Thu Oct 15 00:40:20 UTC 2009 Ben Podgursky <bpodgursky@gmail.com>

14 files changed, 469 insertions, 178 deletions

diff --git a/C2W/C2W_Demo.cpp b/C2W/C2W_Demo.cpp
index cf53993bb9a..fb9bbb70abb 100644
--- a/C2W/C2W_Demo.cpp
+++ b/C2W/C2W_Demo.cpp
@@ -201,7 +201,9 @@ int main (int argc, char* argv[])
     tm_in.build_task_map (tm_filename, &builder);
 
 
-  } catch (std::string e) {
+  } 
+  
+  catch (std::string e) {
     std::cerr << "ERROR while building task network and task map from files:";
     std::cerr << std::endl;
     std::cerr << e;
@@ -215,7 +217,7 @@ int main (int argc, char* argv[])
   
 
 
-  try {
+ // try {
     planner = builder.get_planner ();
 
   //Set any probabilities not listed in the XML
@@ -262,7 +264,9 @@ int main (int argc, char* argv[])
 
     planner->plan (15, goal);
 
-  } catch (std::string e) {
+  //} 
+  /*
+  catch (std::string e) {
     std::cerr << "ERROR while planning:" << std::endl;
     std::cerr << e;
     delete planner;
@@ -270,6 +274,7 @@ int main (int argc, char* argv[])
     std::cerr << "UNKNOWN ERROR while planning." << std::endl;
     delete planner;
   }
+  */
   
   bool stop = false;
   while(!stop)
diff --git a/ChangeLog b/ChangeLog
index 764d7417046..641f0ffa5c0 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,10 +1,34 @@
+Thu Oct 15 00:40:20 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
+
+        * C2W/C2W_Demo.cpp:
+
+        * Planner.h:
+        * Planner.cpp:
+
+        * SANet/SANet.cpp:
+        * SANet/SANetFileIn.cpp:
+
+        * SA_POP_Types.h:
+        * SA_PlanHeuristics.cpp:
+        * SA_SchedStrategy.cpp:
+        * SA_WorkingPlan.cpp:
+        * TaskMapFileIn.cpp:
+
+        * utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java:
+
+        * utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java:
+
+        * utils/PDDLtoSANetTranslator/PDDLParser/src/pddl4j/ErrorManager.java:
+
+	Eliminated initial action
+
 Sun Oct  4 19:44:35 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
         * SA_POP_Types.h:
         * SA_SchedStrategy.cpp:
         * SA_WorkingPlan.cpp:
 
-	Changed debug levels
+        Changed debug levels
 
 Fri Oct  2 23:31:27 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
diff --git a/Planner.cpp b/Planner.cpp
index 68adafd2b87..38b0e1f6337 100644
--- a/Planner.cpp
+++ b/Planner.cpp
@@ -50,9 +50,6 @@ cur_cmd_ (0)
   this->plan_.task_insts.clear ();
   this->plan_.threat_links.clear ();
 
-  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****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->init_added = false;
-
   this->not_backtracking.decision_pt = -1;
   this->not_backtracking.seq_num = -1;
   this->not_backtracking.step = -1;
@@ -365,6 +362,10 @@ const GoalMap& Planner::get_goals (void)
 // Get a task's name.
 std::string Planner::get_task_name (TaskID task_id)
 {
+	if(task_id == INIT_TASK_ID){
+		return "init task";
+	}
+
   return this->sanet_->get_task_name (task_id);
 };
 
@@ -493,6 +494,11 @@ ResourceID resource_id)
 // Get all resources used by a task implementation.
 ResourceMap Planner::get_all_resources (TaskImplID impl_id)
 {
+
+	if(impl_id == INIT_TASK_IMPL_ID){
+		return SA_POP::ResourceMap();
+	}
+
   return this->task_map_->get_all_resources (impl_id);
 };
 
diff --git a/Planner.h b/Planner.h
index 5f75fe82d6b..03efa10247a 100644
--- a/Planner.h
+++ b/Planner.h
@@ -40,11 +40,6 @@ namespace SA_POP {
   class Planner {
   public:
 
-    //KILL ME SOON
-    bool init_added;
-
-
-
 
     /// Constructor.
     Planner (void);
diff --git a/SANet/SANet.cpp b/SANet/SANet.cpp
index 981ff8e4d49..174183fa444 100644
--- a/SANet/SANet.cpp
+++ b/SANet/SANet.cpp
@@ -407,16 +407,6 @@ void SANet::Network::update (int max_steps)
     }
   }
 
-  //Until the initial task is not a task, we need to ensure that it always has a higher
-  //utility than anything else so it is considered first as a way to satisfy a task.
-  double max_util = 0;
-  for(TaskNodeMap::iterator it = task_nodes_.begin(); it != task_nodes_.end(); it++){
-	  if(it->second->get_pos_util().utility > max_util){
-		  max_util = it->second->get_pos_util().utility;
-	  }	  
-  }
-  task_nodes_.find(SA_POP::INIT_TASK_ID)->second->set_pos_util(max_util*2);
-
 };
 
 // Update a condition's current value (probability of being true).
diff --git a/SANet/SANetFileIn.cpp b/SANet/SANetFileIn.cpp
index a8c3c6da4a3..187d9f8a9fe 100644
--- a/SANet/SANetFileIn.cpp
+++ b/SANet/SANetFileIn.cpp
@@ -186,7 +186,7 @@ void SANetFileIn::build_net (std::string filename, SA_POP::Builder *builder)
     builder->add_task (nodeID, priorProb, name);
   }
   
