan plan):  Initial state task instance found in plan." << std::endl;
       throw "SA_POP::Planner::calc_plan_eu(Plan plan):  Initial state task instance found in plan.";
     }
 
+//    std::ostringstream temp_str;
+//    temp_str << "Activated task [instance] and ( preconditions ): ";
+//    temp_str << this->get_task_name ((*inst_iter).task_id);
+//    temp_str << " [" << (*inst_iter).name << "] and ( ";
+
     // Activate task.
     sanet.set_task_state ((*inst_iter).task_id, true);
 
     // Activate preconditions.
     SA_POP::CondSet preconds = this->get_preconds ((*inst_iter).task_id);
     for (SA_POP::CondSet::iterator cond_iter = preconds.begin (); cond_iter != preconds.end (); cond_iter++) {
+//      temp_str << this->get_cond_name ((*cond_iter).id) << " ";
       sanet.set_cond_state ((*cond_iter).id, 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*****
-// Replace with correct code to activate all tasks and their preconditions on a clone of the network.
-  /*
-  size_t sa_max_steps = 100;
-	sanet_->set_nodes_state(false);
-
-	for(CLSet::iterator it = this->plan_.causal_links.begin(); it != 
-		this->plan_.causal_links.end(); it++){
-		if((*it).first != INIT_TASK_INST_ID){
-			this->sanet_->set_task_state(this->working_plan_->get_task_from_inst((*it).first), true);
-		}
-
-		this->sanet_->set_task_state(this->working_plan_->get_task_from_inst((*it).second), true);
-		this->sanet_->set_cond_state((*it).cond.id, true);
 
-		std::cout<<(*it).cond.id<<" cond, "<<(*it).first<<" first, "<<(*it).second<<" second"<<std::endl;
+//    temp_str << ")";
+//    SA_POP_DEBUG_STR(SA_POP_DEBUG_TEMP, temp_str.str ());
+  }
 
-	}
+  // Reset network and run spreading activation.
+  sanet.reset_sa ();
+	sanet.update(sa_max_steps);
 
+//  std::ostringstream eu_str;
+//  eu_str << "Goals (probability, EU):  ";
 
-	GoalMap goals = this->get_goals();
+  // Calculate sum of expected utility for goals.
+  SA_POP::Utility eu_total = 0.0;
+  for (SA_POP::GoalMap::iterator goal_iter = goal.goal_conds.begin (); goal_iter != goal.goal_conds.end (); goal_iter++) {
+//    eu_str << this->get_cond_name (goal_iter->first) << " (";
+    SA_POP::Probability prob = 0.0;
+    SA_POP::Utility util = 0.0;
+    SA_POP::Utility eu = 0.0;
+
+    // Set probability and utility of goal condition achieving desired value
+    // of true (if positive utility) or false (if negative utility).
+    if (goal_iter->second > 0) {
+      prob = sanet.get_cond_future_val (goal_iter->first, true);
+      util = goal_iter->second;
+    }
+    else {
+      prob = sanet.get_cond_future_val (goal_iter->first, false);
+      util = -1 * goal_iter->second;
+    }
 
-	for(GoalMap::iterator it = goals.begin(); it != goals.end(); it++){
-		this->sanet_->set_cond_state(it->first, true);
-	}
+    // Expected utility of the goal condition is its probability times utility.
+    eu = prob * util;
 
-	sanet_->update(sa_max_steps);
-
-	double conj_utils = 0;
-	for(GoalMap::iterator it = goals.begin(); it != goals.end(); it++){
-		std::cout<<it->second<<std::endl;
-    if (it->second >= 0.0) {
-		  std::cout<<this->sanet_->get_cond_future_val(it->first, true)<<std::endl;
-		  conj_utils+=(it->second * this->sanet_->get_cond_future_val(it->first, true));
-    } else {
-		  std::cout<<this->sanet_->get_cond_future_val(it->first, false)<<std::endl;
-		  conj_utils+=(it->second * this->sanet_->get_cond_future_val(it->first, false));
-    }
-	}
+    eu_total += eu;
 
