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Diffstat (limited to 'SA_POP/SA_Builder.h')
| -rw-r--r-- | SA_POP/SA_Builder.h | 202 |
1 files changed, 202 insertions, 0 deletions
diff --git a/SA_POP/SA_Builder.h b/SA_POP/SA_Builder.h new file mode 100644 index 00000000000..db77243a441 --- /dev/null +++ b/SA_POP/SA_Builder.h @@ -0,0 +1,202 @@ +// -*- C++ -*- +// $Id$ + +//============================================================================= +/** + * @file SA_Builder.h + * + * This file contains the definition 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> + */ +//============================================================================= + +#ifndef SA_POP_SA_BUILDER_H_ +#define SA_POP_SA_BUILDER_H_ + +#include "SA_POP_Types.h" +#include "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" + + +namespace SA_POP { + + /** + * @class SA_Builder + * + * @brief Builder concrete class for creating SA_Planner and + * associated objects for planning with spreading activation networks + * and scheduling with precedence graphs. + */ + class SA_Builder : public Builder { + public: + /// Constructor. + SA_Builder (void); + + /// Destructor. + virtual ~SA_Builder (void); + + /// Reset for building a new set of SA-POP objects. + virtual void reset (void); + + /// Get Planner object. + /** + * @return Pointer to the configured planner object. + */ + virtual Planner *get_planner (void); + + + // ************************************************************************ + // Problem construction methods (tasks, conditions, & links between them). + // ************************************************************************ + + /// Add a task. + /** + * @param id The unique task id. + * + * @param prior_prob The prior probability of this task succeeding. + * + * @param name The task name. + * + * @exception Duplicate_Task The given task id already exists. + */ + virtual void add_task (TaskID id, double prior_prob, + std::string name = ""); + + /// Add a condition. + /** + * @param id The unique condition id. + * + * @param name The condition name. + * + * @param utility The (goal) utility of the condition. + * + * @param init_prob_true The initial probability that the condition + * is true. + * + * @param cond_kind The type of condition. + * + * @exception Duplicate_Cond The given condition id already exists. + */ + virtual void add_cond (CondID id, Utility utility = 0, + double init_prob_true = 0, std::string name = "", CondKind cond_kind = SA_POP::DATA); + + /// Add a link between a precondition and task. + /** + * @param cond_id The precondition id. + * + * @param task_id The task id. + * + * @param port The receiving port id (on the task for this precondition). + * + * @param true_prob Conditional probability of task success given + * condition = true. + * + * @param false_prob Conditional probability of task success given + * condition = false. + * + * @exception Unknown_Cond Unknown condition id. + */ + virtual void set_precond (CondID cond_id, TaskID task_id, + PortID port, double true_prob, double false_prob); + + /// Add a link between a task and an effect. + /** + * @param cond_id The effect condition id. + * + * @param task_id The task id. + * + * @param port The sending port id (on the task for this effect). + * + * @param weight Positive probability that task sets condition to true, or + * negative of probability that task sets condition to false. + */ + virtual void set_effect (TaskID task_id, CondID cond_id, + PortID port, double weight); + + + + // ************************************************************************ + // TaskMap construction methods (resources, task->implementations, + // and implementation->resources). + // ************************************************************************ + + /// Add a resource. + /** + * @param resource The resource info. + */ + virtual void add_resource (Resource resource); + + /// Add an implementation. + /** + * @param task_impl The task implementation info. + */ + virtual void add_task_impl (TaskImpl *task_impl); + + /// Associate a task with a task implementation. + /** + * @param task_id ID of the task. + * + * @param task_impl_id ID of the task implementation. + * + * @param duration The duration of the task implementation for this task. + */ + virtual void assoc_task_with_impl (TaskID task_id, TaskImplID task_impl_id, + TimeValue duration); + + /// Associate a task implementation with its utilization of a resource. + /** + * @param impl_id ID of the task implementation. + * + * @param resource_id ID of the associated resource. + * + * @param resource_usage The quantity of resource used. + */ + virtual void assoc_impl_with_resource (TaskImplID impl_id, + ResourceID resource_id, ResourceValue resource_usage); + + protected: + /// Planner object to centralize/mediate planning. + Planner *planner_; + + /// Spreading activation network. + SANet::Network *sanet_; + + /// Condition choice strategy used by PlanStrategy. + SA_CondStrategy *cond_choice_; + + /// Task choice strategy used by PlanStrategy. + SA_TaskStrategy *task_choice_; + + /// Task implementation choice strategy used by PlanStrategy. + SA_ImplStrategy *impl_choice_; + + /// PlanStrategy object for planning. + SA_PlanStrategy *plan_strat_; + + /// SchedStrategy object for scheduling. + SA_SchedStrategy *sched_strat_; + + /// WorkingPlan object for holding plan in progress. + SA_WorkingPlan *working_plan_; + + /// TaskMap object for associating tasks with implementations and resources. + TaskMap *task_map_; + + + /// Create SA-POP objects. + virtual void init (void); + }; + +}; /* SA_POP namespace */ + +#endif /* SA_POP_SA_BUILDER_H_ */ |