-  builder->add_task(SA_POP::INIT_TASK_ID, .5, "initact");
+ // builder->add_task(SA_POP::INIT_TASK_ID, .5, "initact");
 
   // Get condition nodes.
   for (SANet::XML::Network::condNode_iterator iter = xml_net.begin_condNode ();
@@ -208,7 +208,7 @@ void SANetFileIn::build_net (std::string filename, SA_POP::Builder *builder)
   else cond=::SA_POP::DATA;
 	builder->add_cond (nodeID, utility, probTrue, name, cond);
 
-	builder->set_effect(SA_POP::INIT_TASK_ID, nodeID, "", (probTrue-.5)*2);
+//	builder->set_effect(SA_POP::INIT_TASK_ID, nodeID, "", (probTrue-.5)*2);
   }
 
   // Get precondition->task links.
diff --git a/SA_POP_Types.h b/SA_POP_Types.h
index 9d82845763e..acf1c3a4487 100644
--- a/SA_POP_Types.h
+++ b/SA_POP_Types.h
@@ -29,10 +29,10 @@
 #include "ace/Log_Priority.h"
 #endif  /* SA_POP_HAS_ACE */
 
-#define MAX_TASK_INSTS 8
+
 #define SA_POP_DEBUG_VERBOSE 1
 #define SA_POP_DEBUG_NORMAL 5
-#define SA_POP_DEBUG_LOW 9
+#define SA_POP_DEBUG_MINIMAL 9
 #define SA_POP_DEBUG_HIGH 10
 #define _CRTDBG_MAP_ALLOC
 #if defined (SA_POP_HAS_ACE)
@@ -152,6 +152,10 @@ namespace SA_POP {
 
 	const TaskID INIT_TASK_ID = -5;
 
+	const TaskInstID INIT_TASK_INST_ID = -6;
+
+	const int MAX_TASK_INSTS = 12;
+
 	/// Type of a task implementation id.
 	/// (must be unique across all task implementations).
 	typedef std::string TaskImplID;
@@ -175,6 +179,8 @@ namespace SA_POP {
 		TaskID task_id;
 	};
 
+	
+	const TaskImplID INIT_TASK_IMPL_ID = "init_impl";
 
 
 	///List of TaskChoices
diff --git a/SA_PlanHeuristics.cpp b/SA_PlanHeuristics.cpp
index 11599e60b79..55cda30b758 100644
--- a/SA_PlanHeuristics.cpp
+++ b/SA_PlanHeuristics.cpp
@@ -187,6 +187,16 @@ TaskChoiceList SA_TaskStrategy::choose_task_fair (Condition open_cond)
   TaskChoiceList task_list;
   task_list.clear ();
 
+    //If init can handle it, put it on here first
+  if(this->planner_->get_cond_val(open_cond.id) == open_cond.value){
+		TaskChoice init_choice;
+		init_choice.choice = REUSE_INST;
+		init_choice.task_id = INIT_TASK_ID;
+		init_choice.task_inst_id = INIT_TASK_INST_ID;
+
+		task_list.push_back(init_choice);
+  }
+
   std::vector<SortTaskByTime> tasks_with_existing_instances;
 
   for (std::multimap<EUCalc, TaskID>::reverse_iterator iter = task_map.rbegin ();
@@ -202,9 +212,6 @@ TaskChoiceList SA_TaskStrategy::choose_task_fair (Condition open_cond)
 
 		task_list.push_back(task_choice);
 
-
-
-
 	  }else{
 
 		  SortTaskByTime to_sort;
@@ -223,9 +230,9 @@ TaskChoiceList SA_TaskStrategy::choose_task_fair (Condition open_cond)
 			to_sort.note_instance(it->second);
 		  }
 	
-		  if(!(iter->second == INIT_TASK_ID && this->planner_->init_added)){
+	//	  if(!(iter->second == INIT_TASK_ID && this->planner_->init_added)){
 			tasks_with_existing_instances.push_back(to_sort);
-		 }
+	//	 }
 	  
 	  }
   }
@@ -257,9 +264,9 @@ TaskChoiceList SA_TaskStrategy::choose_task (Condition open_cond)
 {
   TaskSet tasks = this->planner_->get_satisfying_tasks (open_cond);
 
-  if(this->planner_->init_added){
-    tasks.erase(INIT_TASK_ID);
-  }
+//  if(this->planner_->init_added){
+//    tasks.erase(INIT_TASK_ID);
+//  }
     
   // Add tasks to map with EU (to sort).
   std::multimap<EUCalc, TaskID> task_map;
@@ -285,6 +292,17 @@ TaskChoiceList SA_TaskStrategy::choose_task (Condition open_cond)
   TaskChoiceList task_list;
   task_list.clear ();
 
+  //If init can handle it, put it on here first
+  if(this->planner_->get_cond_val(open_cond.id) == open_cond.value){
+		TaskChoice init_choice;
+		init_choice.choice = REUSE_INST;
+		init_choice.task_id = INIT_TASK_ID;
+		init_choice.task_inst_id = INIT_TASK_INST_ID;
+
+		task_list.push_back(init_choice);
+  }
+
+
   for (std::multimap<EUCalc, TaskID>::reverse_iterator iter = task_map.rbegin ();
     iter != task_map.rend (); iter++)
   {
diff --git a/SA_SchedStrategy.cpp b/SA_SchedStrategy.cpp
index 6000ab3845e..d975bb145c5 100644
--- a/SA_SchedStrategy.cpp
+++ b/SA_SchedStrategy.cpp
@@ -207,8 +207,15 @@ bool SA_SchedStrategy::satisfy_full_sched ()
 			
