Fri Jan 9 21:39:55 UTC 2009 Daniel L.C. Mack <daniel.l.mack@vanderbilt.edu>

10 files changed, 311 insertions, 32 deletions

diff --git a/SA_POP/C2W/C2W_Demo.cpp b/SA_POP/C2W/C2W_Demo.cpp
index 155bc74ff21..8c8946e04bc 100644
--- a/SA_POP/C2W/C2W_Demo.cpp
+++ b/SA_POP/C2W/C2W_Demo.cpp
@@ -25,6 +25,7 @@
 #include "LogGraphOut.h"
 
 #include <vector>
+#include <map>
 
 //Commands to run in the thread
 unsigned long WINAPI ThirdThread(PVOID pvParam)
@@ -35,7 +36,7 @@ unsigned long WINAPI ThirdThread(PVOID pvParam)
 }
 
 //for displaying conditions
-void displayConds(SA_POP::Planner *plans, std::vector<SANet::CondID> checks)
+void displayConds(SA_POP::Planner *plans, std::vector<SANet::CondID> checks, std::map<SANet::CondID, double> *cMap)
 {
 
   std::ofstream cfile;
@@ -49,10 +50,20 @@ void displayConds(SA_POP::Planner *plans, std::vector<SANet::CondID> checks)
 	 
 	  if(plans->get_cond_val(checks[node]) == 1)
 	  {
+      std::map<SANet::CondID, double>::iterator cmp = cMap->find(checks[node]);
+      if(cmp != cMap->end())
+      {
+        (*cmp).second = 1;
+      }
 		cfile <<  "\t" << "\"" << plans->get_cond_name(checks[node]) << " " << checks[node] << "\" [shape = box, color = green];\n";
 	  }
 	  else
-	  {
+	  {  
+      std::map<SANet::CondID, double>::iterator cmp = cMap->find(checks[node]);
+      if(cmp != cMap->end())
+      {
+        (*cmp).second = 0;
+      }
 		cfile <<  "\t" << "\"" << plans->get_cond_name(checks[node]) << " " << checks[node] << "\" [shape = box, color = red];\n";
 	  }
 	  std::cout << "Ready for Next Cond" << std::endl;
@@ -80,6 +91,7 @@ int main (int argc, char* argv[])
   std::string tm_filename = "";
   std::vector<SA_POP::CondID> * kconds = new std::vector<SA_POP::CondID>;
   std::vector<SANet::CondID> toCheck;
+  std::map<SANet::CondID, double> condMap;
 
   // Get filenames from user.
   std::cout << "Task Network file: ";
@@ -165,6 +177,7 @@ int main (int argc, char* argv[])
 		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));
 		toCheck.push_back(ccid);
 	
 	}
@@ -193,7 +206,7 @@ int main (int argc, char* argv[])
 	  
 	  std::string step;
 	  std::cout << "Would you like to advance to the next time step? (Y or N): ";
-	  displayConds(planner, toCheck);
+	  displayConds(planner, toCheck, &condMap);
 	  std::cin >> step;
 	  if(step == "Y" || step == "y")
 	  {
@@ -213,8 +226,17 @@ int main (int argc, char* argv[])
 			  std::cin >> curTask;
 			  std::cout << "Enter the Condition ID: ";
 			  std::cin >> curEff;
-			  //planner->(curTask, curEff, -1);
-			  planner->replan(100);
+        SA_POP::SA_Builder rebuilder;
+        sanet_in.build_net (sanet_filename, &rebuilder);
+        tm_in.build_task_map (tm_filename, &rebuilder);
+        planner = rebuilder.get_planner ();
+        planner->add_out_adapter (&graph_out);
+        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->plan(100, goal);
 
