Fri Jan 8 20:59:42 UTC 2010 John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>

12 files changed, 210 insertions, 197 deletions

diff --git a/SA_POP/C2W/C2W_Demo.cpp b/SA_POP/C2W/C2W_Demo.cpp
index 3e2f3c96ebe..d4beaab5d9d 100644
--- a/SA_POP/C2W/C2W_Demo.cpp
+++ b/SA_POP/C2W/C2W_Demo.cpp
@@ -262,8 +262,11 @@ int main (int argc, char* argv[])
     //planner->add_out_adapter (&s_out);
 	  //planner->add_out_adapter (&screen_out);
 
-    planner->plan (15, goal);
-	planner->calculate_plan_utility(15);
+    planner->plan (SA_POP::Default::SA_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;
 
   //} 
   /*
diff --git a/SA_POP/ChangeLog b/SA_POP/ChangeLog
index d733422d30e..d37921220b4 100644
--- a/SA_POP/ChangeLog
+++ b/SA_POP/ChangeLog
@@ -1,3 +1,20 @@
+Fri Jan  8 20:59:42 UTC 2010  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
+
+        * Planner.h:
+        * Planner.cpp:
+        * SA_POP_Types.h:
+        * SA_POP_Utils.h:
+        * SA_POP_Utils.cpp:
+        * SA_PlanHeuristics.cpp:
+        * SA_WorkingPlan.cpp:
+        * LogGraphOut.cpp:
+        * C2W/C2W_Demo.cpp:
+        * SANet/SANet.h:
+        * SANet/SANet.cpp:
+
+          Preliminary clean up of unclear/missing comments and non-robust code in SA-POP related to Planner functionality.
+
+
 Wed Dec 30 22:01:23 UTC 2009  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
 
         * Planner.cpp:
diff --git a/SA_POP/LogGraphOut.cpp b/SA_POP/LogGraphOut.cpp
index 4fe2eb4980b..67f117f7945 100644
--- a/SA_POP/LogGraphOut.cpp
+++ b/SA_POP/LogGraphOut.cpp
@@ -153,7 +153,7 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
   if(!byStep)
   {
     //Print out the entire graph first.
-    planner->print_graph(gfile, graphmap);
+    planner->print_sanet_graphviz(gfile, graphmap);
     //Now print out the graph of the causal links in the plan.
 	  for (CLSet::iterator cl_iter = plan.causal_links.begin ();
 		cl_iter != plan.causal_links.end ();
@@ -172,7 +172,7 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
   else if(byStep)
   {
     //Format a dot file with the entire graph to get the entire structure ready to print.
-    planner->print_graph(gfile, graphmap);
+    planner->print_sanet_graphviz(gfile, graphmap);
     //Propogate the image of taking a step in the plan by modifying the colors of the nodes.
     color_step(planner);
     //Use the timing to find the current step and color as necessary
diff --git a/SA_POP/Planner.cpp b/SA_POP/Planner.cpp
index 9100a880143..bdfab9209d2 100644
--- a/SA_POP/Planner.cpp
+++ b/SA_POP/Planner.cpp
@@ -212,12 +212,18 @@ const TaskEUMap& Planner::get_eu_changes (void)
   return this->eu_changes_;
 };
 
-// Print network.
+// Print a text representation of the task network.
 void Planner::print_sanet (std::basic_ostream<char, std::char_traits<char> >& strm,
                            bool verbose)
 {
   this->sanet_->print (strm, verbose);
-}
+};
+
+// Print the graphviz representation of the task network.
+void Planner::print_sanet_graphviz (std::basic_ostream<char, std::char_traits<char> >& strm, std::map<std::string, std::string>& graphmap)
+{
+  this->sanet_->print_graphviz(strm, graphmap);
+};
 
 // Recursively plan (satisfy all open conditions & schedule constraints).
 bool Planner::recurse_plan (void)
@@ -336,18 +342,6 @@ void Planner::update_cond_val (CondID cond_id, double true_prob)
   this->sanet_->update_cond_val (cond_id, true_prob);
 };
 
-// Update a condition's (goal) utility.
-void Planner::update_cond_util (CondID cond_id, double utility)
-{
-  this->sanet_->update_cond_util (cond_id, utility);
-};
-
-// Update all condition utilities based on new goal set.
-void Planner::update_goals (GoalMap goals)
-{
-  this->sanet_->update_goals (goals);
-};
-
 // Get a condition's current value (probability of being true).
 double Planner::get_cond_val (CondID cond_id)
 {
@@ -382,16 +376,12 @@ CondKind Planner::get_cond_type (CondID cond_id)
   return this->sanet_->get_cond_type (cond_id);
 };
 
