diff --git a/docs/Interval_8h_source.html b/docs/Interval_8h_source.html
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@@ -275,32 +275,32 @@
 <div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>};</div>
 <div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span> </div>
 <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>} <span class="comment">// namespace tacos::utilities::arithmetic</span></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">tacos::utilities::arithmetic::Interval</a></div><div class="ttdoc">Templated class for intervals with a reduced set of operations.</div><div class="ttdef"><b>Definition:</b> Interval.h:35</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a351c3df24580bdd4040d3209ea7002eb"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a351c3df24580bdd4040d3209ea7002eb">tacos::utilities::arithmetic::Interval::operator&lt;</a></div><div class="ttdeci">friend bool operator&lt;(const Interval &amp;first, const Interval &amp;second)</div><div class="ttdoc">Check if the first interval is lexicographically smaller than the second.</div><div class="ttdef"><b>Definition:</b> Interval.h:78</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a476eaa421328459d2cc472aa0962a18f"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a476eaa421328459d2cc472aa0962a18f">tacos::utilities::arithmetic::Interval::lower</a></div><div class="ttdeci">const N &amp; lower() const noexcept</div><div class="ttdoc">Getter for lower bound.</div><div class="ttdef"><b>Definition:</b> Interval.h:235</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a5ccba1ff7fcb2abefbb3ffd1b635c879"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a5ccba1ff7fcb2abefbb3ffd1b635c879">tacos::utilities::arithmetic::Interval::Interval</a></div><div class="ttdeci">Interval(N lb, BoundType lbType, N ub, BoundType ubType)</div><div class="ttdoc">Construct a new Interval object from bounds and bound types.</div><div class="ttdef"><b>Definition:</b> Interval.h:61</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a635c8a63a17f70f574f5f62784b62817"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a635c8a63a17f70f574f5f62784b62817">tacos::utilities::arithmetic::Interval::set_upper</a></div><div class="ttdeci">void set_upper(N ub, BoundType ubType)</div><div class="ttdef"><b>Definition:</b> Interval.h:190</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a6d4297ffb3d018a3659e614fc8e6e94a"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a6d4297ffb3d018a3659e614fc8e6e94a">tacos::utilities::arithmetic::Interval::contains</a></div><div class="ttdeci">bool contains(const N &amp;value) const</div><div class="ttdoc">Checks containment of a value within the interval.</div><div class="ttdef"><b>Definition:</b> Interval.h:207</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a73a5b5582945aaad2761d5ac4fbf45d5"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a73a5b5582945aaad2761d5ac4fbf45d5">tacos::utilities::arithmetic::Interval::lowerBoundType</a></div><div class="ttdeci">BoundType lowerBoundType() const noexcept</div><div class="ttdoc">Getter for lower bound type.</div><div class="ttdef"><b>Definition:</b> Interval.h:257</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a7db194d6b20ea60408c7e2040ac108eb"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a7db194d6b20ea60408c7e2040ac108eb">tacos::utilities::arithmetic::Interval::operator!=</a></div><div class="ttdeci">friend bool operator!=(const Interval &amp;first, const Interval &amp;second)</div><div class="ttdoc">Check if two intervals are different.</div><div class="ttdef"><b>Definition:</b> Interval.h:133</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a907d116afec330d468355a0db9f523bb"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a907d116afec330d468355a0db9f523bb">tacos::utilities::arithmetic::Interval::is_empty</a></div><div class="ttdeci">bool is_empty() const</div><div class="ttdoc">Checks for emptiness.</div><div class="ttdef"><b>Definition:</b> Interval.h:219</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a9286f12a9665229106bffc38b84ac24e"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a9286f12a9665229106bffc38b84ac24e">tacos::utilities::arithmetic::Interval::upperBoundType</a></div><div class="ttdeci">BoundType upperBoundType() const noexcept</div><div class="ttdoc">Getter for upper bound type.</div><div class="ttdef"><b>Definition:</b> Interval.h:268</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a92a5c873df1856ddd319a9121b9c3c22"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a92a5c873df1856ddd319a9121b9c3c22">tacos::utilities::arithmetic::Interval::operator&lt;&lt;</a></div><div class="ttdeci">friend std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const Interval &amp;interval)</div><div class="ttdoc">Print an interval to an ostream.</div><div class="ttdef"><b>Definition:</b> Interval.h:144</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a92c43b8a4124eb85f36db59b24cd7944"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a92c43b8a4124eb85f36db59b24cd7944">tacos::utilities::arithmetic::Interval::operator==</a></div><div class="ttdeci">friend bool operator==(const Interval &amp;first, const Interval &amp;second)</div><div class="ttdoc">Check if two intervals are identical.</div><div class="ttdef"><b>Definition:</b> Interval.h:119</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">tacos::utilities::arithmetic::Interval</a></div><div class="ttdoc">Templated class for intervals with a reduced set of operations.