 		  }
 		  else if(eff == "C" || eff == "c")
@@ -225,8 +247,22 @@ int main (int argc, char* argv[])
 			  std::cin >> envi;
 			  std::cout << "Enter the Probability: ";
 			  std::cin >> newprob;
-			  planner->update_cond_val(envi, newprob);
-			  planner->replan (100, goal);
+        std::map<SANet::CondID, double>::iterator cmp = condMap.find(envi);
+        if(cmp != condMap.end())
+        {
+          (*cmp).second = newprob;
+        }
+        SA_POP::SA_Builder rebuilder;
+        sanet_in.build_net (sanet_filename, &rebuilder);
+        tm_in.build_task_map (tm_filename, &rebuilder);
+        planner = rebuilder.get_planner ();
+        planner->add_out_adapter (&graph_out);
+        for(std::map<SANet::CondID, double>::iterator cIter = condMap.begin(); cIter != condMap.end(); cIter++)
+        {
+          planner->update_cond_val((*cIter).first, (*cIter).second);
+        }
+			  planner->plan (100, goal);
+
 		  }
 		  else
 		  {
diff --git a/SA_POP/C2W/LogGraphOut.cpp b/SA_POP/C2W/LogGraphOut.cpp
index 7c6eaafe4b4..3cbbb0c0005 100644
--- a/SA_POP/C2W/LogGraphOut.cpp
+++ b/SA_POP/C2W/LogGraphOut.cpp
@@ -65,7 +65,7 @@ void LogGraphOut::notify_eu (SA_POP::Planner *planner)
 unsigned long WINAPI SecondThread(PVOID pvParam)
 {
 	system("dot -Tgif GViz.dot -o step.gif");
-	//system("step.gif");
+	system("step.gif");
 	return 0;
 }
 
@@ -130,8 +130,10 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
 
   ofstream gfile;
   gfile.open("GViz.dot");
+
   
   gfile << "strict digraph graph" << graphn << " {\n";
+  planner->print_graph(gfile);
   if(graphn == 0)
   {
 	  for (CLSet::iterator cl_iter = plan.causal_links.begin ();
@@ -160,15 +162,39 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
 
 		if(planner->get_start_window (clink.first).first <= lastime)
 		{
-			gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box];\n";
-			gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
-			gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
-			if(planner->get_start_window (clink.second).first <= lastime)
+      if(planner->get_start_window (clink.first).first == lastime)
+      {
+        gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box, color= green];\n";
+        gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = green];\n";
+		  	gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
+		  	gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
+      }
+      else
+      {
+			  gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box, color= blue];\n";
+        gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = blue];\n";
+		  	gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
+		  	gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
+      }
+      
+      if(planner->get_start_window (clink.second).first <= lastime)
 			{
-				gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box];\n";
-				gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
-				gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "\n";
-			}
+        if(planner->get_start_window (clink.second).first == lastime)
+        {
+          gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box, color = green];\n";
+          //gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = green];\n";
+				  gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
+				  gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << ";\n";
+        }
+        else
+        {
+				  gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box, color = blue];\n";
+          gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = blue];\n";
+				  gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
+				  gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << ";\n";
+			
+        }
+      }
 		}
 	 }
 
diff --git a/SA_POP/ChangeLog b/SA_POP/ChangeLog
index b5c8484b449..228e1a0741d 100644
--- a/SA_POP/ChangeLog
+++ b/SA_POP/ChangeLog
@@ -1,13 +1,36 @@
+Fri Jan  9 21:39:55 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
+
+        * C2W/C2W_Demo.cpp:
+	Utilize update_effect function
+
+        * C2W/LogGraphOut.cpp:
+	Utilizes Complete Graphviz Visualization
+
+        * Planner.h:
+        * Planner.cpp:
+	Uses SANET::update_effect
+
+        * SANet/SANet.h:
+        * SANet/SANet.cpp:
+	Implements SANET::update_effect, which updates an effect link in a SANet, calls TaskNode::update_effect_link
+
+        * SANet/SANode.h:
+        * SANet/SANode.cpp:
+	Implements TaskNode::update_effect_link and CondNode::update_pre_link
+
+        * SA_WorkingPlan.cpp:
+	Clears causal links in reset_plan.
+
 Wed Dec 17 23:21:30 UTC 2008  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
         * C2W/C2W_Demo.cpp:
-	Minor update to setting effect
+        Minor update to setting effect
 