 			  TaskInstEndTimeSet new_execute;
 			  new_execute.inst = prev_it->first;
-			  new_execute.end_time = current_execution_time + this->planner_->get_impl(working_plan_tmp->get_impl_id(prev_it->first))
-				  ->get_duration();
+
+			
+			  if(prev_it->first == INIT_TASK_INST_ID){
+				  new_execute.end_time = current_execution_time + 0;
+			  }else{
+				  new_execute.end_time = current_execution_time + this->planner_->get_impl(working_plan_tmp->get_impl_id(prev_it->first))
+					  ->get_duration();
+			  }
+
 			  executing_tasks.push_back(new_execute);
 			  befores.erase(prev_it);
 		  }
diff --git a/SA_WorkingPlan.cpp b/SA_WorkingPlan.cpp
index 8fa2d3e3cc6..b619a1e6d0f 100644
--- a/SA_WorkingPlan.cpp
+++ b/SA_WorkingPlan.cpp
@@ -70,6 +70,9 @@ add_threats_cmd_ (0)
 	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)));
@@ -80,6 +83,9 @@ add_threats_cmd_ (0)
 	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.
@@ -292,6 +298,10 @@ const TaskInstSet *SA_WorkingPlan::get_prec_set (TaskInstID task_inst, Precedenc
 // Get task id of a task instance.
 TaskID SA_WorkingPlan::get_task_from_inst (TaskInstID inst_id)
 {
+	if(inst_id == INIT_TASK_INST_ID){
+		return INIT_TASK_ID;
+	}
+
 	InstToTaskMap::iterator iter =
 		this->task_insts_.find (inst_id);
 	if (iter == this->task_insts_.end ())
@@ -347,7 +357,7 @@ 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_LOW, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_MINIMAL, debug_text.str ());
 	debug_text.str("");
 
 	debug_text << "SA_WorkingPlan::generate_all_threats:  All Causal Threats: " << std::endl;
@@ -356,6 +366,11 @@ void SA_WorkingPlan::generate_all_threats(void)
 	for(InstToTaskMap::iterator iterator = this->task_insts_.begin(); iterator != this->task_insts_.end(); iterator++){
 		TaskInstID threat_possibility = iterator->first;
 		TaskID threat_possibility_taskid = iterator->second;
+
+		if(threat_possibility_taskid == INIT_TASK_ID){
+			continue;
+		}
+
 		CondSet set = this->planner_->get_effects(threat_possibility_taskid);
 
 		//Iterate through the effects of each task instance
@@ -375,7 +390,13 @@ void SA_WorkingPlan::generate_all_threats(void)
 				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 causal_effect = this->planner_->get_link(threatened_task, causal_threatened.cond.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);
+				}
 
 				if((threat_effect > 0 && causal_effect < 0 )|| (threat_effect < 0 && causal_effect > 0)){
 
@@ -600,13 +621,14 @@ void SA_WorkingPlan::execute (SA_AddTaskCmd *cmd)
 	}
 	else if(task_choice.choice == NEW_INST){
 
-		if(task == INIT_TASK_ID && this->planner_->init_added)
-		{
-			throw "Reached SA_WorkingPlan::execute (SA_AddTaskCmd *cmd) for Special Initial Action after it was already existing instance tried";
-		}
+	//	if(task == INIT_TASK_ID && this->planner_->init_added)
+	//	{
+	//		throw "Reached SA_WorkingPlan::execute (SA_AddTaskCmd *cmd) for Special Initial Action after it was already existing instance tried";
+	//	}
 
 		if(task == INIT_TASK_ID){
-			this->planner_->init_added =  true;
+	//		this->planner_->init_added =  true;
+			bool asdf_problem = true;
 		}
 
 		task_inst = this->get_next_inst_id ();
@@ -769,10 +791,6 @@ void SA_WorkingPlan::undo (SA_AddTaskCmd *cmd)
 
 
 	if(cmd->last_task_choice_.choice == NEW_INST){
-		if(cmd->last_task_ == INIT_TASK_ID){
-			planner_->init_added = false;
-		}
-
 		this->task_insts_.erase (this->task_insts_.find(cmd->last_task_inst_));  
 	}else{
 		this->reused_insts_.erase(this->reused_insts_.find(cmd->last_task_inst_));
@@ -874,6 +892,11 @@ bool SA_WorkingPlan::execute (SA_AssocTaskImplCmd *cmd)
 
 
 	}
+
+	if(cmd->task_inst_ == INIT_TASK_INST_ID){
+		this->durations.insert(std::make_pair(cmd->task_inst_, 1));
+	}
+
 	// Update last implementation to this one and remove it from command.
 	cmd->last_impl_ = cmd->impls_.front ();
 	cmd->impls_.pop_front ();
@@ -957,7 +980,7 @@ bool SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd)
 	Condition condition = cmd->condition;
 
 
-	if(task_insts_.find(cmd->second)->second == INIT_TASK_ID){
+	if(cmd->second == INIT_TASK_INST_ID){
 
 		debug_text << "SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd):  Cannot schedule before initial task"<<std::endl;
 		SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
@@ -1608,8 +1631,8 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd
 	this->precedence_graph_.find(SIMUL)->second.insert(std::make_pair(task_inst,temp));
 