-// Get a task's current expected utility.
-double Planner::get_task_current_eu (TaskID task_id)
-{
-  return this->sanet_->get_task_current_eu (task_id);
-};
-
-// Get a task's future expected utility.
-double Planner::get_task_future_eu (TaskID task_id)
+// Get a task's future expected utility (EU) from spreading activation.
+// (NOTE: Future EU is based on whatever spreading
+// activation has already been executed).
+Utility Planner::get_task_sa_eu (TaskID task_id)
 {
-  return this->sanet_->get_task_future_eu (task_id);
+  return this->sanet_->get_task_sa_eu (task_id);
 };
 
 // Get all preconditions of a task.
@@ -438,9 +428,10 @@ CondSet Planner::get_effects (TaskID task_id)
   return this->sanet_->get_effects (task_id);
 };
 
-SANet::LinkWeight Planner::get_link(SANet::TaskID id, SANet::CondID cond_ID)
+// Get the probability of a task's effect.
+SANet::LinkWeight Planner::get_effect_prob(SANet::TaskID id, SANet::CondID cond_ID)
 {
-  return this->sanet_->get_link(id, cond_ID);
+  return this->sanet_->get_effect_prob(id, cond_ID);
 }
 
 // Get all tasks that satisfy a condition.
@@ -512,9 +503,9 @@ void Planner::notify_plan_changed (void)
   }
 };
 
-double Planner::calculate_plan_utility(size_t sa_max_steps)
+double Planner::calc_plan_eu(Plan plan)
 {
-//	sanet_->reset_step();
+  size_t sa_max_steps = 100;
 	sanet_->set_nodes_state(false);
 
 	for(CLSet::iterator it = this->plan_.causal_links.begin(); it != 
@@ -626,12 +617,6 @@ TaskImplID Planner::get_impl_id (TaskInstID task_inst)
 }
 
 
-void Planner::print_graph (std::basic_ostream<char, std::char_traits<char> >& strm, std::map<std::string, std::string>& graphmap)
-{
-  this->sanet_->print_graphviz(strm, graphmap);
-
-}
-
 //Allows the planner to update an effect link
 void Planner::update_effect (SANet::TaskID tsk, SANet::CondID cnd, SANet::LinkWeight weight)
 {
diff --git a/SA_POP/Planner.h b/SA_POP/Planner.h
index 7a2661bd6c4..73221389dbe 100644
--- a/SA_POP/Planner.h
+++ b/SA_POP/Planner.h
@@ -40,7 +40,6 @@ namespace SA_POP {
   class Planner {
   public:
 
-
     /// Constructor.
     Planner (void);
 
@@ -48,7 +47,6 @@ namespace SA_POP {
     virtual ~Planner (void);
 
 
-
     // ************************************************************************
     // Initialization methods.
     // ************************************************************************
@@ -80,8 +78,9 @@ namespace SA_POP {
     virtual void generate_all_threats(void);
 
 
+
     // ************************************************************************
-    // Planning and changed planning info accessor methods.
+    // Planning/re-planning methods.
     // ************************************************************************
 
     /// Run planning.
@@ -112,19 +111,39 @@ namespace SA_POP {
      */
     virtual bool replan (size_t sa_max_steps);
 
+
+
+    // ************************************************************************
+    // Plan accessor methods.
+    // ************************************************************************
+
     /// Get current plan.
     /**
      * @return  Reference to current plan.
      */
     virtual const Plan& get_plan (void);
 
+    /// Calculate expected utility (EU) of a plan for current conditions.
+    /**
+     * @param plan  Plan for which to calculate EU.
+     *
+     * @return  Expected utility of provided plan given current conditions.
+     */
+    virtual EUCalc calc_plan_eu (Plan plan);
+
     /// Get last set of expected utility changes.
     /**
      * @return  Reference to last set of expected utility changes.
      */
     virtual const TaskEUMap& get_eu_changes (void);
 
-    /// Print network.
+
+
+    // ************************************************************************
+    // Task network display/output methods.
+    // ************************************************************************
+
+    /// Print a text representation of the task network.
     /**
      * @param strm  Output stream on which to print network representation.
      *
@@ -133,6 +152,15 @@ namespace SA_POP {
     virtual void print_sanet (std::basic_ostream<char, std::char_traits<char> >& strm
       = std::cout, bool verbose = false);
 