         * Planner.cpp:
-	Fixed typo
+        Fixed typo
 
         * SANet/SANode.cpp:
-	Check for changed condition value in CondNode::update()
+        Check for changed condition value in CondNode::update()
 
 Wed Dec 17 22:55:40 UTC 2008  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
diff --git a/SA_POP/Planner.cpp b/SA_POP/Planner.cpp
index 46af16a0cea..56552fbe0e6 100644
--- a/SA_POP/Planner.cpp
+++ b/SA_POP/Planner.cpp
@@ -528,14 +528,18 @@ TaskImplID Planner::get_impl_id (TaskInstID task_inst)
   return this->working_plan_->get_impl_id(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****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****
-  // update effect throws excepetion
-  //TODO: Add Update fucntions in SANet and SANode for updating the effect link.
-  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****
 
+
+void Planner::print_graph (std::basic_ostream<char, std::char_traits<char> >& strm)
+{
+  this->sanet_->print_graphviz(strm);
+
+}
+
+//Allows the planner to update an effect link
 void Planner::update_effect (SANet::TaskID tsk, SANet::CondID cnd, SANet::LinkWeight weight)
 {
-	this->sanet_->add_effect_link(tsk, cnd, weight);
+  this->sanet_->update_effect_link(tsk, cnd, weight);
 
 }
 
diff --git a/SA_POP/Planner.h b/SA_POP/Planner.h
index d38795e73f3..ef85438a7d3 100644
--- a/SA_POP/Planner.h
+++ b/SA_POP/Planner.h
@@ -489,16 +489,24 @@ namespace SA_POP {
     virtual TaskImplID get_impl_id (TaskInstID task_inst);
 
 
-    /// (re) Set Effect Link
-    /**
-     * @param task_inst  The task id
+   /// (re) Set Effect Link
+   /**
+   * @param task_inst  The task id
 	 * @param task_inst  The Cond ID
 	 * @param task_inst  The LinkWeight
-	 * @param task_inst  The PortID(default is blank)
-     *
-     * @return nothing
-     */
+	 * 
+   *
+   * @return nothing
+   */
 	virtual void update_effect (SANet::TaskID tsk, SANet::CondID cnd, SANet::LinkWeight weight);
+  
+  /// print the graphviz network of the SANet
+  /**
+   * @param strm  Output stream on which to print network representation.
+   *
+   * @return nothing
+   */
+  virtual void print_graph (std::basic_ostream<char, std::char_traits<char> >& strm);
 
 
   protected:
diff --git a/SA_POP/SANet/SANet.cpp b/SA_POP/SANet/SANet.cpp
index e9bcb511394..a12798318f4 100644
--- a/SA_POP/SANet/SANet.cpp
+++ b/SA_POP/SANet/SANet.cpp
@@ -150,6 +150,60 @@ void SANet::Network::add_effect_link (TaskID task_ID, CondID cond_ID,
     cond_ID), port_ID));
 };
 
