void
Plan::sequenceNodes(void)
{
PlanMap::iterator itr = m_graph.find(m_spec->start_man_id);
while (true)
{
m_seq_nodes.push_back(itr->second.pman);
if (!itr->second.trans.size())
break;
else if (itr->second.trans[0]->dest_man == "_done_")
break;
// Check if plan is cyclical
if (maneuverExists(itr->second.trans[0]->dest_man))
{
m_properties |= IMC::PlanStatistics::PRP_NONLINEAR;
m_properties |= IMC::PlanStatistics::PRP_INFINITE;
m_properties |= IMC::PlanStatistics::PRP_CYCLICAL;
return;
}
itr = m_graph.find(itr->second.trans[0]->dest_man);
}
}
void
Plan::sequenceNodes(void)
{
PlanMap::iterator itr = m_graph.find(m_spec->start_man_id);
while (true)
{
m_seq_nodes.push_back(itr->second.pman);
if (!itr->second.trans.size())
break;
else if (itr->second.trans[0]->dest_man == "_done_")
break;
// Check if plan is cyclical
if (maneuverExists(itr->second.trans[0]->dest_man))
{
m_sequential = false;
return;
}
itr = m_graph.find(itr->second.trans[0]->dest_man);
}
m_sequential = true;
}