+    /// Print the graphviz representation of the task network.
+    /**
+     * @param strm  Output stream on which to print the graphviz representation.
+     *
+     * @param graphmap  Mapping from ??? to ???.
+     */
+    virtual void print_sanet_graphviz (std::basic_ostream<char, std::char_traits<char> >& strm,
+      std::map<std::string, std::string>& graphmap);
+
 
 
     // ************************************************************************
@@ -157,8 +185,6 @@ namespace SA_POP {
     /// Satisfy scheduling constraints in fully instantiated plan (no
     /// recursive call backs).
     /**
-     * 
-     *
      * @return  True if fully satisfied plan found, false otherwise.
      */
     virtual bool full_sched ();
@@ -177,9 +203,9 @@ namespace SA_POP {
 
     /// Undo and remove command.
     /**
-     * @param id  The id of the command to undo and remove.
+     * @param id  The ID of the command to undo and remove.
      *
-     * @exception InvalidCommand  The id provided does not correspond to top
+     * @exception InvalidCommand  The ID provided does not correspond to top
      *                            command.
      */
     virtual void undo_command (CommandID id);
@@ -192,9 +218,9 @@ namespace SA_POP {
 
     /// On current command, undo last execution (if any) & execute next option.
     /**
-     * @param id  The id of the command to undo and remove.
+     * @param id  The ID of the command to undo and remove.
      *
-     * @exception InvalidCommand  The id provided does not correspond to top
+     * @exception InvalidCommand  The ID provided does not correspond to top
      *                            command.
      *
      * @return True if command had an option to execute, false otherwise.
@@ -203,13 +229,13 @@ namespace SA_POP {
 
     /// Undo and remove all commands back to specified point.
     /**
-     * @param id  The id of the command to undo and remove through.
+     * @param id  The ID of the command to undo and remove through.
      */
     virtual void undo_through (CommandID id);
 
-    /// Get the current command id.
+    /// Get the current command ID.
     /**
-     * @return  The id of the current command
+     * @return  The ID of the current command
      */
     virtual CommandID cur_command_id();
 
@@ -220,26 +246,12 @@ namespace SA_POP {
 
     /// Update a condition's current value (probability of being true).
     /**
-     * @param cond_id  The condition id.
+     * @param cond_id  ID of the condition.
      *
      * @param true_prob  New probability that condition is true.
      */
     virtual void update_cond_val (CondID cond_id, double true_prob);
 
-    /// Update a condition's (goal) utility.
-    /**
-     * @param cond_id  The condition id.
-     *
-     * @param utility  New goal utility of condition.
-     */
-    virtual void update_cond_util (CondID cond_id, double utility);
-
-    /// Update all condition utilities based on new goal set.
-    /**
-     * @param goals  Set of goal condition ids and associated utilities.
-     */
-    virtual void update_goals (GoalMap goals);
-
 
 
     // ************************************************************************
@@ -248,7 +260,7 @@ namespace SA_POP {
 
     /// Get a condition's current value (probability of being true).
     /**
-     * @param cond_id  The condition id.
+     * @param cond_id  ID of the condition.
      *
      * @return  Probability that condition is true.
      */
@@ -262,7 +274,7 @@ namespace SA_POP {
 
     /// Get a task's name.
     /**
-     * @param task_id  The task id.
+     * @param task_id  ID of the task.
      *
      * @return  Task name.
      */
@@ -270,7 +282,7 @@ namespace SA_POP {
 
     /// Get a condition's name.
     /**
-     * @param cond_id  The condition id.
+     * @param cond_id  ID of the condition.
      *
      * @return  Condition name.
      */
@@ -278,31 +290,25 @@ namespace SA_POP {
 
     /// Get a condition's type/kind.
     /**
-     * @param cond_id  The condition id.
+     * @param cond_id  ID of the condition.
      *
      * @return  Condition type.
      */
     virtual CondKind get_cond_type (CondID cond_id);
 