+void SANet::Network::update_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;
+
+  // update link.**************
+  task_node->update_effect (cond_ID, cond_node, weight);
+
+  // Update link to port map.
+  
+  EffectLinkPortMap::iterator eliter = this->effect_links_.find((std::make_pair (task_ID,
+    cond_ID)));
+  if(eliter != effect_links_.end())
+  {
+    (*eliter).second = port_ID;
+  }
+
+};
+
+void SANet::Network::print_graphviz(std::basic_ostream<char, std::char_traits<char> >& strm)
+{
+  for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+    node_iter != task_nodes_.end (); node_iter++)
+  {
+    strm << "\t" << "\"" << node_iter->second->get_name() << " " << node_iter->first  << "\" " << "[shape=box, color = grey];\n";
+  }
+
+  for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
+    node_iter != cond_nodes_.end (); node_iter++)
+  {
+    strm << "\t" << "\"" << node_iter->second->get_name() << " " << node_iter->first  << "\" " << "[color = grey];\n";
+  }
+
+  for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+    node_iter != task_nodes_.end (); node_iter++)
+  {
+    node_iter->second->print_effects_graphviz(strm);
+    node_iter->second->print_preconds_graphviz(strm);
+  }
+
+}
+
 void SANet::Network::print_xml (std::basic_ostream<char, std::char_traits<char> >& strm)
 {
   strm << "<?xml version=\"1.0\" encoding=\"utf-8\" ?>" << std::endl;
diff --git a/SA_POP/SANet/SANet.h b/SA_POP/SANet/SANet.h
index fc14337dfc1..35d48c6bb59 100644
--- a/SA_POP/SANet/SANet.h
+++ b/SA_POP/SANet/SANet.h
@@ -120,6 +120,20 @@ namespace SANet {
     virtual void add_effect_link (TaskID task_ID, CondID cond_ID,
       LinkWeight weight, PortID port_ID = "");
 
+    /// Update the 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).
+     */
+    void update_effect_link(TaskID task_ID, CondID cond_ID,
+                               LinkWeight weight, PortID port_ID= "");
 
 
     // ************************************************************************
@@ -134,6 +148,14 @@ namespace SANet {
      */
     virtual void print (std::basic_ostream<char, std::char_traits<char> >& strm
       = std::cout, bool verbose = false);
+    
+    /// Print Graphviz network representation to stream.
+    /**
+     * @param strm  Output stream on which to print network representation.
+     */
+    virtual void print_graphviz (std::basic_ostream<char, std::char_traits<char> >& strm);
+
+    
 
     /// Print XML network representation to stream.
     /**
diff --git a/SA_POP/SANet/SANode.cpp b/SA_POP/SANet/SANode.cpp
index 76c346b0f95..e19fb50b36e 100644
--- a/SA_POP/SANet/SANode.cpp
+++ b/SA_POP/SANet/SANode.cpp
@@ -480,6 +480,36 @@ void TaskNode::print_precond_links_xml (std::basic_ostream<char, std::char_trait
   }
 };
 
+//print Graphviz DOT format of precondition links
+void TaskNode::print_preconds_graphviz(std::basic_ostream<char, std::char_traits<char> >&
+                                      strm)
+{
+  for (NodeMap::iterator node_iter = pre_nodes_.begin ();
+    node_iter != pre_nodes_.end (); node_iter++)
+  {
+    //format for a pre-cond in graphviz with condition then task
+      strm << "\t" << "\"" << node_iter->second->get_name() << " " << node_iter->first << "\" " << " -> ";
+      strm <<  "\"" << this->name_ << " " << this->ID_ << "\" " << ";\n";
+  }
+
+
+}
+
+//print Graphviz DOT format of effect links
+void TaskNode::print_effects_graphviz(std::basic_ostream<char, std::char_traits<char> >&
+                                      strm)
+{
+  for (NodeMap::iterator node_iter = post_nodes_.begin ();
+    node_iter != post_nodes_.end (); node_iter++)
+  {
+    //format for the effect link in graphviz with task then condition
+      strm << "\t" << "\"" << this->name_ << " " << this->ID_ << "\" " << " -> ";
+      strm <<  "\"" << node_iter->second->get_name() << " " << node_iter->first << "\" " << ";\n";
+  }
+
+
+}
+
 // Print XML representation of node's effect links to stream.
 void TaskNode::print_effect_links_xml (std::basic_ostream<char, std::char_traits<char> >&
                                       strm)
@@ -661,6 +691,30 @@ void TaskNode::add_effect (CondID ID, CondNode *node, LinkWeight weight)
   node->add_pre_link (ID_, this, weight);
 };
 