 
-	if(init_start.size() <= task_inst){
-		for(int i = init_start.size(); i < 100+task_inst; i++){
+	if(init_start.size()-1 <= task_inst){
+		for(int i = init_start.size()-1; i < 100+task_inst; 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)));
 		}
@@ -2039,6 +2062,7 @@ TaskInstSet SA_WorkingPlan::get_all_insts()
 /// Check if the instance id already exists and is being reused.
 bool SA_WorkingPlan::inst_exists (TaskInstID task_inst)
 {
+
 	if(this->task_impls_.find(task_inst)!=this->task_impls_.end()) return true;
 	else return false;
 }
diff --git a/TaskMapFileIn.cpp b/TaskMapFileIn.cpp
index 583a95c4551..22ac5a51626 100644
--- a/TaskMapFileIn.cpp
+++ b/TaskMapFileIn.cpp
@@ -99,15 +99,15 @@ void TaskMapFileIn::build_task_map (std::string filename, Builder *builder)
     builder->add_task_impl (impl);
   }
 
-  ImplParamSet init_params;
-  ImplParam init_param;
-  init_param.id = "test_param1";
-  init_param.kind = "test_kind1";
-  init_param.value = "test_param_value1";
-  init_params.insert (init_param);
+ // ImplParamSet init_params;
+ // ImplParam init_param;
+ // init_param.id = "test_param1";
+ // init_param.kind = "test_kind1";
+ // init_param.value = "test_param_value1";
+ // init_params.insert (init_param);
 
-  TaskImpl* initimpl = new TaskImpl ("initact_impl", init_params);
-  builder->add_task_impl (initimpl);
+ // TaskImpl* initimpl = new TaskImpl ("initact_impl", init_params);
+ // builder->add_task_impl (initimpl);
 
   // Get resources.
   for (SA_POP::XML::TaskMap::resource_iterator res_iter =
@@ -141,7 +141,7 @@ void TaskMapFileIn::build_task_map (std::string filename, Builder *builder)
 
     builder->add_resource (resource);
 
-	builder->assoc_impl_with_resource ("initact_impl", resourceID, 1);
+//	builder->assoc_impl_with_resource ("initact_impl", resourceID, 1);
   }
 
   // Get task to implementation associations.
@@ -164,7 +164,7 @@ void TaskMapFileIn::build_task_map (std::string filename, Builder *builder)
     builder->assoc_task_with_impl (taskID, implID, duration);
   }
 
-  builder->assoc_task_with_impl (INIT_TASK_ID, "initact_impl", 1);
+ // builder->assoc_task_with_impl (INIT_TASK_ID, "initact_impl", 1);
 
   // Get task implementation to resource associations.
   for (SA_POP::XML::TaskMap::implToResource_iterator iassocr_iter =
diff --git a/utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java b/utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java
index 7ed80fbefe8..341b4162ac9 100644
--- a/utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java
+++ b/utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java
@@ -1,8 +1,18 @@
 import java.io.File;
 import java.io.FileNotFoundException;
+import java.io.FileReader;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.util.LinkedHashMap;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.Map;
 import java.util.Properties;
+import java.util.Scanner;
 
 import Translator.PDDL_Translator;
+import Translator.StatisticsCompilation;
+import Translator.StatisticsReport;
 
 import pddl4j.Domain;
 import pddl4j.ErrorManager;
@@ -32,15 +42,12 @@ public class PDDLtoSAN {
 //		int cond_combine = new Integer(args[3]);
 //		String output_name = args[4];
 		
-		String domain_path = "hanoi.pddl";
-		String problem_path = "hanoi-pb1.pddl";
-		boolean include_init = false;
-		int cond_combine = 4;
-		String output_name = "ferry-orig-pruned";
+//		String domain_path = "TPP-domain.pddl";
+//		String problem_path = "tpp-p08.pddl";
+//		boolean include_init = false;
+//		int cond_combine = 2;
+//		String output_name = "ferry-orig-pruned";
 		
-		Domain domain = null;
-		Problem problem = null;
-
 		Properties options = new Properties();
 		options.put("source", Source.V3_0);
 		options.put(RequireKey.STRIPS, true);
@@ -49,51 +56,122 @@ public class PDDLtoSAN {
 		options.put(RequireKey.NEGATIVE_PRECONDITIONS, true);
 		options.put(RequireKey.DISJUNCTIVE_PRECONDITIONS, true);
 		options.put(RequireKey.CONDITIONAL_EFFECTS, true);
-		// options.put(RequireKey.EXISTENTIAL_PRECONDITIONS, true);
-		// options.put(RequireKey.UNIVERSAL_PRECONDITIONS, true);
-
-		Parser parser = new Parser(options);
-
-		File domain_file = new File(domain_path);
-		File problem_file = new File(problem_path);
+		
+		Map<String, List<String>> domains_to_problems = read_input_file(args[0]);
+		
+	//	List<StatisticsReport> info_sets = new LinkedList<StatisticsReport>();
+		
+		StatisticsCompilation all_stat_compl = new StatisticsCompilation();
+		
+		for(String domain_path: domains_to_problems.keySet()){
+			
+			StatisticsCompilation stat_compl = new StatisticsCompilation();
+			
+			Domain domain = null;
+			File domain_file = new File(domain_path);
+			Parser parser = new Parser(options);
+			
+			try {
+				domain = parser.parse(domain_file);
+			} catch (FileNotFoundException e) {
+				System.out.println("Error: domain file "+domain_file+" not found");
+				System.exit(0);
+			}
+			
+			for(String problem_path: domains_to_problems.get(domain_path)){
+				File problem_file = new File(problem_path);
+				Problem problem = null;
+				Parser problem_parser = new Parser(options);
+				
+				try {
+					problem = problem_parser.parse(problem_file);
+				} catch (FileNotFoundException e) {
+					System.out.println("Error: problem file "+problem_file+" not found");
+					System.exit(0);
+				}
+				
+				PDDLObject obj = problem_parser.link(domain, problem);
+				ErrorManager mgr = parser.getErrorManager();
+				
+				if (mgr.contains(Message.ERROR)) {
+					mgr.print(Message.ALL);
+					mgr.clear();
+					System.exit(0);
+				}
+				else {
+					mgr.print(Message.WARNING);
+					mgr.clear();
+			
+					System.out.println();
+					System.out.println("Translating: "+ problem_file+ " " + domain_file);
+					System.out.println();
+					
+					PDDL_Translator n = new PDDL_Translator(obj, 1, false);
+					
+					System.out.println("Done translating");
+					System.out.println("  SAN number of conditions: "+ n.getConditonNodeCount());
+					System.out.println("  SAN number of actions: " + n.getActionNodeCount());
 