-    /// Get a task's current expected utility.
-    /**
-     * @param task_id  The task id.
-     *
-     * @return  Current task expected utility.
-     */
-    virtual double get_task_current_eu (TaskID task_id);
-
-    /// Get a task's future expected utility.
+    /// Get a task's future expected utility (EU) from spreading activation.
+    /// (NOTE: Future EU is based on whatever spreading
+    /// activation has already been executed).
     /**
-     * @param task_id  The task id.
+     * @param task_id  ID of the task.
      *
      * @return  Future task expected utility.
      */
-    virtual double get_task_future_eu (TaskID task_id);
+    virtual Utility get_task_sa_eu (TaskID task_id);
 
     /// Get all preconditions of a task.
     /**
-     * @param task_id  The task id.
+     * @param task_id  ID of the task.
      *
      * @return  Set of all preconditions with associated values.
      */
@@ -310,7 +316,7 @@ namespace SA_POP {
 
     /// Get currently unsatisfied preconditions of a task.
     /**
-     * @param task_id  The task id.
+     * @param task_id  ID of the task.
      *
      * @return  Set of all unsatisfied preconditions with associated values.
      */
@@ -318,17 +324,25 @@ namespace SA_POP {
 
     /// Get all effects of a task.
     /**
-     * @param task_id  The task id.
+     * @param task_id  ID of the task.
      *
      * @return  Set of all effects with associated values.
      */
     virtual CondSet get_effects (TaskID task_id);
 
-    SANet::LinkWeight get_link(SANet::TaskID id, SANet::CondID cond_ID);
+    /// Get the probability of a task's effect.
+    /**
+     * @param task_ID  ID of task.
+     *
+     * @param cond_ID  ID of effect condition.
+     *
+     * @returns  Probability of effect given successful task execution.
+     */
+    virtual Probability get_effect_prob (SANet::TaskID id, SANet::CondID cond_ID);
 
     /// Get all tasks that satisfy a condition.
     /**
-     * @param cond_id  The condition id.
+     * @param cond_id  ID of the condition.
      *
      * @return  Set of all tasks that satisfy the given condition.
      */
@@ -336,12 +350,11 @@ namespace SA_POP {
 
     /// Get ports for a causal link.
     /**
-     * @param task1_id  ID of start task node in causal link.
+     * @param task1_id  ID of start task in causal link.
      *
-     * @param cond_id  ID of condition node in both precondition and effect
-     *                 links.
+     * @param cond_id  ID of the condition node in causal link.
      *
-     * @param task2_id  ID of end task node in causal link.
+     * @param task2_id  ID of end task in causal link.
      */
     virtual LinkPorts get_clink_ports (TaskID task1_id, CondID cond_id,
       TaskID task2_id);
@@ -352,11 +365,11 @@ namespace SA_POP {
     // Planning task/condition info accessor methods.
     // ************************************************************************
 
-    /// Get task id of a task instance.
+    /// Get task ID of a task instance.
     /**
-     * @param inst_id  The task instance id.
+     * @param inst_id  The task instance ID.
      *
-     * @return  The task id of this task instance.
+     * @return  ID of the task of this task instance.
      */
     virtual TaskID get_task_from_inst (TaskInstID inst_id);
 
@@ -375,7 +388,7 @@ namespace SA_POP {
 
     /// Get all implementations of a task.
     /**
-     * @param task_id  The task id.
+     * @param task_id  ID of the task.
      *
      * @return  The set of all implementations (ids) for the given task.
      */
@@ -383,7 +396,7 @@ namespace SA_POP {
 
     /// Get task implementation.
     /**
-     * @param impl_id  The task implementation id.
+     * @param impl_id  The task implementation ID.
      *
      * @return  Reference to the task implementation.
      */
@@ -391,9 +404,9 @@ namespace SA_POP {
 
     /// Get utilization info of a task implementation for a resource.
     /**
-     * @param impl_id  The task implementation id.
+     * @param impl_id  The task implementation ID.
      *
-     * @param resource_id  The resource id.
+     * @param resource_id  The resource ID.
      *
      * @return  The quantity of resource used.
      */
@@ -402,44 +415,46 @@ namespace SA_POP {
 
     /// Get all resources used by a task implementation.
     /**
-     * @param impl_id  The task implementation id.
+     * @param impl_id  The task implementation ID.
      *
      * @return  The set of all resources used (with associated usage values).
      */
     virtual ResourceMap get_all_resources (TaskImplID impl_id);
 
+
+
+
     // ************************************************************************
     // Scheduling Precedence Graph/Time Windows/Resources accessor methods.
     // ************************************************************************
 