-	std::cout<<"Plan utility: "<<conj_utils<<std::endl;
+//    eu_str << prob << ", " << eu << ")  " ;
+  }
 
-	sanet_->set_nodes_state(true);
-	//TODO the rest
+//  SA_POP_DEBUG_STR(SA_POP_DEBUG_TEMP, eu_str.str ());
 
-	return conj_utils;
-  */
-  return 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*****
+  return eu_total;
 };
 
 /// Get the Task instances in a particular set of the specified task instance
diff --git a/SA_POP/Planner.h b/SA_POP/Planner.h
index 73221389dbe..a0dc88d1abc 100644
--- a/SA_POP/Planner.h
+++ b/SA_POP/Planner.h
@@ -129,7 +129,7 @@ namespace SA_POP {
      *
      * @return  Expected utility of provided plan given current conditions.
      */
-    virtual EUCalc calc_plan_eu (Plan plan);
+    virtual Utility calc_plan_eu (Plan plan);
 
     /// Get last set of expected utility changes.
     /**
diff --git a/SA_POP/SANet/SANet.cpp b/SA_POP/SANet/SANet.cpp
index b978a2947e1..ffa09d5f29a 100644
--- a/SA_POP/SANet/SANet.cpp
+++ b/SA_POP/SANet/SANet.cpp
@@ -150,6 +150,24 @@ SANet::Network::~Network ()
   }
 };
 
+void SANet::Network::reset_sa (void)
+{
+  this->reset_step ();
+
+  // Reset all task and condition nodes.
+  for (TaskNodeMap::iterator node_iter = this->task_nodes_.begin ();
+    node_iter != this->task_nodes_.end (); node_iter++)
+  {
+    node_iter->second->reset_sa ();
+  }
+  for (CondNodeMap::iterator node_iter = this->cond_nodes_.begin ();
+    node_iter != this->cond_nodes_.end (); node_iter++)
+  {
+    node_iter->second->reset_sa ();
+  }
+
+};
+
 void SANet::Network::add_task (TaskID ID, std::string name, MultFactor atten_factor,
                           TaskCost cost, Probability prior_prob)
 {
diff --git a/SA_POP/SANet/SANet.h b/SA_POP/SANet/SANet.h
index 276fcc6b723..d0bbc5fe4aa 100644
--- a/SA_POP/SANet/SANet.h
+++ b/SA_POP/SANet/SANet.h
@@ -190,6 +190,14 @@ namespace SANet {
      */
     virtual void update (int max_steps);
 
+    /// Reset saved probabilities and utilities from spreading activation
+    /// to initial state.
+    /// NOTE: This does not necessarily reset to original construction state
+    ///       if pre-spreading-activation values (e.g., initial probability,
+    ///       goal utility, links, prior probability) if those have been
+    ///       changed after construction.
+    virtual void reset_sa (void);
+
     /// Update a condition's current value (probability of being true).
     /**
      * @param cond_id  The condition id.
diff --git a/SA_POP/SANet/SANode.cpp b/SA_POP/SANet/SANode.cpp
index 0eacee63dec..8976f7c2975 100644
--- a/SA_POP/SANet/SANode.cpp
+++ b/SA_POP/SANet/SANode.cpp
@@ -93,6 +93,24 @@ Node::~Node ()
   // Nothing to do.
 };
 
+void Node::reset_sa (void)
+{
+  // Initialize spreading activation step and flags.
+  this->reset_step ();
+  this->prob_changed_ = false;
+  this->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 ();
+};
+
 Utility_Info Node::get_reward (int step)
 {
   // Check to ensure step is the current step, or else throw exception
@@ -217,6 +235,31 @@ TaskNode::~TaskNode (void)
   // Nothing to do.
 };
 
