Thu Jan 14 00:06:06 UTC 2010 John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>

4 files changed, 245 insertions, 190 deletions

diff --git a/SA_POP/ChangeLog b/SA_POP/ChangeLog
index 27a2a695492..1f889ff40f1 100644
--- a/SA_POP/ChangeLog
+++ b/SA_POP/ChangeLog
@@ -1,8 +1,23 @@
+Thu Jan 14 00:06:06 UTC 2010  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
+
+        * Planner.cpp:
+
+          Update Planner::calc_plan_eu().
+
+        * SA_POP_Types.h:
+
+          Update to plan struct (include the goal) and Null ID values.
+
+        * SA_WorkingPlan.cpp:
+
+          Update to SA_WorkingPlan initialization (using reset_plan()).
+
+
 Wed Jan 13 16:16:38 UTC 2010  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
         * utils/SANetGenerator/EUNets.py:
-	
-	Wrapper for creating multiple networks with the same parameters. 
+
+        Wrapper for creating multiple networks with the same parameters.
 
 Wed Jan 13 04:14:15 UTC 2010  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
 
diff --git a/SA_POP/Planner.cpp b/SA_POP/Planner.cpp
index 036ab0e36e3..4646640e34f 100644
--- a/SA_POP/Planner.cpp
+++ b/SA_POP/Planner.cpp
@@ -142,24 +142,18 @@ bool Planner::replan (size_t sa_max_steps, SA_POP::Goal goal)
   //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****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 ();
+  this->plan_.clear ();
+
+  // Reset the working plan
+  this->working_plan_->reset_plan ();
 
   // 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 ()) {
@@ -178,13 +172,10 @@ bool Planner::replan (size_t sa_max_steps)
   // 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 ();
+  this->plan_.clear ();
+
   // Reset the working plan
+  this->working_plan_->reset_plan ();
 
   // Run spreading activation.
   this->sanet_->update (sa_max_steps);
@@ -203,6 +194,7 @@ bool Planner::replan (size_t sa_max_steps)
 // Get current plan.
 const Plan& Planner::get_plan (void)
 {
+  this->plan_ = this->working_plan_->get_plan ();
   return this->plan_;
 };
 
@@ -505,6 +497,42 @@ void Planner::notify_plan_changed (void)
 
 double 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 ();
+
+  // Clone current SANet.
+  SANet::Network sanet (*(this->sanet_));
+
+  // Deactivate all nodes, before activating relevant ones.
+  sanet.set_nodes_state (false);
+
+  SA_POP::Goal goal = plan.goal;
+
+  // Activate goal conditions.
+  for (SA_POP::GoalMap::iterator goal_iter = goal.goal_conds.begin (); goal_iter != goal.goal_conds.end (); goal_iter++) {
+    sanet.set_cond_state (goal_iter->first, true);
+  }
+
+  // Activate only nodes relevant to the plan (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.";
+    }
+
+    // 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++) {
+      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.
   /*
diff --git a/SA_POP/SA_POP_Types.h b/SA_POP/SA_POP_Types.h
index 4f4980810f6..098a80f6c20 100644
--- a/SA_POP/SA_POP_Types.h
+++ b/SA_POP/SA_POP_Types.h
@@ -36,9 +36,10 @@
 #define SA_POP_DEBUG_VERBOSE 30
 
 // SET current SA-POP Debug output level.
-#define SA_POP_DEBUG_LEVEL SA_POP_DEBUG_VERBOSE
+#define SA_POP_DEBUG_LEVEL SA_POP_DEBUG_TEMP
 
 #define _CRTDBG_MAP_ALLOC
+
 #if defined (SA_POP_HAS_ACE)
 #define SA_POP_DEBUG(x,y) \
 if (x <= SA_POP_DEBUG_LEVEL) \
@@ -90,12 +91,6 @@ namespace SA_POP {
   /// 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;
 
@@ -159,49 +154,63 @@ namespace SA_POP {
   /// 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 long TaskInstID;
 
+  /// Type of a task implementation id.
+  /// (must be unique across all task implementations).
+  typedef std::string TaskImplID;
+
+  /// 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;
+
+
+
+
+  // PLACEHOLDER IDs (for conditions, tasks, instances, & implementations).
+  // NOTE:  MUST BE LESS THAN OR EQUAL TO 0.
+
+  /// NULL condition ID (for unknown/uninitialized conditions).
+  const CondID NULL_COND_ID = 0;
+
+  /// NULL task ID (for unknown/uninitialized tasks).
+  const TaskID NULL_TASK_ID = 0;
+
+  /// Initial state (as task) ID (for placeholder in planning).
+  const TaskID INIT_TASK_ID = -5;
+
   /// 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;
 
-  /// Initial state (as task) ID (for placeholder in planning).
-  const TaskID INIT_TASK_ID = -5;
-
   /// Initial state (as task) instance ID (for placeholder in planning).
   const TaskInstID INIT_TASK_INST_ID = -6;
 
-  /// 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;
+  /// Initial state (as task) implementation ID (for placeholder in planning/scheduling).
+  const TaskImplID INIT_TASK_IMPL_ID = "init_impl";
+
 
