diff options
Diffstat (limited to 'SA_POP/Planner.cpp')
| -rw-r--r-- | SA_POP/Planner.cpp | 51 |
1 files changed, 18 insertions, 33 deletions
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) { |