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/home/pauldt/projects/IDEA/IDEA-ALL/IDEA-DEV/Modules/PLASMA/Planner/Includes/PlasmaPlannerImpl.hh

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// -*- Mode: C++ -*-
//      CVS: $Id: PlasmaPlannerImpl.hh,v 1.12 2005/12/30 22:42:30 rijsman Exp $
//      Tag: $name$
//     Info: $CVSROOT/Copyright.txt
#ifndef PLASMA_PLANNER_IMPLEMENTATION_HEADER_
#define PLASMA_PLANNER_IMPLEMENTATION_HEADER_

#include "PlannerImpl.hh"

#include "CBPlanner.hh"
#include "Horizon.hh"

#include "DecisionManagerListener.hh"
#include "OpenDecisionManager.hh"
#include "HeuristicsReader.hh"
//#include "PartialPlanWriter.hh"


namespace IDEA
{
  class AgentTimingService;
  class PlasmaPlannerImpl:
    public PlannerImpl
  {
  public:
    PlasmaPlannerImpl( const std::string& name, 
                       const PslDatabase* db, 
                       const AgentTimingService* ats,
                       const std::string& heuristicFile, 
                       bool readHeuristicsFile,
                       const std::string& noBranchFile,
                       bool readNoBranchFile );
    StatusType replan();
    EUROPA::CBPlannerId getPlannerId() const;
    void ignore( const PslAttribute* attribute );
    void initialize();
  private:
    virtual EUROPA::HeuristicsEngineId createHeuristics();
    virtual EUROPA::OpenDecisionManagerId  createOpenDecisionManager( const EUROPA::PlanDatabaseId& db, 
                                                                      const EUROPA::HeuristicsEngineId& heuristics );
    virtual EUROPA::DecisionManagerListenerId createDecisionManagerListener();
    virtual void postPlannerCreation();
    void createEuropaPlanner();

    std::string m_HeuristicFile;
    bool m_ReadHeuristicsFile;
    std::string m_NoBranchFile;
    bool m_ReadNoBranchFile;

    EUROPA::HorizonId m_PlanningHorizon;
    EUROPA::CBPlannerId m_Planner;
    EUROPA::HeuristicsEngineId m_Heuristics;
    EUROPA::DecisionManagerListenerId m_DecisionManagerListener;
    EUROPA::ConditionId m_AttributeConditionId;
    // compiler problem: the following seems to be ignored by the compiler
    // EUROPA::PlanWriter::PartialPlanWriter *m_PPW;
  };
}

#endif // PLASMA_PLANNER_IMPLEMENTATION_HEADER_
 

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