-		try {
-			domain = parser.parse(domain_file);
-		} catch (FileNotFoundException e) {
-			System.out.println("Error: domain file "+domain_file+" not found");
-			System.exit(0);
+					stat_compl.all_reports.add(n.getStatReport());
+					all_stat_compl.all_reports.add(n.getStatReport());
+					
+			//		n.printSAN();
+			//		n.write_SAN_to_xml(domain.getDomainName()+"_"+problem.getProblemName()+"-san.xml");
+			//		n.write_TM_to_xml(domain.getDomainName()+"_"+problem.getProblemName()+"-tm.xml");
+			//		n.write_goals_to_file(domain.getDomainName()+"_"+problem.getProblemName()+"-goals");
+				}
+			}
+			
+			try {
+				FileWriter fileout = new FileWriter(new File(domain_path+args[1]));
+				fileout.write(stat_compl.toString());
+				fileout.close();
+				
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}		
+			
 		}
 		
+		FileWriter fileout;
 		try {
-			problem = parser.parse(problem_file);
-		} catch (FileNotFoundException e) {
-			System.out.println("Error: problem file "+problem_file+" not found");
-			System.exit(0);
-		}
+			fileout = new FileWriter(new File(args[1]));
+			fileout.write(all_stat_compl.toString());
+			fileout.close();	
 			
-		PDDLObject obj = parser.link(domain, problem);
-	
-		ErrorManager mgr = parser.getErrorManager();
-			
-		if (mgr.contains(Message.ERROR)) {
-			mgr.print(Message.ALL);
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
 		}
-		else {
-			mgr.print(Message.WARNING);
+
+	//	System.out.println(stat_compl.toString());
+	}
 	
-			System.out.println();
-			System.out.println("Translating:");
+	public static Map<String, List<String>>  read_input_file(String filename){
+		//TODO make this work properly
+		Map<String, List<String>> to_ret = new LinkedHashMap<String, List<String>>();
+		Scanner scan = null;
+		try {
+			scan = new Scanner(new FileReader(new File(filename)));
+		} catch (FileNotFoundException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		
+		while(scan.hasNext()){
+			String domain_name = scan.next();
 			
-			PDDL_Translator n = new PDDL_Translator(obj, cond_combine, include_init);
+			String next = scan.next();
+			List<String> problems = new LinkedList<String>();
 			
-			System.out.println("Done translating");
-			System.out.println("  SAN number of conditions: "+ n.getConditonNodeCount());
-			System.out.println("  SAN number of actions: " + n.getActionNodeCount());
-
-			n.printSAN();
-			n.write_SAN_to_xml(output_name+"-san.xml");
-			n.write_TM_to_xml(output_name+"-tm.xml");
-			n.write_goals_to_file(output_name+"-goals");
+			while(!next.equals("END")){
+				problems.add(next);
+				next = scan.next();
+			}
+			to_ret.put(domain_name, problems);
 		}
+		
+		return to_ret;
 	}
-}
+}
\ No newline at end of file
diff --git a/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java b/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java
index 05192efcf31..5fd7e8a9099 100644
--- a/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java
+++ b/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java
@@ -53,6 +53,8 @@ import javax.xml.transform.stream.*;
 
 
 public class PDDL_Translator {
+	
+	StatisticsReport stat_report;
 
 	Map<String, CondNode> condition_nodes = new LinkedHashMap<String, CondNode>();
 	Map<String, TaskNode> task_nodes= new LinkedHashMap<String, TaskNode>();
@@ -85,6 +87,8 @@ public class PDDL_Translator {
 	 */
 	public PDDL_Translator(PDDLObject pddl_object, int condition_combine_levels, boolean use_initial_action){
 		