+    /// Get the Task instances in a particular set of the specified task instance
+    /**
+     * @param task_inst The Task Instance whose Precedence Set has been queried
+     *
+     * @param prec_rel The Precedence relation to the task_inst
+     *
+     * @return A pointer to the Task Instance Set that has the relation prec_rel to task_inst
+     */
+    virtual const TaskInstSet* get_prec_insts (TaskInstID task_inst, PrecedenceRelation prec_rel);
+
+    /// Get the Start Window of the Task instance
+    /**
+     * @param task_inst The Task Instance whose Start Window is required
+     *
+     * @return The Start Window of task_inst
+     */
+    virtual TimeWindow get_start_window (TaskInstID task_inst);
+
+    /// Get the End Window of the Task instance
+    /**
+     * @param task_inst The Task Instance whose End Window is required
+     *
+     * @return The End Window of task_inst
+     */
+    virtual TimeWindow get_end_window (TaskInstID task_inst);
 
-	/// Get the Task instances in a particular set of the specified task instance
-	/**
-	 * @param task_inst The Task Instance whose Precedence Set has been queried
-	 *
-	 * @param prec_rel The Precedence relation to the task_inst
-	 *
-	 * @return A pointer to the Task Instance Set that has the relation prec_rel to task_inst
-	 */
-	virtual const TaskInstSet* get_prec_insts (TaskInstID task_inst, PrecedenceRelation prec_rel);
-
-	/// Get the Start Window of the Task instance
-	/**
-	 * @param task_inst The Task Instance whose Start Window is required
-	 *
-	 * @return The Start Window of task_inst
-	 */
-	virtual TimeWindow get_start_window (TaskInstID task_inst);
-
-	/// Get the End Window of the Task instance
-	/**
-	 * @param task_inst The Task Instance whose End Window is required
-	 *
-	 * @return The End Window of task_inst
-	 */
-	virtual TimeWindow get_end_window (TaskInstID task_inst);
-
-    //Get the duration of a task instance
+    ///Get the duration of a task instance
     /**
      * @param task_inst The task instance of which the duration is returned
      *
@@ -447,39 +462,38 @@ namespace SA_POP {
      */
     virtual TimeValue get_duration(TaskInstID task_inst);
 
-    /// Get task implementation id of a task instance.
+    /// Get task implementation ID of a task instance.
     /**
-     * @param inst_id  The task instance id.
+     * @param inst_id  The task instance ID.
      *
-     * @return  The task implementation id of this task instance.
+     * @return  The task implementation ID of this task instance.
      */
-    /// Get task implementation id of a task instance.
-	virtual TaskImplID get_task_impl_from_inst (TaskInstID inst_id);
+    virtual TaskImplID get_task_impl_from_inst (TaskInstID inst_id);
 
     /// Get the capacity of a resource.
     /**
-     * @param res_id The resource id whose capacity that we want to get.
+     * @param res_id The resource ID whose capacity that we want to get.
      *
      * @return The capacity of the resource
      */
-  virtual ResourceValue get_capacity (ResourceID res_id);
+    virtual ResourceValue get_capacity (ResourceID res_id);
 
     /// Get the Causal and Scheduling orderings to this task instance
     /**
      * @param inst_id The task instance to which all orderings are required
      */
-  virtual TaskInstSet before_orderings (TaskInstID inst_id);
+    virtual TaskInstSet before_orderings (TaskInstID inst_id);
 
     /// Get the Causal and Scheduling orderings from this task instance
     /**
      * @param inst_id The task instance from which all orderings are required
      */
-  virtual TaskInstSet after_orderings (TaskInstID inst_id);
+    virtual TaskInstSet after_orderings (TaskInstID inst_id);
+
+    /// Get all the task instances
+    virtual TaskInstSet get_all_insts();
 
-  /// Get all the task instances
-  virtual TaskInstSet get_all_insts();
-  
-    /// Check if the instance id already exists and is being reused.
+    /// Check if the instance ID already exists and is being reused.
     /**
      * @param task_inst The task instance being checked
      *
@@ -491,35 +505,25 @@ namespace SA_POP {
     /**
      * @param task_inst  The task instance.
      *
-     * @return The task implementation id.
+     * @return The task implementation ID.
      */
     virtual TaskImplID get_impl_id (TaskInstID task_inst);
 