+void TaskNode::reset_sa (void)
+{
+  // Initialize base class spreading activation info.
+  Node::reset_sa ();
+};
+
+Probability_Info TaskNode::get_prob (int step, bool value)
+{
+  // If deactivated, return 0.0 probability.
+  if (!this->active_) {
+    Probability_Info prob;
+    prob.common.clear ();
+    prob.probability = 0.0;
+    return prob;
+  }
+
+  // Check to ensure step is the current step, or else throw exception
+  if (step != step_) {
+    throw Invalid_Step ();
+  }
+
+  // If active, use base class function to return correct probability.
+  return Node::get_prob (step, value);
+};
+
 Utility_Info TaskNode::get_pos_util(void){
 	return this->pos_util_;
 }
@@ -970,6 +1013,56 @@ CondNode::~CondNode (void)
   // Nothing to do.
 };
 
+void CondNode::reset_sa (void)
+{
+  // Initialize base class spreading activation info.
+  Node::reset_sa ();
+
+  // Reset probabilities from initial probability.
+  this->true_prob_.probability = this->init_true_prob_;
+  this->false_prob_.probability = (1 - this->init_true_prob_);
+  this->true_prob_from_ = this->ID_;
+  this->false_prob_from_ = this->ID_;
+
+  // Set prob_changed_ flag.
+  prob_changed_ = true;
+
+  // If this node is a goal, set util_changed_ flag and add goal utility.
+  if (this->goal_util_ > 0) {
+    this->util_changed_ = true;
+    this->pos_util_.utility = this->goal_util_;
+    this->pos_util_.common.insert (std::make_pair (this->ID_, this->goal_util_));
+  } else if (this->goal_util_ < 0) {
+    this->util_changed_ = true;
+    this->neg_util_.utility = this->goal_util_;
+    this->neg_util_.common.insert (std::make_pair (this->ID_, this->goal_util_));
+  }
+};
+
+Probability_Info CondNode::get_prob (int step, bool value)
+{
+  // If deactivated, return initial probability.
+  if (!this->active_) {
+    Probability_Info prob;
+    prob.common.clear ();
+    prob.probability = 0.0;
+    if (value)
+      prob.probability = this->init_true_prob_;
+    else
+      prob.probability = (1.0 - this->init_true_prob_);
+
+    return prob;
+  }
+
+  // Check to ensure step is the current step, or else throw exception
+  if (step != step_) {
+    throw Invalid_Step ();
+  }
+
+  // Use base class function to return correct probability.
+  return Node::get_prob (step, value);
+};
+
 // Update goal utility.
 void CondNode::set_goal_util (Utility util)
 {
diff --git a/SA_POP/SANet/SANode.h b/SA_POP/SANet/SANode.h
index 2a344adf09b..67c0b888305 100644
--- a/SA_POP/SANet/SANode.h
+++ b/SA_POP/SANet/SANode.h
@@ -90,6 +90,14 @@ namespace SANet {
     /// Destructor.
     virtual ~Node ();
 
+    /// Reset saved probabilities and utilities from spreading activation
+    /// to initial state.
+    /// NOTE: This does not necessarily reset to original construction state
+    ///       if pre-spreading-activation values (e.g., initial probability,
+    ///       goal utility, links, prior probability) if those have been
+    ///       changed after construction.
+    virtual void reset_sa (void);
+
     /// Get (positive) expected utility info (from goals) for a given step.
     /**
      * @param step  Step for which to get reward map.
@@ -263,6 +271,23 @@ namespace SANet {
     /// Destructor.
     virtual ~TaskNode (void);
 
+    /// Reset saved probabilities and utilities from spreading activation
+    /// to initial state.
+    /// NOTE: This does not necessarily reset to original construction state
+    ///       if pre-spreading-activation values (e.g. links, prior probability)
+    ///       if those have been changed after construction.
+    virtual void reset_sa (void);
+
+    /// 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);
+
     /// Print node.
     /**
      * @param strm  Output stream on which to print node representation.
@@ -441,6 +466,23 @@ namespace SANet {
     /// Destructor.
     virtual ~CondNode (void);
 