+void TaskNode::update_effect (CondID ID, CondNode *node, LinkWeight weight)
+{
+  // update node to post-nodes.
+
+  NodeMap::iterator pnodesiter = post_nodes_.find(ID);
+  if(pnodesiter != post_nodes_.end())
+  {
+    (*pnodesiter).second = node;
+  }
+
+
+  // update link weight
+
+   LinkMap::iterator pliter = post_links_.find(ID);
+  if(pliter != post_links_.end())
+  {
+    (*pliter).second = weight;
+  }
+
+  // update link for precondition node.
+  node->update_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),
@@ -1310,6 +1364,25 @@ void CondNode::add_pre_link (TaskID ID, TaskNode *node, LinkWeight weight)
   pre_links_.insert (std::make_pair (ID, weight));
 };
 
+void CondNode::update_pre_link (TaskID ID, TaskNode *node, LinkWeight weight)
+{
+  // update node to pre-nodes.
+
+  NodeMap::iterator nmiter = pre_nodes_.find(ID);
+  if(nmiter != pre_nodes_.end())
+  {
+    (*nmiter).second = node;
+  }
+
+  // update link weight.
+
+  LinkMap::iterator lmiter = pre_links_.find(ID);
+  if(lmiter != pre_links_.end())
+  {
+    (*lmiter).second = weight;
+  }
+};
+
 void CondNode::add_post_link (TaskID ID, TaskNode *node, LinkWeight weight)
 {
   // Add node to post-nodes.
diff --git a/SA_POP/SANet/SANode.h b/SA_POP/SANet/SANode.h
index a83a9436c13..75e12221948 100644
--- a/SA_POP/SANet/SANode.h
+++ b/SA_POP/SANet/SANode.h
@@ -255,6 +255,18 @@ namespace SANet {
      */
     virtual void print_effect_links_xml (std::basic_ostream<char, std::char_traits<char> >& strm);
 
+    /// Print Graphviz representation of node's pre-condition links to stream.
+    /**
+     * @param strm  Output stream on which to print links into Graphviz representation.
+     */
+    virtual void print_preconds_graphviz(std::basic_ostream<char, std::char_traits<char> >& strm);
+
+    /// Print Graphviz representation of node's effect links to stream.
+    /**
+     * @param strm  Output stream on which to print links into Graphviz representation.
+     */
+    virtual void print_effects_graphviz(std::basic_ostream<char, std::char_traits<char> >& strm);
+
     /// Update node to next step.
     /**
      * @return  True if node changed probability or utility, false otherwise.
@@ -295,6 +307,17 @@ namespace SANet {
      */
     virtual void add_effect (CondID ID, CondNode *node, LinkWeight weight);
 
+    /// Update 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 update_effect (CondID ID, CondNode *node, LinkWeight weight);
+
   protected:
     /// Unconditional prior probability of success.
     Probability prior_prob_;
@@ -390,6 +413,16 @@ namespace SANet {
      */
     virtual void add_pre_link (TaskID ID, TaskNode *node, LinkWeight weight);
 
+    /// update pre-link.
+    /**
+     * @param ID  Node ID.
+     *
+     * @param node  Node pointer.
+     *
+     * @param weight  Link weight.
+     */
+    virtual void update_pre_link (TaskID ID, TaskNode *node, LinkWeight weight);
+
     /// Add post-link.
     /**
      * @param ID  Node ID.
diff --git a/SA_POP/SA_WorkingPlan.cpp b/SA_POP/SA_WorkingPlan.cpp
index b2f3c11ecee..2182d67f9f3 100644
--- a/SA_POP/SA_WorkingPlan.cpp
+++ b/SA_POP/SA_WorkingPlan.cpp
@@ -252,7 +252,7 @@ void SA_WorkingPlan::reset_plan ()
 	next_inst_id_ =1;
 	this->task_insts_.clear ();
 	this->task_impls_.clear ();
-    this->causal_links_.clear ();
+  this->causal_links_.clear ();
 
   // Clear goal.
   this->goal_.goal_id = "NULL";