0:01 
This is a demonstration of Nonlin running in Poplog.

09:00
We are first going to change to the directory where Nonlin is located.

0:13
and then load the source file.

0:34
We are offered the choice of loading the critical path calculation package

0:38
which we are going to do.

0:40
There are some errors in it in certain versions of Poplog. We can ignore that.

0:43
And then we will look at the main menu - which is called "TFinfo".

0:48
We will load a new TF file. In this case its going to be "block zero", "blocks zero".

0:53
Which is a demonstration of the "Sussman Anomaly" block stacking problem.

1:00
And now we can set the goal schema, which is to plan for the

1:02
goal {on a b} and the goal {on b c} - so we are going to make a stack of blocks.

1:12
That's the plan already created.

1:15
There are some diagnostics shown there while the expansions were taking place.

1:18
So we can look at the results network.  We will go through all the different options here.

1:22
We are looking at the main results network. Its got a few dummy nodes, and so on, in there.

1:25
We can get a cleaner version just with the actions only

1:30
We are showing there the predecessors and successors of each node.

1:34
Then we are going to look at the critical path data, but in this case the data is all zeroed out as there is no critical path data in this example.

1:41
Then we are looking at the Goal Structure Table,

1:45
and the Table of Multiple Effects.

1:50
We will look at any initial context used in the plan.

1:57
And we can do a simulation of what the state looks like at any point in the plan.

2:00
In this case we will just look at it at the end node.

2:02
So this is the state at the end of the plan having been executed.

2:08
We will load a new domain now.

2:10
In this case its going to be a house building task with some critical path method data in it - some durations and times.

2:18
So we will set up a task for this one, which is just to build the house, 

2:22
to expand the top level action of building the house.

2:33
And again, that's the plan created.

2:36
So we will look at the results.

2:41
And again we wil go through all the options.

2:43
The main results network with all the dummy nodes in place.

2:47
Then we will look at it cleaned up with just the actions.

2:53
Then we are going to look at it with the critical path method data,

2:56
which will give us the durations, the early finishes and the late finishes for each node.

3:00
The double stars mean the node is on the critical path.

3:06
Again we are looking at the Goal Structure Table,

3:12
and the Table of Multiple Effects.

3:18
and again the initial context used in the plan. There is none in this case.

3:23
And then we will look at the context at a particular node. Doing a node simulation.

3:25
In this case again we will look at the state at the end of the plan.