+    /// Reset saved probabilities and utilities from spreading activation
+    /// to initial state.
+    /// NOTE: This does not necessarily reset to original construction state
+    ///       if pre-spreading-activation values (e.g., initial probability,
+    ///       goal utility) if those have been changed after construction.
+    virtual void reset_sa (void);
+
+    /// 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 goal utility.
     /**
      * @param util  Goal utility.
diff --git a/SA_POP/SAPOP_Exp_EU.mwc b/SA_POP/SAPOP_Exp_EU.mwc
index de718d6c1ed..95199536378 100644
--- a/SA_POP/SAPOP_Exp_EU.mwc
+++ b/SA_POP/SAPOP_Exp_EU.mwc
@@ -1,5 +1,6 @@
 workspace {
   cmdline += -include $SAPOP_ROOT/MPC/config
+  cmdline += -features boost=1
   Standalone/XML_Utils/XML/XML.mpc
   experiments/EU_Performance/SAPOP_Exp_EU.mpc
 }
diff --git a/SA_POP/SA_POP_Types.h b/SA_POP/SA_POP_Types.h
index 098a80f6c20..bc82b7839db 100644
--- a/SA_POP/SA_POP_Types.h
+++ b/SA_POP/SA_POP_Types.h
@@ -36,7 +36,7 @@
 #define SA_POP_DEBUG_VERBOSE 30
 
 // SET current SA-POP Debug output level.
-#define SA_POP_DEBUG_LEVEL SA_POP_DEBUG_TEMP
+#define SA_POP_DEBUG_LEVEL SA_POP_DEBUG_QUIET
 
 #define _CRTDBG_MAP_ALLOC
 
diff --git a/SA_POP/SA_WorkingPlan.cpp b/SA_POP/SA_WorkingPlan.cpp
index ebed6a9143c..bdeae07fcc5 100644
--- a/SA_POP/SA_WorkingPlan.cpp
+++ b/SA_POP/SA_WorkingPlan.cpp
@@ -307,7 +307,7 @@ void SA_WorkingPlan::generate_all_threats(void)
 			debug_text << "  Task ("<<threatened_task<<") " << "Inst ("<<causal_threatened.first<<") -(" << causal_threatened.cond.id << ")-> Task ("<<this->task_insts_.find(causal_threatened.second)->second<< ") Inst ("<< causal_threatened.second << ")" << std::endl;           
 
 	}
-	SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_VERBOSE, debug_text.str ());
 	debug_text.str("");
 
 
@@ -324,7 +324,7 @@ void SA_WorkingPlan::generate_all_threats(void)
 		debug_text <<"  Task (" <<threat_possibility_taskid << ")"<< ": Inst (" <<iterator->first << ")" << std::endl;
 	}
 	debug_text<<std::endl;
-	SA_POP_DEBUG_STR (SA_POP_DEBUG_QUIET, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_VERBOSE, debug_text.str ());
 	debug_text.str("");
 
 	debug_text << "SA_WorkingPlan::generate_all_threats:  All Causal Threats: " << std::endl;
@@ -412,7 +412,7 @@ void SA_WorkingPlan::generate_all_threats(void)
 	}
 
 
-	SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_VERBOSE, debug_text.str ());
 	debug_text.str("");
 
 	print_precedence_graph("SA_WorkingPlan::generate_all_threats");
@@ -436,7 +436,7 @@ void SA_WorkingPlan::print_precedence_graph(std::string source){
 		}
 		debug_text<<std::endl;
 	}
-	SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_VERBOSE, debug_text.str ());
 	debug_text.str("");
 
 	debug_text << source<<": Precendence Sets: AFTER: " << std::endl;
@@ -448,7 +448,7 @@ void SA_WorkingPlan::print_precedence_graph(std::string source){
 		debug_text<<std::endl;
 	}
 