 
-   /// (re) Set Effect Link
-   /**
-   * @param task_inst  The task id
-	 * @param task_inst  The Cond ID
-	 * @param task_inst  The LinkWeight
-	 * 
-   *
-   * @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, std::map<std::string, std::string>& graphmap);
-
-  virtual WorkingPlan*  get_working_plan(void){return this->working_plan_;};
+    /// (re) Set Effect Link
+    /**
+     * @param task_inst  ID of the task.
+     * @param task_inst  ID of the condition.
+     * @param task_inst  The LinkWeight
+     * 
+     *
+     * @return nothing
+     */
+    virtual void update_effect (SANet::TaskID tsk, SANet::CondID cnd, SANet::LinkWeight weight);
 
-  virtual void set_backtrack_cmd_id(CommandID cmd){backtrack_cmd = cmd;};
+    virtual WorkingPlan*  get_working_plan(void){return this->working_plan_;};
 
-  virtual double calculate_plan_utility(size_t sa_max_steps);
+    virtual void set_backtrack_cmd_id(CommandID cmd){backtrack_cmd = cmd;};
 
   protected:
     /// Threshold for current probability of a condition to be satisfied.
diff --git a/SA_POP/SANet/SANet.cpp b/SA_POP/SANet/SANet.cpp
index 93883aaad50..b978a2947e1 100644
--- a/SA_POP/SANet/SANet.cpp
+++ b/SA_POP/SANet/SANet.cpp
@@ -188,6 +188,7 @@ void SANet::Network::reset_step(){
 }
 
 
+// Get the prior probability for a task node in the network.
 Probability SANet::Network::get_prior(TaskID ID)
 {
   TaskNodeMap::iterator task_iter = task_nodes_.find (ID);
@@ -200,7 +201,8 @@ Probability SANet::Network::get_prior(TaskID ID)
 
 }
 
-LinkWeight SANet::Network::get_link(TaskID task_ID, CondID cond_ID)
+// Get the probability of a task's effect in the network.
+Probability SANet::Network::get_effect_prob(TaskID task_ID, CondID cond_ID)
 {
   TaskNodeMap::iterator task_iter = task_nodes_.find (task_ID);
   if (task_iter == task_nodes_.end ()) {
@@ -553,7 +555,7 @@ void SANet::Network::update_cond_util (CondID cond_id, Utility utility)
   cond_iter->second->set_goal_util (utility);
 };
 
-// Update all condition utilities based on new goal set.
+// Update all goal condition utilities based on new goal set.
 void SANet::Network::update_goals (GoalMap goals)
 {
   SANet::GoalMap goal;
@@ -646,15 +648,10 @@ CondKind SANet::Network::get_cond_type (CondID cond_id)
   return cond_iter->second->get_cond_kind ();
 };
 
-// Get a task's current expected utility.
-Utility SANet::Network::get_task_current_eu (TaskID task_id)
-{
-  // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
-  throw "Plan monitoring/updating/replanning not yet implemented: SANet::SANet::Network::get_task_current_eu ().";
-};
-
-// Get a task's future expected utility.
-Utility SANet::Network::get_task_future_eu (TaskID task_id)
+// Get a task's future expected utility (EU) from spreading activation.
+// (NOTE: Future EU is based on whatever spreading
+// activation has already been executed).
+Utility SANet::Network::get_task_sa_eu (TaskID task_id)
 {
   TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
   if (task_iter == task_nodes_.end ()) {
diff --git a/SA_POP/SANet/SANet.h b/SA_POP/SANet/SANet.h
index b50318b17d5..276fcc6b723 100644
--- a/SA_POP/SANet/SANet.h
+++ b/SA_POP/SANet/SANet.h
@@ -206,7 +206,7 @@ namespace SANet {
      */
     virtual void update_cond_util (CondID cond_id, Utility utility);
 
-    /// Update all condition utilities based on new goal set.
+    /// Update all goal condition utilities based on new goal set.
     /**
      * @param goals  Set of goal condition ids and associated utilities.
      */
@@ -317,23 +317,15 @@ namespace SANet {
      */
     virtual const GoalMap& get_goals (void);
 
-    /// Get a task's current expected utility.
-    /**
-     * @param task_id  The task id.
-     *
-     * @return  Current task expected utility.
-     */
-    virtual Utility get_task_current_eu (TaskID task_id);
-
-    /// Get a task's future expected utility.
-    /// (NOTE: Future probability is based on whatever spreading
-    /// activiation has already been executed).
+    /// Get a task's future expected utility (EU) from spreading activation.
+    /// (NOTE: Future EU is based on whatever spreading
+    /// activation has already been executed).
     /**
      * @param task_id  The task id.
      *
      * @return  Future task expected utility.
      */
-    virtual Utility get_task_future_eu (TaskID task_id);
+    virtual Utility get_task_sa_eu (TaskID task_id);
 