-  /// Type of a task implementation parameter kind/type.
-  typedef std::string ImplParamKind;
 
-  /// Type of a task implementation parameter value.
-  typedef std::string ImplParamValue;
   enum TaskChoiceType{REUSE_INST, NEW_INST};
-  struct TaskChoice {
 
+  struct TaskChoice {
     TaskChoiceType choice;
     TaskInstID task_inst_id;
     TaskID task_id;
   };
 
-  /// Initial state (as task) implementation ID (for placeholder in planning/scheduling).
-  const TaskImplID INIT_TASK_IMPL_ID = "init_impl";
-
 
   /// List of TaskChoices
   typedef std::list<TaskChoice> TaskChoiceList;
@@ -461,6 +470,53 @@ namespace SA_POP {
   /// Type of a goal ID.
   typedef std::string GoalID;
 
+  /// Null goal ID (for unknown/uninitialized goals).
+  const GoalID NULL_GOAL_ID = "NULL_GOAL_ID";
+
+  /// Type of a set of conditions with associated time constraints.
+  typedef std::map<CondID, TimeValue> TimeConstraintMap;
+
+  /// Type of a goal for SA-POP.
+  struct Goal
+  {
+    // Unique ID of goal.
+    GoalID goal_id;
+
+    // Human-readable name of goal (used for debugging, not identification).
+    std::string name;
+
+    // Goal conditions with utility values.
+    GoalMap goal_conds;
+
+    // Start-by and end-by constraints on conditions, in relative time
+    // (relative to start of opstring to achieve this goal).
+    TimeConstraintMap rel_times;
+
+    // Start-by and end-by constraints on conditions, in clock time.
+    TimeConstraintMap abs_times;
+
+    // Expected time range for start of opstring (for achieving this goal)
+    // execution.
+    TimeWindow start_window;
+
+    /// Clear goal to an empty/uninitialized state.
+    void clear (void) {
+      this->abs_times.clear ();
+      this->goal_conds.clear ();
+      this->rel_times.clear ();
+
+      this->goal_id = SA_POP::NULL_GOAL_ID;
+      this->name = "NULL_GOAL";
+      this->start_window.first = SA_POP::NULL_TIME;
+      this->start_window.second = SA_POP::NULL_TIME;
+    };
+
+    bool operator== (const Goal &s) const { return (this->goal_id == s.goal_id); };
+    bool operator!= (const Goal &s) const { return !(*this == s); };
+    bool operator< (const Goal &s) const { return this->goal_id < s.goal_id; };
+  };
+
+
   /// Type of a plan ID.
   typedef GoalID PlanID;
 
@@ -472,6 +528,9 @@ namespace SA_POP {
     // Human-readable name of plan (used for debugging, not identification).
     std::string name;
 
+    // Goal this plan is intended to achieve.
+    Goal goal;
+
     // Task instances in plan.
     PlanInstSet task_insts;
 
@@ -493,6 +552,23 @@ namespace SA_POP {
     // Expected end window.
     TimeWindow end_window;
 
+    /// Clear plan to an empty/uninitialized state.
+    void clear (void) {
+	    this->causal_links.clear ();
+	    this->connections.clear ();
+	    this->sched_links.clear ();
+	    this->task_insts.clear ();
+	    this->threat_links.clear ();
+      this->goal.clear ();
+
+      this->end_window.first = SA_POP::NULL_TIME;
+      this->end_window.second = SA_POP::NULL_TIME;
+      this->name = "NULL_PLAN";
+      this->plan_id = SA_POP::NULL_GOAL_ID;
+      this->start_window.first = SA_POP::NULL_TIME;
+      this->start_window.second = SA_POP::NULL_TIME;
+    };
+
     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
@@ -503,37 +579,6 @@ namespace SA_POP {
     };
   };
 
-  /// Type of a set of conditions with associated time constraints.
-  typedef std::map<CondID, TimeValue> TimeConstraintMap;
-
-  /// Type of a goal for SA-POP.
-  struct Goal
-  {
-    // Unique ID of goal.
-    GoalID goal_id;
-
-    // Human-readable name of goal (used for debugging, not identification).
-    std::string name;
-
-    // Goal conditions with utility values.
-    GoalMap goal_conds;
-
-    // Start-by and end-by constraints on conditions, in relative time
-    // (relative to start of opstring to achieve this goal).
-    TimeConstraintMap rel_times;
-
-    // Start-by and end-by constraints on conditions, in clock time.
-    TimeConstraintMap abs_times;
-
-    // Expected time range for start of opstring (for achieving this goal)
-    // execution.
-    TimeWindow start_window;
-
-    bool operator== (const Goal &s) const { return (this->goal_id == s.goal_id); };
-    bool operator!= (const Goal &s) const { return !(*this == s); };
-    bool operator< (const Goal &s) const { return this->goal_id < s.goal_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*****
   // IS THIS REALLY SUPPOSED TO BE CALLED A SET?  WHAT IS THIS STRUCT FOR? COMMENT IT.
diff --git a/SA_POP/SA_WorkingPlan.cpp b/SA_POP/SA_WorkingPlan.cpp
index c860f69dc5e..ebed6a9143c 100644
--- a/SA_POP/SA_WorkingPlan.cpp
+++ b/SA_POP/SA_WorkingPlan.cpp
@@ -36,56 +36,16 @@ 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 ();
-	this->reused_insts_.clear();
-	this->sched_links_.clear();
-
-	// Clear goal.
-	this->goal_.goal_id = "NULL";
-	this->goal_.name = "NULL";
-	this->goal_.abs_times.clear ();
-	this->goal_.rel_times.clear ();
-	this->goal_.goal_conds.clear ();
-	this->goal_.start_window = std::make_pair (0, 0);
-
-	// 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 ();
+  // Initialize variables.
+  this->reset_plan ();
 
