Mon Jul 6 20:27:43 UTC 2009 Daniel L.C. Mack <daniel.l.mack@vanderbilt.edu>

4 files changed, 27 insertions, 16 deletions

diff --git a/ChangeLog b/ChangeLog
index 4f539e2c2bf..4f453325073 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,8 +1,22 @@
+Mon Jul  6 20:27:43 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
+
+        * ChangeLog:
+        * SA_PlanCommands.cpp:
+        * SA_PlanStrategy.cpp:
+        * SA_WorkingPlan.cpp:
+
+	Cleaned up Changelog for consistency.
+
+	Commented out halt for task_inst
+
+	Erased fix for Initial Action in favor of throwing an exception.
+
+
 Mon Jul  6 18:42:01 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
         * SA_WorkingPlan.cpp:
 
-	Started gettign rid of ordering links and using precedence graph.
+        Started gettign rid of ordering links and using precedence graph.
 
 Thu Jul  2 16:36:11 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
@@ -25,6 +39,7 @@ Wed Jul  1 22:13:25 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
         * SA_PlanStrategy.cpp:
         * SA_WorkingPlan.cpp:
+
         Updated to allow for goal_task_inst to be part of threats.
         Small aesthetic changes
 
@@ -32,6 +47,7 @@ Tue Jun 30 20:10:07 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
         * SA_PlanStrategy.cpp:
         * SA_SchedStrategy.cpp:
+
         Modified undo for removing open conds to match the breadth first search.
         Indented some of ankits code for readability.
 
diff --git a/SA_PlanCommands.cpp b/SA_PlanCommands.cpp
index 30dceb711e1..174e9d3afb6 100644
--- a/SA_PlanCommands.cpp
+++ b/SA_PlanCommands.cpp
@@ -196,14 +196,9 @@ bool SA_AddTaskCmd::execute_next (void)
   this->working_plan_->execute (this);
   this->num_tries_++;
 
-  if(!this->tasks_.empty ()) 
-  {
-    if(this->tasks_.front() == 20 && isInitial) {
-      this->tasks_.pop_front();
-    }
-  }
 
   
+  
 
 
   
diff --git a/SA_PlanStrategy.cpp b/SA_PlanStrategy.cpp
index 8c0643696db..d026ee4535f 100644
--- a/SA_PlanStrategy.cpp
+++ b/SA_PlanStrategy.cpp
@@ -245,7 +245,7 @@ bool SA_PlanStrategy::satisfy_everything(){
 
 	this->cur_task_inst_ = assoc_impl_cmd->get_task_inst ();
 
-  //TEMP***
+  ////TEMP***
   //if(this->cur_task_inst_ == 10)
   //{
   //  throw "At the 10th task instance";
diff --git a/SA_WorkingPlan.cpp b/SA_WorkingPlan.cpp
index ae786f2f760..47126b4d68b 100644
--- a/SA_WorkingPlan.cpp
+++ b/SA_WorkingPlan.cpp
@@ -835,14 +835,14 @@ void SA_WorkingPlan::execute (SA_AddTaskCmd *cmd)
       throw "Reached SA_WorkingPlan::execute (SA_AddTaskCmd *cmd) for Special Initial Action after it was already existing instance tried";
     }
 
-	if(task == 20)
-		this->planner_->init_added =  true;
-  
-    task_inst = this->get_next_inst_id ();
-    // Add task instance.
-    this->task_insts_.insert (std::make_pair (task_inst, task));
-    //   Remove this task from tasks still to try.
-    cmd->tasks_.pop_front ();
+	  if(task == 20)
+		  this->planner_->init_added =  true;
+    
+      task_inst = this->get_next_inst_id ();
+      // Add task instance.
+      this->task_insts_.insert (std::make_pair (task_inst, task));
+      //   Remove this task from tasks still to try.
+      cmd->tasks_.pop_front ();