+		stat_report = new StatisticsReport(pddl_object.getDomainName(), pddl_object.getProblemName());
+		
 		long start_time = new Date().getTime();
 		
 		init_act_visible = use_initial_action;
@@ -140,13 +144,9 @@ public class PDDL_Translator {
         //Add the initial action in as an anchor--otherwise it would seem that none
         //of the conditions can come true
         setup_initial_action(init_act);
-        
-        System.out.println();
-        System.out.println("Initial Network Statistics: ");
-        System.out.println();
-        calculateNetworkStatistics();
-        System.out.println();
-        
+
+        calculateNetworkStatistics("before_impossibility_removal");
+
         System.out.println("Before optimizing: "+ this.task_nodes.size()+" tasks "+ this.condition_nodes.size()+" conditions");
         System.out.println("Elapsed: "+ (new Date().getTime()-start_time));
         
@@ -159,29 +159,22 @@ public class PDDL_Translator {
 	
 	        //Basically cut down through the tasks and conditions and only take the relevant
 	        //ones 
-	        keep_looping = eliminate_irreleevant_tasks_and_conditions()||keep_looping;
+	  //      keep_looping = eliminate_irreleevant_tasks_and_conditions()||keep_looping;
 	        //Get rid of tasks that take plan backwards and where getting there
 	        //helps nothing else
-	 //       keep_looping = eliminate_dominated_tasks()||keep_looping;
+	 ////////////       keep_looping = eliminate_dominated_tasks()||keep_looping;
         } while(keep_looping);
         
         //Go through and look to see if any conditions can be replaced by a set of other
         //conditions
         //TODO maybe try something like a kmap here?
         
-        System.out.println();
-        System.out.println("Network Statistics Before Condition Combining: ");
-        System.out.println();
-        calculateNetworkStatistics();
-        System.out.println();
-        
-        combine_conditions(condition_combine_levels);
+
+        calculateNetworkStatistics("before_cond_combining");
+
+    //    combine_conditions(condition_combine_levels);
         
-        System.out.println();
-        System.out.println("Network Statistics After Condition Combining: ");
-        System.out.println();
-        calculateNetworkStatistics();
-        System.out.println();
+ //       calculateNetworkStatistics("after_cond_combining");
         
         System.out.println("End elapsed: "+ (new Date().getTime()-start_time));
         
@@ -192,11 +185,13 @@ public class PDDL_Translator {
         record_task_impls();
 	}
 	
-	private void calculateNetworkStatistics(){
-		
-		System.out.println("Number of conditions: "+this.condition_nodes.size());
-		System.out.println("Number of tasks: "+ this.task_nodes.size());
+	private void calculateNetworkStatistics(String label){
 		
+		System.out.println();
+		System.out.println("Network stats at: "+label);
+		System.out.println("   Number of conditions: "+this.condition_nodes.size());
+		System.out.println("   Number of tasks: "+ this.task_nodes.size());
+		System.out.println();
 		
 		int total_precond_links = 0;
 		int num_sat_links = 0;
@@ -205,10 +200,15 @@ public class PDDL_Translator {
 		
 		int total_effect_links = 0;
 		
-		int[] effects_per_cond = new int[condition_nodes.size()];
-		int[] preconds_per_cond = new int[condition_nodes.size()];
-		int[] effects_per_task = new int[task_nodes.size()-1];
-		int[] preconds_per_task = new int[task_nodes.size()-1];
+//		int[] effects_per_cond = new int[condition_nodes.size()];
+//		int[] preconds_per_cond = new int[condition_nodes.size()];
+//		int[] effects_per_task = new int[task_nodes.size()-1];
+//		int[] preconds_per_task = new int[task_nodes.size()-1];
+		
+		List<Integer> effects_per_cond = new LinkedList<Integer>();
+		List<Integer> preconds_per_cond = new LinkedList<Integer>();
+		List<Integer> effects_per_task = new LinkedList<Integer>();
+		List<Integer> preconds_per_task = new LinkedList<Integer>();
 		
 		List<Integer> ways_to_sat_each_precond = new LinkedList<Integer>();
 		List<Integer> threats_to_each_precond = new LinkedList<Integer>();
@@ -221,7 +221,7 @@ public class PDDL_Translator {
 			
 			for(EffectLink el: cnd.getAffectedBy()){
 				
-				if(el.getTaskID().equals("20")){
+				if(el.action.getName().equals("initact")){
 					continue;
 				}
 				
@@ -252,9 +252,8 @@ public class PDDL_Translator {
 				total_precond_links++;
 			}
 			
-			preconds_per_cond[count] = cnd.getPreconditionTo().size();
-			
-			effects_per_cond[count] = cnd.getAffectedBy().size();
+			preconds_per_cond.add(cnd.getPreconditionTo().size());
+			effects_per_cond.add(cnd.getAffectedBy().size());
 			
 			count++;
 		}
@@ -266,48 +265,185 @@ public class PDDL_Translator {
 				continue;
 			}
 			
-			effects_per_task[count] = tnd.get_negative_effect_links().size()+tnd.get_positive_effect_links().size();
-			preconds_per_task[count] = tnd.get_positive_precondition_links().size()+tnd.get_negative_precondition_links().size();
+			effects_per_task.add(tnd.get_negative_effect_links().size()+tnd.get_positive_effect_links().size());
+			preconds_per_task.add(tnd.get_positive_precondition_links().size()+tnd.get_negative_precondition_links().size());
 			count++;
 		}
 		