-	SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_VERBOSE, debug_text.str ());
 	debug_text.str("");
 
 
@@ -461,7 +461,7 @@ void SA_WorkingPlan::print_precedence_graph(std::string source){
 		debug_text<<std::endl;
 	}
 
-	SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_VERBOSE, debug_text.str ());
 	debug_text.str("");
 
 	debug_text << source<<": Precendence Sets: UNRANKED: " << std::endl;
@@ -473,7 +473,7 @@ void SA_WorkingPlan::print_precedence_graph(std::string source){
 		debug_text<<std::endl;
 	}
 
-	SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_VERBOSE, debug_text.str ());
 	debug_text.str("");
 
 }
diff --git a/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp b/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp
index 3e2907a3b1c..5ed043c55b8 100644
--- a/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp
+++ b/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp
@@ -19,6 +19,7 @@
 #include <map>
 #include <stdlib.h>
 #include <fstream>
+#include <sstream>
 
 #include "SA_POP_Types.h"
 #include "Exp_EU_Planner.h"
@@ -35,6 +36,9 @@ using namespace SA_POP;
 
 // Constructor.
 Exp_EU_Planner::Exp_EU_Planner (void)
+:do_pause_ (false),
+ input_ (0),
+ ques_ (0)
 {
   // All initialization handled by Planner base class constructor.
 };
@@ -47,104 +51,21 @@ Exp_EU_Planner::~Exp_EU_Planner (void)
 }
 
 
-
-
-// Run planning.
-bool Exp_EU_Planner::plan (size_t sa_max_steps, SA_POP::Goal goal)
-{
-  // Add goal to working plan and task network.
-  this->working_plan_->set_goal (goal);
-  this->sanet_->update_goals (goal.goal_conds);
-
-  // Run spreading activation.
-  this->sanet_->update (sa_max_steps);
-
-  // Set planning strategy goals and satisfy open conditions.
-  this->plan_strat_->set_goals (goal.goal_conds);
-
-  if (this->plan_strat_->satisfy_open_conds ()) {
-    this->plan_ = this->working_plan_->get_plan ();
-
-    this->notify_plan_changed ();
-    return true;
-  }
-
-  return false;
-};
-
-// Replan with new goal.
-bool Exp_EU_Planner::replan (size_t sa_max_steps, SA_POP::Goal goal)
+// Set to pause and ask user whether to continue after each plan is generated.
+void Exp_EU_Planner::set_pause (UserInterface::InputCL *input_cl, UserInterface::QuestionBool *ques)
 {
-  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****
-  // Full replanning not implemented, so just restart planning.
-  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****
-
-  // 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 ();
-
-  // Add goal to working plan and task network.
-  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****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 reset 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****TEMP****TEMP****TEMP****TEMP****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_->reset_plan();
-  this->working_plan_->set_goal (goal);
-  this->sanet_->update_goals (goal.goal_conds);
-
-  // Run spreading activation.
-  this->sanet_->update (sa_max_steps);
-
-
-  // Set planning strategy goals and satisfy open conditions.
-  this->plan_strat_->set_goals (goal.goal_conds);
-  if (this->plan_strat_->satisfy_open_conds ()) {
-    this->plan_ = this->working_plan_->get_plan ();
-    this->notify_plan_changed ();
-    return true;
-  }
-
-  return false;
+  this->input_ = input_cl;
+  this->ques_ = ques;
+  this->do_pause_ = true;
 };
 
-// Replan with existing goal.
-bool Exp_EU_Planner::replan (size_t sa_max_steps)
+// Set to generate all plans without user input (instead of asking whether to continue after each plan is generated).
+void Exp_EU_Planner::unset_pause (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****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****
-  // Full replanning not implemented, so just restart planning.
-  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****
-  // Clear plan.
-  //TODO: Refactor this plan clearing into own function.
-  this->plan_.causal_links.clear ();
-  this->plan_.connections.clear ();
-  this->plan_.sched_links.clear ();
-  this->plan_.task_insts.clear ();
-  this->plan_.threat_links.clear ();
-  // Reset the working plan
-
-  // Run spreading activation.
-  this->sanet_->update (sa_max_steps);
-
-  // Set planning strategy goals and satisfy open conditions.
-  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;
+  this->do_pause_ = false;
 };
 
