#---------------------------------------------------------------------
# RC file for Mission Expert
#
# Written by Yoichir Endo
#
# Copyright 2003 - 2005, Georgia Tech Research Corporation 
# Atlanta, Georgia  30332-0415
# ALL RIGHTS RESERVED, See file COPYRIGHT for details. 
#
# $Id: .mission_expertrc-full,v 1.1.1.1 2008/07/14 16:44:15 endo Exp $
#---------------------------------------------------------------------

#---------------------------------------------------------------------
# Note
#---------------------------------------------------------------------
#
# FEATURE-TYPE (also used for CONSTRAINT-TYPE below)
#   CBR GLOBAL = 0
#   CBR LOCAL = 1
#   CBR LOCAL + CNP TASK-CONSTRAINT = 2
#   CNP TASK-CONSTRAINT = 3
#   CNP ROBOT-CONSTRAINT = 4
#
# FEATURE-NON-INDEX
#   FALSE = 0
#   TRUE = 1
#
# FEATURE-HIDE
#   FALSE = 0
#   TRUE = 1
#
# FEATURE-WEIGHT
#   Choose it from 0.00 to 1.00.
#
# FEATURE-OPTION-TYPE (defined in "mission_expert_types.h")
#   TOGGLE = 0
#   SLIDER1 = 1 ([0.10 - 1.00])
#   SLIDER10 = 2 ([1 - 10])
#   SLIDER100 = 3 ([1 - 100])
#
#---------------------------------------------------------------------

#---------------------------------------------------------------------
# Global Features
#---------------------------------------------------------------------

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.90
FEATURE-NAME NumberOfRobots
FEATURE-OPTION-TYPE 3
FEATURE-SELECTED-OPTION 1
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 1
FEATURE-HIDE 1
FEATURE-WEIGHT 0.00
FEATURE-NAME MaxVelocity
FEATURE-OPTION-TYPE 2
FEATURE-SELECTED-OPTION 5.0
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 1
FEATURE-HIDE 1
FEATURE-WEIGHT 0.00
FEATURE-NAME Aggressiveness
FEATURE-OPTION-TYPE 1
FEATURE-SELECTED-OPTION 0.5
FEATURE-OPTION N/A
<FEATURE END>

#---------------------------------------------------------------------
# Local Features
#---------------------------------------------------------------------

#<FEATURE BEGIN>
#FEATURE-TYPE 1
#FEATURE-NON-INDEX 0
#FEATURE-HIDE 0
#FEATURE-WEIGHT 0.90
#FEATURE-NAME LOCALIZATION
#FEATURE-OPTION-TYPE 0
#FEATURE-SELECTED-OPTION 1
#FEATURE-OPTION USE_LANDMARKS
#FEATURE-OPTION USE_MAPS
#<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 2
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.80
FEATURE-NAME ENVIRONMENT
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 1
FEATURE-OPTION AIR
FEATURE-OPTION SURFACE
FEATURE-OPTION UNDERWATER
FEATURE-OPTION GROUND
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 2
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.80
FEATURE-NAME MISSION_STEALTHINESS
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 1
FEATURE-OPTION STEALTHY
FEATURE-OPTION NOT_STEALTHY
<FEATURE END>

#<FEATURE BEGIN>
#FEATURE-TYPE 1
#FEATURE-NON-INDEX 0
#FEATURE-HIDE 0
#FEATURE-WEIGHT 0.70
#FEATURE-NAME HANDLES_ENEMY
#FEATURE-OPTION-TYPE 0
#FEATURE-SELECTED-OPTION 1
#FEATURE-OPTION FALSE
#FEATURE-OPTION TRUE
#<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 3
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME MISSION_OCCURANCE_TIME
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION ALLDAY
FEATURE-OPTION MORNING
FEATURE-OPTION AFTERNOON
FEATURE-OPTION EVENING
FEATURE-OPTION NIGHT
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 1
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME TARGET_PRECISION
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 1
FEATURE-OPTION EXACT
FEATURE-OPTION IMPRECISE
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 2
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME MONITORING_FREQUENCY
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 2
FEATURE-OPTION CONSTANTLY
FEATURE-OPTION MINIMUM
FEATURE-OPTION ONCE
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 1
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME ENEMY_SHIP_STATUS
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION NOT_KNOWN
FEATURE-OPTION LEAVING
FEATURE-OPTION NOT_LEAVING
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 1
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME AFTER_TARGET_DETECTION
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 3
FEATURE-OPTION SEARCH_ANOTHER
FEATURE-OPTION REPORT
FEATURE-OPTION MONITOR_TARGET
FEATURE-OPTION NOT_APPLICABLE
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 2
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME COMMUNICATION_FREQUENCY
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION CONSTANTLY
FEATURE-OPTION MINIMUM
FEATURE-OPTION ONCE
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 1
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME COMMLINK_DEDICATION
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION SOLETASK
FEATURE-OPTION MULTITASK
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 2
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME COMMLINK_PROXIMITY
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 2
FEATURE-OPTION CLOSE_TO_TARGET
FEATURE-OPTION FAR_FROM_TARGET
FEATURE-OPTION MODERATE
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 2
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME AVAILABLE_SURFACE_TIME
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 4
FEATURE-OPTION UNRESTRICTED
FEATURE-OPTION MINIMAL
FEATURE-OPTION NO_COMM
FEATURE-OPTION NIGHT_ONLY
FEATURE-OPTION NOT_APPLICABLE
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 3
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME OPERATOR_ID_REQUIREMENT
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 2
FEATURE-OPTION IMMEDIATELY_REQUIRED
FEATURE-OPTION JUST_REQUIRED
FEATURE-OPTION NOT_REQUIRED
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 2
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME TIME_VS_RISK
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 2
FEATURE-OPTION TIME_SENSITIVE
FEATURE-OPTION RISK_SENSITIVE
FEATURE-OPTION BALANCED
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 1
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME COLLISION_RISK
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION UNCONCERNED
FEATURE-OPTION WAIT
FEATURE-OPTION SEEK_HELP
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 1
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.70
FEATURE-NAME BACKUP_EXIT_POINT
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 1
FEATURE-OPTION AVAILABLE
FEATURE-OPTION NOT_AVAILABLE
<FEATURE END>