-		double avg_effect_each_cond = total_effect_links/(double)condition_nodes.size();
-		double avg_precond_each_cond = total_precond_links/(double)condition_nodes.size();
-		double avg_effect_each_act = total_effect_links/(double)task_nodes.size();
-		double avg_precond_each_act = total_effect_links/(double)task_nodes.size();
-		double avg_ways_to_sat_precond = num_sat_links/(double)total_precond_links;
-		double avg_threats_per_precond = num_threat_links/(double)total_precond_links;
-		
-		double stdev_effects_per_cond = get_std_dev(avg_effect_each_cond, effects_per_cond);
-		double stdev_precond_per_cond = get_std_dev(avg_precond_each_cond, preconds_per_cond);
-		double stdev_effects_per_task = get_std_dev(avg_effect_each_act, effects_per_task);
-		double stdev_precond_per_task = get_std_dev(avg_precond_each_act, preconds_per_task);
-		double stdev_ways_to_sat_precond = get_std_dev(avg_ways_to_sat_precond, ways_to_sat_each_precond);
-		double stdev_threats_pre_precond = get_std_dev(avg_threats_per_precond, threats_to_each_precond);
-		
-		System.out.println("Avg effects per cond: "+ avg_effect_each_cond);
-		System.out.println("  std dev: "+stdev_effects_per_cond);
-		System.out.println("Avg precond per cond:" + avg_precond_each_cond);
-		System.out.println("  std dev: "+stdev_precond_per_cond);
-		System.out.println("Avg effects per act: " + avg_effect_each_act);
-		System.out.println("  std dev: "+stdev_effects_per_task);
-		System.out.println("Avg precond per act: " + avg_precond_each_act);
-		System.out.println("  std dev: "+stdev_precond_per_task);
-		System.out.println("Avg ways to satisfy precond: "+ avg_ways_to_sat_precond);
-		System.out.println("  std dev: "+stdev_ways_to_sat_precond);
-		System.out.println("Avg threats to precond: "+avg_threats_per_precond);
-		System.out.println("  std dev: "+stdev_threats_pre_precond);
-		
-		//*Num conds						STD
-		//*Num actions						STD
-		//*Average effects to each cond		STD
-		//*Average precond each cond		STD
-		//*average effects each task		STD
-		//*average precond each task		STD
-		
-		//Average #ways to satisfy each precond
-		//diameter!
+		InfoSet info_set = new InfoSet();
+		
+		info_set.total_tasks = this.task_nodes.size() - 1;
+		info_set.total_conds = this.condition_nodes.size();
+		info_set.total_preconds = this.precondition_links.size();
+		info_set.total_effects = this.effect_links.size();
+		
+		info_set.effects_per_cond = effects_per_cond;
+		info_set.preconds_per_cond = preconds_per_cond;
+		info_set.effects_per_act = effects_per_task;
+		info_set.preconds_per_act = preconds_per_task;
+		info_set.satisfiers_per_precond = ways_to_sat_each_precond;
+		info_set.threats_per_precond = threats_to_each_precond;
+		
+		info_set.avg_effects_per_cond = total_effect_links/(double)condition_nodes.size();
+		info_set.avg_preconds_per_cond = total_precond_links/(double)condition_nodes.size();
+		info_set.avg_effects_per_act = total_effect_links/(double)task_nodes.size();
+		info_set.avg_preconds_per_act = total_effect_links/(double)task_nodes.size();
+		info_set.avg_satisfiers_per_precond = num_sat_links/(double)total_precond_links;
+		info_set.avg_threats_per_precond = num_threat_links/(double)total_precond_links;
+		
+		info_set.std_dev_effects_per_cond = get_std_dev(info_set.avg_effects_per_cond, effects_per_cond);
+		info_set.std_dev_preconds_per_cond = get_std_dev(info_set.avg_preconds_per_cond, preconds_per_cond);
+		info_set.std_dev_effects_per_act = get_std_dev(info_set.avg_effects_per_act, effects_per_task);
+		info_set.std_dev_preconds_per_act = get_std_dev(info_set.avg_preconds_per_act, preconds_per_task);
+		info_set.std_dev_satisfiers_per_precond = get_std_dev(info_set.avg_satisfiers_per_precond , ways_to_sat_each_precond);
+		info_set.std_dev_threats_per_precond = get_std_dev(info_set.avg_threats_per_precond, threats_to_each_precond);
+		
+		//Find the probability that an arbitrary precondition has an effect opposite it
+		
+		double precond_with_negation = 0;
+		for(PrecondLink el: this.precondition_links){
+			TaskNode tnd = el.action;
+			
+			List<EffectLink> all_effects = new LinkedList<EffectLink>(tnd.get_negative_effect_links());
+			all_effects.addAll(tnd.get_positive_effect_links());
+			
+			for(EffectLink elk: all_effects){
+				if(elk.effect  == el.precondition && el.getRequiredState() != (elk.getWeight() == 1)){
+					precond_with_negation++;
+					break;
+				}
+			}
+		}
+		
+		info_set.reverse_link_prob = precond_with_negation/this.precondition_links.size();
+	//	System.out.println(info_set.reverse_link_prob);
+		
+		//TODO generate reverse link prob
+		//TODO generate clustering coeff
+		//TODO diameter!
 		
