plannerParameters.h
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00001 #ifndef PLANNER_PARAMETERS_H
00002 #define PLANNER_PARAMETERS_H
00003 
00004 #include <string>
00005 using namespace std;
00006 #include "best_first_search.h"
00007 
00008 class PlannerParameters
00009 {
00010    public:
00011       PlannerParameters();
00012       ~PlannerParameters();
00013  
00015       bool readParameters(int argc, char** argv);
00016 
00017       void dump() const;
00018 
00019    public:
00020       bool anytime_search;          
00021       bool disallow_concurrent_actions;     
00022 
00023       int timeout_if_plan_found;          
00024       int timeout_while_no_plan_found;    
00025       int min_search_time_after_plan_found;     
00026       double min_search_time_factor_after_plan_found;  
00027 
00028       bool greedy;                  
00029       bool lazy_evaluation;         
00030       bool verbose;                 
00031       bool insert_let_time_pass_only_when_running_operators_not_empty;
00032 
00033       int lazy_state_module_evaluation;    
00034 
00036 
00039       bool use_cost_modules_for_applicability;
00040 
00041       bool cyclic_cg_heuristic;                    
00042       bool cyclic_cg_preferred_operators;          
00043       bool makespan_heuristic;                     
00044       bool makespan_heuristic_preferred_operators; 
00045       bool no_heuristic;                           
00046 
00047       bool cg_heuristic_zero_cost_waiting_transitions;  
00048       bool cg_heuristic_fire_waiting_transitions_only_if_local_problems_matches_state;
00049  
00051       enum GValues {
00052          GMakespan,               
00053          GCost,                   
00054          GTimestamp,              
00055          GWeighted                
00056       };
00057       enum GValues g_values;      
00058       double g_weight;            
00059 
00060       BestFirstSearchEngine::QueueManagementMode queueManagementMode;
00061 
00062       bool use_known_by_logical_state_only;         
00063 
00066       bool use_subgoals_to_break_makespan_ties;
00067  
00068       bool reschedule_plans;        
00069       bool epsilonize_internally;   
00070       bool epsilonize_externally;   
00071       bool keep_original_plans;     
00072 
00073       string plan_name;             
00074       string planMonitorFileName;   
00075 
00076       bool monitoring_verify_timestamps;     
00077 
00078    protected:
00080       bool readROSParameters();
00082       bool readCmdLineParameters(int argc, char** argv);
00083 
00084       void printUsage() const;
00085 };
00086 
00087 #endif
00088 
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tfd_modules
Author(s): Maintained by Christian Dornhege (see AUTHORS file).
autogenerated on Tue Jan 22 2013 12:25:03