 
-// Recursively plan (satisfy all open conditions & schedule constraints).
-bool Exp_EU_Planner::recurse_plan (void)
-{
-  return this->plan_strat_->satisfy_open_conds ();
-};
-
 // Satisfy scheduling constraints in fully instantiated plan (no
 // recursive call backs).
 bool Exp_EU_Planner::full_sched ()
@@ -153,7 +74,20 @@ bool Exp_EU_Planner::full_sched ()
     this->plan_ = this->working_plan_->get_plan ();
     this->notify_plan_changed ();
     Utility plan_eu = this->calc_plan_eu (this->plan_);
-    std::cout << "Expected utility of generated plan:  " << plan_eu << std::endl << std::endl;
+
+//    std::ostringstream eu_str;
+//    eu_str << "Plan EU: " << plan_eu << std::endl << std::endl;
+//    SA_POP_DEBUG_STR(SA_POP_DEBUG_QUIET, eu_str.str ());
+
+    // If pausing to ask user whether to continue, ask question
+    // and return true (so the current plan will be returned instead
+    // of continuing planning) if user replies "No" to continuation
+    // question.
+    if (this->do_pause_) {
+      this->input_->ask ((*this->ques_));
+      if (!this->ques_->get_answer_bool ())
+        return true;
+    }
   }
 
   return false;
diff --git a/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.h b/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.h
index f46d87e5d2a..3e6e3d5b06a 100644
--- a/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.h
+++ b/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.h
@@ -26,6 +26,8 @@
 
 #include "Planner.h"
 
+#include "InputCL.h"
+
 //#include "PlanStrategy.h"
 //#include "SchedStrategy.h"
 //#include "WorkingPlan.h"
@@ -53,50 +55,39 @@ namespace SA_POP {
     virtual ~Exp_EU_Planner (void);
 
 
+    /// Set to pause and ask user whether to continue after each plan is generated.
+    /**
+     * @param input_cl  User in/out interface to use.
+     *
+     * @param ques  Question to ask user whether to continue.
+     */
+    virtual void set_pause (UserInterface::InputCL *input_cl, UserInterface::QuestionBool *ques);
+
+    /// Set to generate all plans without user input (instead of asking whether to continue after each plan is generated).
+    virtual void unset_pause (void);
+
     // ************************************************************************
     // Planning/re-planning methods.
     // ************************************************************************
 
-    /// Run planning.
-    /**
-     * @param sa_max_steps  Maximum steps to run spreading activation.
-     *
-     * @param goal  Goal for which to plan.
-     *
-     * @return  True if planning succeeded, false otherwise.
-     */
-    virtual bool plan (size_t sa_max_steps, SA_POP::Goal goal);
-    
-    /// Replan with new goal.
+    /// Run experiment planning.
     /**
      * @param sa_max_steps  Maximum steps to run spreading activation.
      *
      * @param goal  Goal for which to plan.
      *
-     * @return  True if planning succeeded, false otherwise.
-     */
-    virtual bool replan (size_t sa_max_steps, SA_POP::Goal goal);
-
-    /// Replan with current goal.
-    /**
-     * @param sa_max_steps  Maximum steps to run spreading activation.
+     * @param pause  True to pause after next plan is generated or
+     *               false to find all remaining plans.
      *
-     * @return  True if planning succeeded, false otherwise.
+     * @return  True if plan generated, false otherwise.
      */
-    virtual bool replan (size_t sa_max_steps);
-
-
+//    virtual bool plan_exp (size_t sa_max_steps, SA_POP::Goal goal, bool pause = 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);
-
     /// Satisfy scheduling constraints in fully instantiated plan (no
     /// recursive call backs).
     /**
@@ -104,6 +95,15 @@ namespace SA_POP {
      */
     virtual bool full_sched ();
 