+	//	if(!label.equals("before_impossibility_removal")){
+		
+			System.out.println("Generating simplified graph");
+			Map<String, SimpleNode> simple_graph = generate_simplified_graph();
+			System.out.println("Done generating simplified graph");
+
+
+			List<Double> connectednesses = new LinkedList<Double>();
+			
+			for(SimpleNode sn: simple_graph.values()){
+				double connected = 0;
+				
+				for(SimpleNode sn_child: sn.neigbors){
+					for(SimpleNode sn_child_check: sn.neigbors){
+						if(sn_child == sn_child_check){
+							continue;
+						}
+						if(sn_child.neigbors.contains(sn_child_check)){
+							connected++;
+						}
+					}
+				}
+			//	System.out.println("Connected: "+connected);
+			//	System.out.println("Neighbors: "+sn.neigbors.size());
+			//	if(sn.neigbors.size() > 1)
+				connectednesses.add((connected)/(sn.neigbors.size()*(sn.neigbors.size()-1)));
+			//	System.out.println((connected)/(sn.neigbors.size()*(sn.neigbors.size()-1)));
+			}
+			
+			double sum = 0;
+			
+			for(Double d: connectednesses){
+				sum+=d;
+			}
+			info_set.clustering_coeff = sum/connectednesses.size();
+	//	}
+			
+		stat_report.reports.put(label, info_set);
+	}
+	
+	public StatisticsReport getStatReport(){
+		return stat_report;
+	}
+	
+	private Map<String, SimpleNode> generate_simplified_graph(){
+		Map<String, SimpleNode> node_name_to_simple = new LinkedHashMap<String, SimpleNode>();
+		
+		for(String tn: this.task_nodes.keySet()){
+			
+			if(tn.equals("initact")){
+				continue;
+			}
+			
+			node_name_to_simple.put(task_nodes.get(tn).getName(), new SimpleNode(tn));
+		}
+		
+		for(TaskNode tn: this.task_nodes.values()){
+			
+			if(tn.getName().equals("initact")){
+				continue;
+			}
+
+			List<EffectLink> all_effects = new LinkedList<EffectLink>(tn.get_negative_effect_links());
+			all_effects.addAll(tn.get_positive_effect_links());
+			
+			for(EffectLink elk: all_effects){
+				CondNode condition = elk.effect;
+				
+				//All precond from cond
+				for(PrecondLink pl: condition.getPreconditionTo()){
+					TaskNode tn2 = pl.action;
+					if(tn2 == tn || tn2.getName().equals("initact")){
+						continue;
+					}
+					
+
+					SimpleNode.connect(node_name_to_simple.get(tn.getName()), node_name_to_simple.get(tn2.getName()));
+				}
+					
+				//All effect from cond
+				for(EffectLink el: condition.getAffectedBy()){
+					TaskNode tn2 = el.action;
+					if(tn2 == tn || tn2.getName().equals("initact")){
+						continue;		
+					}
+					
+		//			System.out.println(tn2.getNodeID());
+		//			System.out.println(tn.getName());
+		//			System.out.println(tn2.getName());
+					SimpleNode.connect(node_name_to_simple.get(tn.getName()), node_name_to_simple.get(tn2.getName()));
+				}
+			}
+			
+			List<PrecondLink> all_preconds = new LinkedList<PrecondLink>(tn.get_negative_precondition_links());
+			all_preconds.addAll(tn.get_positive_precondition_links());
+			
+			for(PrecondLink plk: all_preconds){
+				CondNode condition  = plk.precondition;
+				
+				//All precond from cond
+				for(PrecondLink pl: condition.getPreconditionTo()){
+					TaskNode tn2 = pl.action;
+					if(tn2 == tn || tn2.getName().equals("initact")){
+						continue;
+					}
+					
+					SimpleNode.connect(node_name_to_simple.get(tn.getName()), node_name_to_simple.get(tn2.getName()));
+				}
+				
+				//All effect from cond
+				for(EffectLink el: condition.getAffectedBy()){
+					TaskNode tn2 = el.action;
+					if(tn2 == tn || tn2.getName().equals("initact")){
+						continue;
+					}
+					
+					SimpleNode.connect(node_name_to_simple.get(tn.getName()), node_name_to_simple.get(tn2.getName()));
+				}
+			}
+		}
+		
+		return node_name_to_simple;
 	}
 	
 	private double get_std_dev(double mean, int[] data){
@@ -425,6 +561,7 @@ public class PDDL_Translator {
         long intv2 = new Date().getTime();
 	}
 	
+	
 	private boolean combine_conditions_aux(List<CondNode> fixed_cnds, int still_to_fix){
 		if(still_to_fix != 0){
 			for(CondNode cn: this.condition_nodes.values()){
@@ -2277,7 +2414,7 @@ public class PDDL_Translator {
 
 		for(TaskNode a: task_nodes.values()){
 			
-			if(!init_act_visible && a.getNodeID().equals("20")){
+			if(!init_act_visible && a.getName().equals("initact")){
 				continue;
 			}
 			
@@ -2386,7 +2523,7 @@ public class PDDL_Translator {
 		
 		for(EffectLink l: effect_links){
 			
-			if(!init_act_visible && l.action.getNodeID().equals("20")){
+			if(!init_act_visible && l.action.getName().equals("initact")){
 				continue;
 			}
 			
diff --git a/utils/PDDLtoSANetTranslator/PDDLParser/src/pddl4j/ErrorManager.java b/utils/PDDLtoSANetTranslator/PDDLParser/src/pddl4j/ErrorManager.java
index c1e4fcd48a0..e19794961a1 100644
--- a/utils/PDDLtoSANetTranslator/PDDLParser/src/pddl4j/ErrorManager.java
+++ b/utils/PDDLtoSANetTranslator/PDDLParser/src/pddl4j/ErrorManager.java
@@ -245,6 +245,7 @@ public class ErrorManager {
      */
     public void clear() {
         this.msg.clear();
+       // this.tMsg.clear();
     }
 
     /**