</div><div class="ttdef"><b>Definition</b> Interval.h:35</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a351c3df24580bdd4040d3209ea7002eb"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a351c3df24580bdd4040d3209ea7002eb">tacos::utilities::arithmetic::Interval::operator&lt;</a></div><div class="ttdeci">friend bool operator&lt;(const Interval &amp;first, const Interval &amp;second)</div><div class="ttdoc">Check if the first interval is lexicographically smaller than the second.</div><div class="ttdef"><b>Definition</b> Interval.h:78</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a476eaa421328459d2cc472aa0962a18f"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a476eaa421328459d2cc472aa0962a18f">tacos::utilities::arithmetic::Interval::lower</a></div><div class="ttdeci">const N &amp; lower() const noexcept</div><div class="ttdoc">Getter for lower bound.</div><div class="ttdef"><b>Definition</b> Interval.h:235</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a5ccba1ff7fcb2abefbb3ffd1b635c879"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a5ccba1ff7fcb2abefbb3ffd1b635c879">tacos::utilities::arithmetic::Interval::Interval</a></div><div class="ttdeci">Interval(N lb, BoundType lbType, N ub, BoundType ubType)</div><div class="ttdoc">Construct a new Interval object from bounds and bound types.</div><div class="ttdef"><b>Definition</b> Interval.h:61</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a635c8a63a17f70f574f5f62784b62817"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a635c8a63a17f70f574f5f62784b62817">tacos::utilities::arithmetic::Interval::set_upper</a></div><div class="ttdeci">void set_upper(N ub, BoundType ubType)</div><div class="ttdef"><b>Definition</b> Interval.h:190</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a6d4297ffb3d018a3659e614fc8e6e94a"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a6d4297ffb3d018a3659e614fc8e6e94a">tacos::utilities::arithmetic::Interval::contains</a></div><div class="ttdeci">bool contains(const N &amp;value) const</div><div class="ttdoc">Checks containment of a value within the interval.</div><div class="ttdef"><b>Definition</b> Interval.h:207</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a73a5b5582945aaad2761d5ac4fbf45d5"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a73a5b5582945aaad2761d5ac4fbf45d5">tacos::utilities::arithmetic::Interval::lowerBoundType</a></div><div class="ttdeci">BoundType lowerBoundType() const noexcept</div><div class="ttdoc">Getter for lower bound type.</div><div class="ttdef"><b>Definition</b> Interval.h:257</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a7db194d6b20ea60408c7e2040ac108eb"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a7db194d6b20ea60408c7e2040ac108eb">tacos::utilities::arithmetic::Interval::operator!=</a></div><div class="ttdeci">friend bool operator!=(const Interval &amp;first, const Interval &amp;second)</div><div class="ttdoc">Check if two intervals are different.</div><div class="ttdef"><b>Definition</b> Interval.h:133</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a907d116afec330d468355a0db9f523bb"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a907d116afec330d468355a0db9f523bb">tacos::utilities::arithmetic::Interval::is_empty</a></div><div class="ttdeci">bool is_empty() const</div><div class="ttdoc">Checks for emptiness.</div><div class="ttdef"><b>Definition</b> Interval.h:219</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a9286f12a9665229106bffc38b84ac24e"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a9286f12a9665229106bffc38b84ac24e">tacos::utilities::arithmetic::Interval::upperBoundType</a></div><div class="ttdeci">BoundType upperBoundType() const noexcept</div><div class="ttdoc">Getter for upper bound type.</div><div class="ttdef"><b>Definition</b> Interval.h:268</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a92a5c873df1856ddd319a9121b9c3c22"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a92a5c873df1856ddd319a9121b9c3c22">tacos::utilities::arithmetic::Interval::operator&lt;&lt;</a></div><div class="ttdeci">friend std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const Interval &amp;interval)</div><div class="ttdoc">Print an interval to an ostream.</div><div class="ttdef"><b>Definition</b> Interval.h:144</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_a92c43b8a4124eb85f36db59b24cd7944"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a92c43b8a4124eb85f36db59b24cd7944">tacos::utilities::arithmetic::Interval::operator==</a></div><div class="ttdeci">friend bool operator==(const Interval &amp;first, const Interval &amp;second)</div><div class="ttdoc">Check if two intervals are identical.</div><div class="ttdef"><b>Definition</b> Interval.h:119</div></div>
