OpenMORA

Module: Planner

Module info:

Module name	Short description	Publishes	Subscribes
Planner	A module that plans complex tasks into a sequence of small, simple routines.	<OpenMORA_VAR> , IN_EXECUTION , PLAN_FINISHED , TASK_PLANNED , TOPOLOGICAL_DESTINY	PATH , PERSON_LOCATION , PLAN_FINISHED , SHUTDOWN , TASK_LIST

MOOS commands accepted by the module:

(None)

Parameters accepted in the MOOS mission file:

Parameter	Description
`actions_names`	The names of the Actions to load
`num_actions`
`PARAM_NAME`	PARAM DESCRIPTION IN ONE LINE

Detailed description:
A module that plans complex tasks into a sequence of small, simple routines.This module obtain a list of pending tasks from the Agenda module and tries to schedule them according to compatibilityand priority values. Each task is planned in a new thread which is closed when the task finished.Each task is decomposed in a list of actions (called plan), and send to the Executor module.Requiered modules: Agenda, StateCharts and Executor.

Module graph:

TODO list:
Consider changin the way "Actions" are defined. ACTION = compatibility.Method IsCompatible() Is not implemented!! It alwasy return TRUE!!Method PathSearch(): Why arguments "plan" and "execute"? Also, this module MOVES the robot, so a better name would be "GoToNodeLabel"HPWA line 1059: ec.timestamp = taskid; //JGMonroy: timestamp = taskID ????

Changes log:
(None)

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