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// -*- 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_ */
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