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diff --git a/SA_POP/SA_Builder.cpp b/SA_POP/SA_Builder.cpp
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+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_Builder.cpp
+ *
+ * This file contains the implementation of the SA_Builder concrete class,
+ * which implements a Builder creating SA_Planner and associated
+ * objects for planning with spreading activation networks and scheduling
+ * with precedence graphs.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include "SA_POP_Types.h"
+#include "SA_Builder.h"
+#include "Planner.h"
+#include "SANet/SANet.h"
+#include "SA_PlanHeuristics.h"
+#include "SA_PlanStrategy.h"
+#include "SA_SchedStrategy.h"
+#include "SA_WorkingPlan.h"
+#include "TaskMap.h"
+
+using namespace SA_POP;
+
+// Constructor.
+SA_Builder::SA_Builder (void)
+: planner_ (0),
+sanet_ (0),
+cond_choice_ (0),
+task_choice_ (0),
+impl_choice_ (0),
+plan_strat_ (0),
+sched_strat_ (0),
+working_plan_ (0),
+task_map_ (0)
+{
+  this->init ();
+};
+
+// Destructor.
+SA_Builder::~SA_Builder (void)
+{
+  // Nothing to do because client deletes Planner and Planner
+  // handles deletion of the rest of the objects.
+};
+
+// Reset for building a new set of SA-POP objects.
+void SA_Builder::reset (void)
+{
+  // Reset planning object pointers to null.
+  this->planner_ = 0;
+  this->sanet_ = 0;
+  this->cond_choice_ = 0;
+  this->task_choice_ = 0;
+  this->impl_choice_ = 0;
+  this->plan_strat_ = 0;
+  this->sched_strat_ = 0;
+  this->working_plan_ = 0;
+  this->task_map_ = 0;
+
+  // Create and initialize planning objects.
+  this->init ();
+};
+
+// Get Planner object.
+Planner *SA_Builder::get_planner (void)
+{
+  return this->planner_;
+};
+
+// Add a task.
+void SA_Builder::add_task (TaskID id, double prior_prob,
+std::string name)
+{
+  this->sanet_->add_task (id, name, 1, 0, prior_prob);
+};
+
+// Add a condition.
+void SA_Builder::add_cond (CondID id, Utility utility,
+double init_prob_true, std::string name, CondKind cond_kind)
+{
+  this->sanet_->add_cond (id, name, 1,
+    init_prob_true, 1.0 - init_prob_true, utility, cond_kind);
+};
+
+// Add a link between a precondition and task.
+void SA_Builder::set_precond (CondID cond_id, TaskID task_id,
+PortID port, double true_prob, double false_prob)
+{
+  this->sanet_->add_precond_link (cond_id, task_id,
+    true_prob, false_prob, port);
+};
+
+// Add a link between a task and an effect.
+void SA_Builder::set_effect (TaskID task_id, CondID cond_id,
+PortID port, double weight)
+{
+  this->sanet_->add_effect_link (task_id, cond_id, weight, port);
+};
+
+// Add a resource.
+void SA_Builder::add_resource (Resource resource)
+{
+  this->task_map_->add_resource (resource);
+};
+
+// Add an implementation.
+void SA_Builder::add_task_impl (TaskImpl *task_impl)
+{
+  this->task_map_->add_task_impl (task_impl);
+};
+
+// Associate a task with a task implementation.
+void SA_Builder::assoc_task_with_impl (TaskID task_id, TaskImplID task_impl_id,
+                                       TimeValue duration)
+{
+  this->task_map_->assoc_task_with_impl (task_id, task_impl_id, duration);
+};
+
+// Associate a task implementation with its utilization of a resource.
+void SA_Builder::assoc_impl_with_resource (TaskImplID impl_id,
+ResourceID resource_id, ResourceValue resource_usage)
+{
+  this->task_map_->assoc_impl_with_resource (impl_id, resource_id,
+    resource_usage);
+};
+
+// Create SA-POP objects.
+void SA_Builder::init (void)
+{
+  // Create objects.
+  this->planner_ = new Planner ();
+  this->sanet_ = new SANet::Network ();
+  this->cond_choice_ = new SA_CondStrategy (this->planner_);
+  this->task_choice_ = new SA_TaskStrategy (this->planner_);
+  this->impl_choice_ = new SA_ImplStrategy (this->planner_);
+  this->plan_strat_ = new SA_PlanStrategy (this->planner_,
+    this->cond_choice_, this->task_choice_, this->impl_choice_);
+  this->sched_strat_ = new SA_SchedStrategy (this->planner_);
+  this->working_plan_ = new SA_WorkingPlan (this->planner_);
+  this->task_map_ = new TaskMap ();
+
+  // Provide PlanCommand prototypes to objects.
+  this->plan_strat_->set_commands (
+    this->working_plan_->get_AddTaskCmd (),
+    this->working_plan_->get_AssocTaskImplCmd (),
+    this->working_plan_->get_ResolveCLThreatCmd());
+  this->sched_strat_->set_commands (
+    this->working_plan_->get_ResolveSchedOrderCmd (),
+	this->working_plan_->get_AdjustMinTimesCmd (),
+	this->working_plan_->get_AdjustMaxTimesCmd ());
+  this->working_plan_->set_commands (
+    this->plan_strat_->get_AddOpenThreatsCmd ());
+
+  // Provide planning objects to Planner.
+  this->planner_->set_objects (
+    this->sanet_,
+    this->plan_strat_,
+    this->sched_strat_,
+    this->working_plan_,
+    this->task_map_);
+};