+  // Create template commands.
 	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));
-
-	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)));
-
-	for(int i = 0; i < 2; i++){
-		this->init_start.insert(std::make_pair(i,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
-		this->init_end.insert(std::make_pair(i,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
-	}
-
-	this->no_condition.id = -4;
-	this->no_link.cond.id = -4;
-	this->no_link.first = -4;
-	this->no_link.second = -4;
-
-	this->task_impls_.insert(std::pair<TaskInstID, TaskImplID>(INIT_TASK_INST_ID, INIT_TASK_IMPL_ID));
-	this->task_insts_.insert(std::pair<TaskInstID, TaskID>(INIT_TASK_INST_ID, INIT_TASK_ID));
-
 };
 
 // Destructor.
@@ -98,39 +58,43 @@ SA_WorkingPlan::~SA_WorkingPlan (void)
 
 void SA_WorkingPlan::reset_plan ()
 {
+  // Init simple variables.
+  this->next_inst_id_ = 1;
 
-	next_inst_id_ =1;
+  // Clear sets, maps, & structs.
 	this->task_insts_.clear ();
 	this->task_impls_.clear ();
 	this->causal_links_.clear ();
 	this->reused_insts_.clear();
 	this->sched_links_.clear();
-
-	// Clear goal.
-	this->goal_.goal_id = "NULL";
-	this->goal_.name = "NULL";
-	this->goal_.abs_times.clear ();
-	this->goal_.rel_times.clear ();
-	this->goal_.goal_conds.clear ();
-	this->goal_.start_window = std::make_pair (0, 0);
-
-	// 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->precedence_graph_.clear();
-
 	this->init_start.clear();
 	this->init_end.clear();
+  this->goal_.clear ();
+	this->plan_.clear ();
 
+  // Initialize precedence graph.
 	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));
+
+	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)));
+
+	for(int i = 0; i < 2; i++){
+		this->init_start.insert(std::make_pair(i,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+		this->init_end.insert(std::make_pair(i,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME)));
+	}
+
+	this->no_condition.id = -4;
+	this->no_link.cond.id = -4;
+	this->no_link.first = -4;
+	this->no_link.second = -4;
+
+	this->task_impls_.insert(std::pair<TaskInstID, TaskImplID>(INIT_TASK_INST_ID, INIT_TASK_IMPL_ID));
+	this->task_insts_.insert(std::pair<TaskInstID, TaskID>(INIT_TASK_INST_ID, INIT_TASK_ID));
 }
 
 // Set goal.
@@ -162,72 +126,75 @@ 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.
+	//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****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 ();
+	this->plan_.clear ();
+
+  // Set goal.
+  this->plan_.goal = this->goal_;
 
-	//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****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
+	this->plan_.start_window = this->goal_.start_window;
 
 	//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****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;
+	// (Set absolute end window from start window + end windows of goal conditions)
+  this->plan_.end_window.first = NULL_TIME;
+  this->plan_.end_window.second = NULL_TIME;
 	//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****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 plan ID and name from goal.
+	this->plan_.plan_id = this->goal_.goal_id;
+	this->plan_.name = this->goal_.name;
+
 	// Add task instances to plan.
 	for (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.
-		inst.name = "TaskInst";
-		inst.name += to_string (inst.inst_id);
-		inst.name += "_";
-		inst.name += inst.type_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
-
-		// 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);
+    // If the task instance is a placeholder, don't add it.
+    if (iter->first < 0 || iter->first == GOAL_TASK_INST_ID || iter->first == INIT_TASK_INST_ID || iter->first == NULL_TASK_INST_ID)
+      continue;
+
+    // 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.
+	  inst.name = "TaskInst";
+	  inst.name += to_string (inst.inst_id);
+	  inst.name += "_";
+	  inst.name += inst.type_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
+
+	  // 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.
@@ -244,8 +211,8 @@ const Plan& SA_WorkingPlan::get_plan (void)
 		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)
+    // If either task instance in this causal link is a placeholder, don't add connection.
+    if (cl_iter->second.first < 0 || cl_iter->second.second < 0 || cl_iter->second.first == SA_POP::INIT_TASK_INST_ID || cl_iter->second.second == SA_POP::GOAL_TASK_INST_ID)
 			continue;
 
 		// If this condition is a data condition, add data connection to plan.