Wed Jul 8 01:13:05 UTC 2009 Daniel L.C. Mack <daniel.l.mack@vanderbilt.edu>

3 files changed, 26 insertions, 68 deletions

diff --git a/ChangeLog b/ChangeLog
index 0af2e0dec09..c67c3957356 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,12 +1,19 @@
+Wed Jul  8 01:13:05 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
+
+        * SA_POP_Types.h:
+        * SA_WorkingPlan.cpp:
+
+	Fixed the comparison operator of less than to work correctly.
+
 Tue Jul  7 23:10:22 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
         * SA_PlanCommands.h:
-		* SA_PlanHeuristics.cpp:
-		
-		Changed the order in which tasks are chosen to satisfy open conditions.
-		Working on getting it to choose the correct tasks.
-		
-		* PlanCommands.h:
+                * SA_PlanHeuristics.cpp:
+
+                Changed the order in which tasks are chosen to satisfy open conditions.
+                Working on getting it to choose the correct tasks.
+
+                * PlanCommands.h:
         * PlanHeuristics.h:
         * Planner.h:
         * SA_POP_Types.h:
@@ -15,8 +22,8 @@ Tue Jul  7 23:10:22 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
         * SA_PlanStrategy.cpp:
         * SA_WorkingPlan.h:
         * SA_WorkingPlan.cpp:
-		
-		
+
+
 
 Mon Jul  6 20:27:43 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
diff --git a/SA_POP_Types.h b/SA_POP_Types.h
index d740055dc18..57261df0415 100644
--- a/SA_POP_Types.h
+++ b/SA_POP_Types.h
@@ -272,7 +272,7 @@ namespace SA_POP {
     {
       if (this->first == s.first) {
         if (this->second == s.second)
-          return this->cond < cond;
+          return this->cond < s.cond;
         return this->second < s.second;
       }
       return this->first < s.first;
diff --git a/SA_WorkingPlan.cpp b/SA_WorkingPlan.cpp
index 4f4357a55cf..88474656685 100644
--- a/SA_WorkingPlan.cpp
+++ b/SA_WorkingPlan.cpp
@@ -576,65 +576,7 @@ void SA_WorkingPlan::generate_all_threats(void)
   }
   SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
 
-/*
-
-    for(InstToImplMap::iterator iterator = this->task_impls_.begin(); iterator != this->task_impls_.end(); iterator++){
-    TaskInstID threat_possibility = (*iterator).first;
-    TaskID threat_possibility_taskid = this->task_insts_.find(threat_possibility)->second;
-    
-    file_op<<"  Task :"<<iterator->first<<"("<<threat_possibility_taskid<<")"<<std::endl;
-  }
-
-
-  for(InstToImplMap::iterator iterator = this->task_impls_.begin(); iterator != this->task_impls_.end(); iterator++){
-
-    TaskInstID threat_possibility = iterator->first;
-    TaskID threat_possibility_taskid = this->task_insts_.find(threat_possibility)->second;
-    CondSet set = this->planner_->get_effects(threat_possibility_taskid);
 
-    for(CondSet::iterator arr = set.begin(); arr != set.end(); arr++){ 
-
-        Condition condition = (*arr);
-
-        std::pair<
-          CondToCLinksMap::iterator,
-          CondToCLinksMap::iterator
-            > ret = this->causal_links_.equal_range(condition);
-      
-
-        for(CondToCLinksMap::iterator nit = ret.first; nit != ret.second; nit++){
-
-            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 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)){
-
-              if(causal_threatened.first != threat_possibility && causal_threatened.second != threat_possibility)
-              {
-                TaskID threatened_task1 = this->task_insts_.find(causal_threatened.first)->second;
-                TaskID threatened_task2 = this->task_insts_.find(causal_threatened.second)->second;
-
-                CLThreat new_threat;
-                new_threat.clink = causal_threatened;
-                new_threat.threat = threat_possibility;
-                threat_set.insert(new_threat);
-
-                file_op<<"        New threat: causal link from "<<causal_threatened.first<<" ("<<threatened_task1<<") to "<<causal_threatened.second<<" ("<<threatened_task2<<") using condition "<<causal_threatened.cond.id<<" threatened by "<<threat_possibility<<" ("<<threat_possibility_taskid<<")\n";
-
-              }
-             }
-        }
-      }
-   }
-
-  file_op.close();
-
-
-*/
 
   debug_text.clear();
 
@@ -687,7 +629,12 @@ void SA_WorkingPlan::generate_all_threats(void)
                 CLThreat new_threat;
                 new_threat.clink = causal_threatened;
                 new_threat.threat = threat_possibility;
-                threat_set.insert(new_threat);
+
+               
+
+                std::pair<CLThreatSet::iterator, bool> asdf = threat_set.insert(new_threat);
+
+              
 
                 TaskID threatened_task1 = this->task_insts_.find(causal_threatened.first)->second;
                 if(causal_threatened.second != SA_POP::GOAL_TASK_INST_ID)
@@ -851,6 +798,7 @@ void SA_WorkingPlan::execute (SA_AddTaskCmd *cmd)
 
   Condition cond = cmd->cond_;
   TaskInstID task_inst;
+  //bool hadInsts = false;
   
   // If trying a new task (i.e., not still trying task instances for same task), get existing task instances for that task from working plan. 
   if(cmd->last_task_ != task)
@@ -858,7 +806,10 @@ void SA_WorkingPlan::execute (SA_AddTaskCmd *cmd)
 	  // Get existing task instances for current task.
     for(InstToTaskMap::iterator iter = this->task_insts_.begin(); iter!=this->task_insts_.end();iter++)
       if(iter->second==cmd->tasks_.front()) 
+      {
+        //hadInsts = true;       
         cmd->used_task_insts_.insert(iter->first);
+      }
   }