 <div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_aa1bd0c25a66a30184da50f99ff268b23"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#aa1bd0c25a66a30184da50f99ff268b23">tacos::utilities::arithmetic::Interval::Interval</a></div><div class="ttdeci">Interval()=default</div><div class="ttdoc">Construct a new Interval object.</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_aacffa12edbcd418e7d97e8103da7aa29"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#aacffa12edbcd418e7d97e8103da7aa29">tacos::utilities::arithmetic::Interval::Interval</a></div><div class="ttdeci">Interval(N lb, N up)</div><div class="ttdoc">Construct a new Interval object from bounds with implicit weak bound types.</div><div class="ttdef"><b>Definition:</b> Interval.h:48</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_ab34182ba0f05ee449fb8cfbc001057eb"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#ab34182ba0f05ee449fb8cfbc001057eb">tacos::utilities::arithmetic::Interval::upper</a></div><div class="ttdeci">const N &amp; upper() const noexcept</div><div class="ttdoc">Getter for upper bound.</div><div class="ttdef"><b>Definition:</b> Interval.h:246</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_abea24634365d0d3c1a5966db9d4afeb6"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#abea24634365d0d3c1a5966db9d4afeb6">tacos::utilities::arithmetic::Interval::set_lower</a></div><div class="ttdeci">void set_lower(N lb, BoundType lbType)</div><div class="ttdef"><b>Definition:</b> Interval.h:175</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_adeac332d89e2481a3acd128a1b70edb7"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#adeac332d89e2481a3acd128a1b70edb7">tacos::utilities::arithmetic::Interval::operator&gt;</a></div><div class="ttdeci">friend bool operator&gt;(const Interval &amp;first, const Interval &amp;second)</div><div class="ttdoc">Check if the first interval is bigger than the second.</div><div class="ttdef"><b>Definition:</b> Interval.h:105</div></div>
-<div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html">tacos::utilities::arithmetic</a></div><div class="ttdoc">General arithmetic classes and functions.</div><div class="ttdef"><b>Definition:</b> Interval.h:19</div></div>
-<div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472c"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">tacos::utilities::arithmetic::BoundType</a></div><div class="ttdeci">BoundType</div><div class="ttdoc">The type of an interval bound.</div><div class="ttdef"><b>Definition:</b> Interval.h:22</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_aacffa12edbcd418e7d97e8103da7aa29"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#aacffa12edbcd418e7d97e8103da7aa29">tacos::utilities::arithmetic::Interval::Interval</a></div><div class="ttdeci">Interval(N lb, N up)</div><div class="ttdoc">Construct a new Interval object from bounds with implicit weak bound types.</div><div class="ttdef"><b>Definition</b> Interval.h:48</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_ab34182ba0f05ee449fb8cfbc001057eb"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#ab34182ba0f05ee449fb8cfbc001057eb">tacos::utilities::arithmetic::Interval::upper</a></div><div class="ttdeci">const N &amp; upper() const noexcept</div><div class="ttdoc">Getter for upper bound.</div><div class="ttdef"><b>Definition</b> Interval.h:246</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_abea24634365d0d3c1a5966db9d4afeb6"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#abea24634365d0d3c1a5966db9d4afeb6">tacos::utilities::arithmetic::Interval::set_lower</a></div><div class="ttdeci">void set_lower(N lb, BoundType lbType)</div><div class="ttdef"><b>Definition</b> Interval.h:175</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html_adeac332d89e2481a3acd128a1b70edb7"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#adeac332d89e2481a3acd128a1b70edb7">tacos::utilities::arithmetic::Interval::operator&gt;</a></div><div class="ttdeci">friend bool operator&gt;(const Interval &amp;first, const Interval &amp;second)</div><div class="ttdoc">Check if the first interval is bigger than the second.</div><div class="ttdef"><b>Definition</b> Interval.h:105</div></div>
+<div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html">tacos::utilities::arithmetic</a></div><div class="ttdoc">General arithmetic classes and functions.</div><div class="ttdef"><b>Definition</b> Interval.h:19</div></div>
+<div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472c"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">tacos::utilities::arithmetic::BoundType</a></div><div class="ttdeci">BoundType</div><div class="ttdoc">The type of an interval bound.</div><div class="ttdef"><b>Definition</b> Interval.h:22</div></div>
 <div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472ca32c7d8943bec86a6d7d5e03598670ca8"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472ca32c7d8943bec86a6d7d5e03598670ca8">tacos::utilities::arithmetic::BoundType::WEAK</a></div><div class="ttdeci">@ WEAK</div><div class="ttdoc">The endpoint is included in the interval, e.g., &lt;=.</div></div>
 <div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472ca4c50b1af679a751969aaad2881a34bef"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472ca4c50b1af679a751969aaad2881a34bef">tacos::utilities::arithmetic::BoundType::STRICT</a></div><div class="ttdeci">@ STRICT</div><div class="ttdoc">The endpoint is excluded from the interval, e.g., &lt;.</div></div>
 <div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472cac9b5a0979420dfb983a9aa10933ea169"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472cac9b5a0979420dfb983a9aa10933ea169">tacos::utilities::arithmetic::BoundType::INFTY</a></div><div class="ttdeci">@ INFTY</div><div class="ttdoc">The endpoint is infinite and therefore the interval is unbounded.</div></div>
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@@ -382,61 +382,61 @@
 <div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span><span class="preprocessor">#include &quot;MTLFormula.hpp&quot;</span></div>
 <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span> </div>