+  protected:
+    /// Flag for whether to pause for user input after each plan is generated.
+    bool do_pause_;
+
+    /// User in/out interface to use for continuation question after each plan is generated.
+    UserInterface::InputCL *input_;
+
+    /// Question to ask user whether to continue after each plan is generated.
+    UserInterface::QuestionBool *ques_;
   };
 
 };  /* SA_POP namespace */
diff --git a/SA_POP/experiments/EU_Performance/SAPOP_Exp_EU.cpp b/SA_POP/experiments/EU_Performance/SAPOP_Exp_EU.cpp
index 107af895733..099d2b9480f 100644
--- a/SA_POP/experiments/EU_Performance/SAPOP_Exp_EU.cpp
+++ b/SA_POP/experiments/EU_Performance/SAPOP_Exp_EU.cpp
@@ -141,9 +141,7 @@ int main (int argc, char* argv[])
   std::string tm_filename = "";
   size_t max_steps = SANet::Default::SA_MAX_STEPS;
 
-  std::vector<SA_POP::CondID> track_conds;
   std::vector<SA_POP::CondID> kconds;
-  std::map<SA_POP::CondID, double> condMap;
 
   // Get filenames from user.
   UserInterface::Question sanet_file_ques ("Task Network file:");
@@ -261,114 +259,24 @@ int main (int argc, char* argv[])
 
   
 
-  // Get number of conditions to track.
-  int track = 0;
-  //Conditions to be potentially displayed 
-	std::cout << "How many conditions to track? ";
-	std::cin >> track;
-
-  // Get conditions to track.
-	for(int t = 0; t < track; t++)
-	{
-		int cid = 0;
-		std::cout << "Enter the Condition ID to track:";
-		std::cin >> cid;
-		SA_POP::CondID ccid = SA_POP::CondID(cid);
-    condMap.insert(std::make_pair(ccid, 1));
-		track_conds.push_back(ccid);
-	
-	}
-
   //Configure the OutAdapters to use
   SA_POP::LogScreenOut screen_out (std::cout);
-  graph_out.addTracking(track_conds);
+  planner->add_out_adapter (&screen_out);
   planner->add_out_adapter (&graph_out);
   //SA_POP::SchemaOut s_out	(std::cout, kconds);
   //planner->add_out_adapter (&s_out);
-  planner->add_out_adapter (&screen_out);
-
-  planner->plan (max_steps, goal);
-  SA_POP::Plan plan = planner->get_plan ();
-  SA_POP::Utility plan_eu = planner->calc_plan_eu (plan);
-  std::cout << "Expected utility of generated plan:  " << plan_eu << std::endl;
-
-
-  UserInterface::QuestionChoice<UserInterface::ExpEU::NextKind> ques_next ("Negate an (E)ffect, change an external (C)ondition, or e(X)it:", UserInterface::ExpEU::INVALID, false);
-  ques_next.add_mapping ("E", UserInterface::ExpEU::EFFECT);
-  ques_next.add_mapping ("Effect", UserInterface::ExpEU::EFFECT);
-  ques_next.add_mapping ("C", UserInterface::ExpEU::CONDITION);
-  ques_next.add_mapping ("Condition", UserInterface::ExpEU::CONDITION);
-  ques_next.add_mapping ("X", UserInterface::ExpEU::EXIT);
-  ques_next.add_mapping ("Exit", UserInterface::ExpEU::EXIT);
 
+  // Set planner to ask whether continue after each plan is generated.
+  UserInterface::QuestionBool ques_cont_plan ("Continue planning to find next plan? [(Y)es or (N)o]:", false);
+  planner->set_pause (&user_input, &ques_cont_plan);
 