#---------------------------------------------------------------------
# Robot Constraints
#
# ROBOT-OPTION-TYPE (Same as FEATURE-OPTION-TYPE.)
#   TOGGLE = 0
#   SLIDER1 = 1 ([0.10 - 1.00])
#   SLIDER10 = 2 ([1 - 10])
#
#---------------------------------------------------------------------

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 1
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME STEALTHINESS
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION STEALTHY
CONSTRAINT-OPTION NOT_STEALTHY
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_AVAILABLE_TIME
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION ALLDAY
CONSTRAINT-OPTION MORNING
CONSTRAINT-OPTION AFTERNOON
CONSTRAINT-OPTION EVENING
CONSTRAINT-OPTION NIGHT
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME ABILITY_TO_MONITOR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION CONSTANT
CONSTRAINT-OPTION MINIMAL
CONSTRAINT-OPTION ONCE
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME ABILITY_TO_COMMUNICATE
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION CONSTANT
CONSTRAINT-OPTION MINIMAL
CONSTRAINT-OPTION ONCE
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME COMM_SURFACE_TIME
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 4
CONSTRAINT-OPTION UNRESTRICTED
CONSTRAINT-OPTION MINIMAL
CONSTRAINT-OPTION NO_COMM
CONSTRAINT-OPTION NIGHT_ONLY
CONSTRAINT-OPTION NOT_APPLICABLE
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME OPERATOR_ID
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION IMMEDIATELY_AVAILABLE
CONSTRAINT-OPTION OBTAINABLE
CONSTRAINT-OPTION NOT_OBTAINABLE
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 2
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME STEALTHINESS
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION STEALTHY
CONSTRAINT-OPTION NOT_STEALTHY
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_AVAILABLE_TIME
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION ALLDAY
CONSTRAINT-OPTION MORNING
CONSTRAINT-OPTION AFTERNOON
CONSTRAINT-OPTION EVENING
CONSTRAINT-OPTION NIGHT
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME ABILITY_TO_MONITOR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION CONSTANT
CONSTRAINT-OPTION MINIMAL
CONSTRAINT-OPTION ONCE
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME ABILITY_TO_COMMUNICATE
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION CONSTANT
CONSTRAINT-OPTION MINIMAL
CONSTRAINT-OPTION ONCE
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME COMM_SURFACE_TIME
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 4
CONSTRAINT-OPTION UNRESTRICTED
CONSTRAINT-OPTION MINIMAL
CONSTRAINT-OPTION NO_COMM
CONSTRAINT-OPTION NIGHT_ONLY
CONSTRAINT-OPTION NOT_APPLICABLE
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME OPERATOR_ID
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION IMMEDIATELY_AVAILABLE
CONSTRAINT-OPTION OBTAINABLE
CONSTRAINT-OPTION NOT_OBTAINABLE
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

#---------------------------------------------------------------------
# Local Tasks
#
# TASK-BUTTON-NAME:
#   BiohazardBtn
#   MineBtn
#   WaypointsBtn
#   HostageMonitoringTask
#   SearchAndRescueTask
#   InspectBtn
#   InterceptBtn
#   MineOceanBtn
#   ObserveBtn
#   TrackBtn
#   OtherBtn
#
# TASK-MAX-USAGE 
#   - The number of times this task can be placed.
#   - Value should be an integer or "inf" (for infinite number).
# 
#---------------------------------------------------------------------

<TASK BEGIN>
TASK-NAME ObserveTask
TASK-BUTTON-NAME ObserveBtn
TASK-SPECIFIC-SELECTED-OPTION ENVIRONMENT 2
TASK-MAX-USAGE inf
<TASK END>

<TASK BEGIN>
TASK-NAME EODTask
TASK-BUTTON-NAME MineOceanBtn
TASK-SPECIFIC-SELECTED-OPTION ENVIRONMENT 1
TASK-MAX-USAGE inf
<TASK END>

<TASK BEGIN>
TASK-NAME InterceptTask
TASK-BUTTON-NAME InterceptBtn
TASK-SPECIFIC-SELECTED-OPTION ENVIRONMENT 0
TASK-MAX-USAGE 1
<TASK END>

<TASK BEGIN>
TASK-NAME InspectTask
TASK-BUTTON-NAME InspectBtn
TASK-SPECIFIC-SELECTED-OPTION ENVIRONMENT 1
TASK-MAX-USAGE 1
<TASK END>

<TASK BEGIN>
TASK-NAME TrackTask
TASK-BUTTON-NAME TrackBtn
TASK-SPECIFIC-SELECTED-OPTION ENVIRONMENT 2
TASK-MAX-USAGE inf
<TASK END>

#---------------------------------------------------------------------
# Other Miscellaneous Setup
#---------------------------------------------------------------------

DEFAULT-TASK ObserveTask
DEFAULT-TASK-WEIGHT 1.00