     /// Get all preconditions of a task.
     /**
@@ -399,15 +391,15 @@ namespace SANet {
      */
     virtual Probability get_prior (TaskID ID);
 
-    /// Get a link weight for an effect in the network.
+    /// Get the probability of a task's effect in the network.
     /**
-     * @param task_ID  Task ID.
+     * @param task_ID  ID of task node.
      *
-     * @param cond_ID  Condition ID.
+     * @param cond_ID  ID of effect condition.
      *
-     * @returns  Weight of the effect link.
+     * @returns  Probability of effect given successful task execution.
      */
-    virtual LinkWeight get_link(TaskID task_ID, CondID cond_ID);
+    virtual Probability get_effect_prob(TaskID task_ID, CondID cond_ID);
 
 
     // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
diff --git a/SA_POP/SA_POP_Types.h b/SA_POP/SA_POP_Types.h
index 16bd73f1cdf..4f4980810f6 100644
--- a/SA_POP/SA_POP_Types.h
+++ b/SA_POP/SA_POP_Types.h
@@ -212,6 +212,7 @@ namespace SA_POP {
 
 //*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****
   // WHAT DOES THIS STRUCT DO / HOW IS IT USED?
+  // NOT A GENERIC SIMPLE TYPE IN SA-POP SO SHOULD BE MOVED TO FILES OF WHATEVER SPECIFIC CLASSES USE IT.
   struct SortTaskByTime{
 
     TaskID task_id;
@@ -534,6 +535,9 @@ namespace SA_POP {
   };
 
 
+//*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****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.
+  // LOOKS LIKE A STD::PAIR WOULD SUFFICE UNLESS THIS IS A MORE GENERAL TYPE THAN IT APPEARS.
   struct TaskInstEndTimeSet{
     TaskInstID inst;
     double end_time;
@@ -542,6 +546,7 @@ namespace SA_POP {
       return end_time < compare.end_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*****
 
 
   /// Type of particular Task Implementation mapped to a Task Implementation Set.
@@ -558,6 +563,11 @@ namespace SA_POP {
   typedef SA_POP::ListMultiMap<Condition, TaskInstID> OpenCondMap;
 
 
+//*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****
+  // WHAT ARE THESE STRUCTS FOR? COMMENT THEM.
+  // NOT GENERIC SIMPLE TYPEs IN SA-POP, SO SHOULD BE MOVED TO SA_POP_UTILS.H OR FILES OF WHATEVER SPECIFIC CLASSES USE IT.
+  // SOME/ALL OF FOLLOWING STRUCTS SHOULD BE RECREATED AS CLASSES, GIVEN THEIR COMPLEXITY.
+//*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****
   //Following structures form the condition-checking heuristic we use; if a task satisfies a condition for a 
   //instance task once, it cannot satisfy another instance of that task unless some of the open conditions open
   //when it was first used
@@ -811,7 +821,9 @@ namespace SA_POP {
     /// Relative path (from root path) to SA-POP XML schemas.
     const std::string XSD_REL_PATH_STR = "/docs/schema/";
 