-  bool stop = false;
-  while(!stop)
-  {
-	  displayConds(planner, track_conds, &condMap);
-
-    UserInterface::QuestionBool adv_ques ("Advance to next time step? [(Y)es or (N)o]:", false);
-    user_input.ask (adv_ques);
-    if (adv_ques.get_answer_bool ())
-	  {
-		  graph_out.moveStep();
-		  planner->plan (max_steps, goal);
-	  }
-	  else
-	  {
-      UserInterface::ExpEU::NextKind next_val = UserInterface::ExpEU::INVALID;
-      user_input.ask (ques_next);
-      next_val = ques_next.get_answer_val ();
-
-      switch (next_val)
-      {
-      case UserInterface::ExpEU::EFFECT:
-			  SA_POP::TaskID curTask;
-			  SA_POP::CondID curEff;
-			  std::cout << "Enter the Task ID: ";
-			  std::cin >> curTask;
-			  std::cout << "Enter the Condition ID: ";
-			  std::cin >> curEff;
-
-        for(std::map<SANet::CondID, double>::iterator cIter = condMap.begin(); cIter != condMap.end(); cIter++)
-        {
-          planner->update_cond_val((*cIter).first, (*cIter).second);
-        }
-        planner->update_effect(curTask, curEff, -1);
-
-        planner->replan(max_steps, goal);
-
-        break;
+  // Run experiment.
+  planner->plan (max_steps, goal);
 
-      case UserInterface::ExpEU::CONDITION:
-      {
-			  SA_POP::CondID envi;
-			  SA_POP::Probability newprob;
-			  std::cout << "Enter the Condition ID: ";
-			  std::cin >> envi;
-			  std::cout << "Enter the Probability: ";
-			  std::cin >> newprob;
-        std::map<SANet::CondID, double>::iterator cmp = condMap.find(envi);
-        if(cmp != condMap.end())
-          (*cmp).second = newprob;
-
-        for(std::map<SANet::CondID, double>::iterator cIter = condMap.begin(); cIter != condMap.end(); cIter++)
-        {
-          planner->update_cond_val((*cIter).first, (*cIter).second);
-        }
-
-        planner->replan(max_steps, goal);
-      }
-        break;
+//  SA_POP::Plan plan = planner->get_plan ();
+//  SA_POP::Utility plan_eu = planner->calc_plan_eu (plan);
+//  std::cout << "Expected utility of generated plan:  " << plan_eu << std::endl;
 
-      case UserInterface::ExpEU::EXIT:
-      case UserInterface::ExpEU::INVALID:
-      default:
-			  stop = true;
-        break;
-      }
-	  }
-  }
 
   delete planner;
 
@@ -376,7 +284,6 @@ int main (int argc, char* argv[])
 //  UserInterface::Question end_ques ("Enter any character to end program:");
 //  user_input.ask (end_ques);
 
-
   _CrtDumpMemoryLeaks();
 
   return 0;
diff --git a/SA_POP/experiments/EU_Performance/SAPOP_Exp_EU.mpc b/SA_POP/experiments/EU_Performance/SAPOP_Exp_EU.mpc
index b49247fc495..d88f383220d 100644
--- a/SA_POP/experiments/EU_Performance/SAPOP_Exp_EU.mpc
+++ b/SA_POP/experiments/EU_Performance/SAPOP_Exp_EU.mpc
@@ -1,9 +1,12 @@
-project(SAPOP_Exp_EU) : xerces, aceexe, sapop_xml {
+project(SAPOP_Exp_EU) : aceexe, xerces, boost_base, sapop_xml {
   exename = SAPOP_Exp_EU
 
   includes += $(SAPOP_ROOT)
   includes += $(SAPOP_ROOT)/UserInput
 
+//  includes += $(BOOST_ROOT)
+//  libpaths += $(BOOST_ROOT)/lib
+
   macros = SA_POP_HAS_ACE ACE_AS_STATIC_LIBS