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/home/pauldt/projects/IDEA/IDEA-ALL/IDEA-DEV/Modules/PLASMA/GoalLoader/Includes/PlasmaGoalPlanner.hh

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// -*- Mode: C++ -*-
//      CVS: $Id: PlasmaGoalPlanner.hh,v 1.11 2005/12/30 22:42:28 rijsman Exp $
//      Tag: $name$
//     Info: $CVSROOT/COPYRIGHT

#ifndef PLASMA_GOAL_PLANNER_IMPL_HEADER_FILE_
#define PLASMA_GOAL_PLANNER_IMPL_HEADER_FILE_

#include "PslDatabase.hh"
#include "PslModelManager.hh"

#include "CBPlannerDefs.hh"
#include "Horizon.hh"
#include "HeuristicsEngine.hh"
#include "GoalLoaderDecisionManager.hh"
#include "GoalPlanner.hh"
#include "PlanReader.hh"
#include "PlasmaPlannerImpl.hh"
#include "ReactivePlanner.hh"

#include <map>

namespace IDEA 
{
  class PlasmaGoalInternalPlannerImpl: 
    public PlasmaPlannerImpl
  {
  public:
    PlasmaGoalInternalPlannerImpl( const PslDatabase* db,
                                   const AgentTimingService* ats,
                                   const std::string& heuristicFile, 
                                   const std::string& noBranchFile, 
                                   bool controlTimes = true, 
                                   bool mergeFirstToken = true,
                                   bool freezeTokenStartEndTimes = true,
                                   bool useGeneralTimelines = false );
  protected:
    virtual EUROPA::OpenDecisionManagerId  createOpenDecisionManager( const EUROPA::PlanDatabaseId& db,
                                                                      const EUROPA::HeuristicsEngineId& heuristics );
  private:
    bool m_controlTimes;
    bool m_mergeFirstToken;
    bool m_restrictTokenTimesBaseDomains;
    bool m_useGeneralTimelines;
  };

  class PlasmaGoalPlanner: 
    public GoalPlanner
  {
  public:
    PlasmaGoalPlanner(  const PslDatabase* db,
                        const AgentTimingService* ats,
                        const ReactivePlanner* rp, 
                        const std::string & heuristicFile, 
                        const std::string & noBranchFile,
                        bool controlTimes = true,
                        bool mergeFirstToken = true,
                        bool freezeTokenStartEndTimes = true,
                        bool useGeneralTimelines = false);
  protected:
    virtual void setGoals(PlanReader::ObjectToTimelines const & planBranch);
  private:
    typedef EUROPA::Id<GoalLoaderDecisionManager> GoalLoaderDecisionManagerId;

    GoalLoaderDecisionManagerId m_decisionManager;
    //does DecisionManager delete it?
  };
}

#endif //PLASMA_GOAL_PLANNER_IMPL_HEADER_FILE_

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