-    /// Maximum number of steps to run spreading activation.
+    /// Default for maximum number of steps to run spreading activation.
+    /// (WARNING:  Should be left at a "high" value so any reasonable plan
+    ///  length for SA-POP planning can be accommodated.)
     /// (NOTE: Corresponds to consideration of the probabilistic effects
     ///   of action sequences up to a length of half this value.)
     const size_t SA_MAX_STEPS = 1000;
diff --git a/SA_POP/SA_POP_Utils.cpp b/SA_POP/SA_POP_Utils.cpp
index b5123c4a5f5..437948d6e6b 100644
--- a/SA_POP/SA_POP_Utils.cpp
+++ b/SA_POP/SA_POP_Utils.cpp
@@ -6,7 +6,7 @@
 /**
  * @file  SA_POP_Types.cpp
  *
- * This file contains the implementation of class types used throughout SA-POP.
+ * This file contains the implementation of helper classes used by SA-POP.
  *
  * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
  */
diff --git a/SA_POP/SA_POP_Utils.h b/SA_POP/SA_POP_Utils.h
index 95973e0b548..e52fe0e2a76 100644
--- a/SA_POP/SA_POP_Utils.h
+++ b/SA_POP/SA_POP_Utils.h
@@ -6,7 +6,7 @@
 /**
  * @file  SA_POP_Utils.h
  *
- * This file contains the definitions of classes that are utilized in SA_POP.
+ * This file contains the definitions of helper classes used by SA-POP.
  *
  * @author  Daniel L.C. Mack <daniel.l.mack@vanderbilt.edu>
  */
diff --git a/SA_POP/SA_PlanHeuristics.cpp b/SA_POP/SA_PlanHeuristics.cpp
index dfc0fc568de..d34b2ac32af 100644
--- a/SA_POP/SA_PlanHeuristics.cpp
+++ b/SA_POP/SA_PlanHeuristics.cpp
@@ -168,7 +168,7 @@ TaskChoiceList SA_TaskStrategy::choose_task_fair (Condition open_cond)
   for (TaskSet::iterator iter = tasks.begin (); iter != tasks.end (); iter++)
   {
     task_map.insert (std::make_pair (
-      this->planner_->get_task_future_eu (*iter), *iter));
+      this->planner_->get_task_sa_eu (*iter), *iter));
   }
 
   std::multimap<TaskID, TaskInstID> tasks_to_insts;
@@ -268,7 +268,7 @@ TaskChoiceList SA_TaskStrategy::choose_task_once(Condition open_cond){
   for (TaskSet::iterator iter = tasks.begin (); iter != tasks.end (); iter++)
   {
     task_map.insert (std::make_pair (
-      this->planner_->get_task_future_eu (*iter), *iter));
+      this->planner_->get_task_sa_eu (*iter), *iter));
   }
 
   std::multimap<TaskID, TaskInstID> tasks_to_insts;
@@ -286,8 +286,11 @@ TaskChoiceList SA_TaskStrategy::choose_task_once(Condition open_cond){
   TaskChoiceList task_list;
   task_list.clear ();
 
+//*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****
+  // WE NEED TO PUT A THRESHOLD ON PROBABILITY OF TRUE/FALSE INSTEAD OF COMPARING A DOUBLE TO A BOOL.
   //If init can handle it, put it on here first
   if(this->planner_->get_cond_val(open_cond.id) == open_cond.value){
+//*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****TEMP*****
 		TaskChoice init_choice;
 		init_choice.choice = REUSE_INST;
 		init_choice.task_id = INIT_TASK_ID;
@@ -339,7 +342,7 @@ TaskChoiceList SA_TaskStrategy::choose_task (Condition open_cond)
   for (TaskSet::iterator iter = tasks.begin (); iter != tasks.end (); iter++)
   {
     task_map.insert (std::make_pair (
-      this->planner_->get_task_future_eu (*iter), *iter));
+      this->planner_->get_task_sa_eu (*iter), *iter));
   }
 
   std::multimap<TaskID, TaskInstID> tasks_to_insts;
diff --git a/SA_POP/SA_WorkingPlan.cpp b/SA_POP/SA_WorkingPlan.cpp
index 27a99e46735..c860f69dc5e 100644
--- a/SA_POP/SA_WorkingPlan.cpp
+++ b/SA_POP/SA_WorkingPlan.cpp
@@ -389,13 +389,13 @@ void SA_WorkingPlan::generate_all_threats(void)
 				CausalLink causal_threatened = (*nit).second;
 				TaskID threatened_task = this->task_insts_.find(causal_threatened.first)->second;
 
-				SANet::LinkWeight threat_effect = this->planner_->get_link(threat_possibility_taskid, condition.id);
+				SANet::LinkWeight threat_effect = this->planner_->get_effect_prob(threat_possibility_taskid, condition.id);
 
 				SANet::LinkWeight causal_effect;
 				if(threatened_task == INIT_TASK_ID){
 					causal_effect = 2*(this->planner_->get_cond_val(causal_threatened.cond.id)-.5);
 				}else{
-					causal_effect = this->planner_->get_link(threatened_task, causal_threatened.cond.id);
+					causal_effect = this->planner_->get_effect_prob(threatened_task, causal_threatened.cond.id);
 				}
 
 				if((threat_effect > 0 && causal_effect < 0 )|| (threat_effect < 0 && causal_effect > 0)){