 <div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_MTL_INCLUDE_MTL_MTLFORMULA_H */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0a9b9f88c1a660cbb99b40ff9bf4b5ee"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0a9b9f88c1a660cbb99b40ff9bf4b5ee">tacos::logic::MTLFormula::get_operands</a></div><div class="ttdeci">const std::vector&lt; MTLFormula &gt; &amp; get_operands() const</div><div class="ttdoc">getter for operands</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:260</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0c54686bd45f20f622c76c4015e080ea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0c54686bd45f20f622c76c4015e080ea">tacos::logic::MTLFormula::get_operator</a></div><div class="ttdeci">LOP get_operator() const</div><div class="ttdoc">getter for the logical operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:266</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0eadb7fce9aa1eee1461b4bcc2c4647f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0eadb7fce9aa1eee1461b4bcc2c4647f">tacos::logic::MTLFormula::to_positive_normal_form</a></div><div class="ttdeci">MTLFormula to_positive_normal_form() const</div><div class="ttdoc">Returns normalized formula (positive normal form)</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:263</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a177264a4f2bd584f0a89a501e519cb1b"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a177264a4f2bd584f0a89a501e519cb1b">tacos::logic::MTLFormula::operator||</a></div><div class="ttdeci">MTLFormula operator||(const MTLFormula &amp;rhs) const</div><div class="ttdoc">Boolean-OR operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:201</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a1ec88e80b4c6baaf2768f34d5f17ebe4"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a1ec88e80b4c6baaf2768f34d5f17ebe4">tacos::logic::MTLFormula::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">less operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:233</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a3b554def707245b36dc4a2235c725a18"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a3b554def707245b36dc4a2235c725a18">tacos::logic::MTLFormula::operator&gt;</a></div><div class="ttdeci">bool operator&gt;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">larger operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:214</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a4dfbf0896b0ed90ad70f4fe480bae171"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a4dfbf0896b0ed90ad70f4fe480bae171">tacos::logic::MTLFormula::dual_until</a></div><div class="ttdeci">MTLFormula dual_until(const MTLFormula &amp;rhs, const TimeInterval &amp;duration=TimeInterval()) const</div><div class="ttdoc">timed dual_until operator (binary)</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:225</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a5c0f0dd7e0cb94763452fd7756e6a0c3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a5c0f0dd7e0cb94763452fd7756e6a0c3">tacos::logic::MTLFormula::TRUE</a></div><div class="ttdeci">static MTLFormula TRUE()</div><div class="ttdoc">Get a formula that is always true.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:162</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a64bdd0ffc9de366f99cc6e7dc133a263"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a64bdd0ffc9de366f99cc6e7dc133a263">tacos::logic::MTLFormula::operator!</a></div><div class="ttdeci">MTLFormula operator!() const</div><div class="ttdoc">Boolean negation operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:209</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6abea7b27f0438bc3948b87d6d5c71d3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6abea7b27f0438bc3948b87d6d5c71d3">tacos::logic::MTLFormula::operator==</a></div><div class="ttdeci">bool operator==(const MTLFormula &amp;rhs) const</div><div class="ttdoc">equal operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:234</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6b162911f8af646fb29bc0031d421c13"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6b162911f8af646fb29bc0031d421c13">tacos::logic::MTLFormula::create_disjunction</a></div><div class="ttdeci">static MTLFormula create_disjunction(const std::vector&lt; MTLFormula &gt; &amp;disjuncts)</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:189</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0a9b9f88c1a660cbb99b40ff9bf4b5ee"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0a9b9f88c1a660cbb99b40ff9bf4b5ee">tacos::logic::MTLFormula::get_operands</a></div><div class="ttdeci">const std::vector&lt; MTLFormula &gt; &amp; get_operands() const</div><div class="ttdoc">getter for operands</div><div class="ttdef"><b>Definition</b> MTLFormula.h:260</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0c54686bd45f20f622c76c4015e080ea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0c54686bd45f20f622c76c4015e080ea">tacos::logic::MTLFormula::get_operator</a></div><div class="ttdeci">LOP get_operator() const</div><div class="ttdoc">getter for the logical operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:266</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0eadb7fce9aa1eee1461b4bcc2c4647f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0eadb7fce9aa1eee1461b4bcc2c4647f">tacos::logic::MTLFormula::to_positive_normal_form</a></div><div class="ttdeci">MTLFormula to_positive_normal_form() const</div><div class="ttdoc">Returns normalized formula (positive normal form)</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:263</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a177264a4f2bd584f0a89a501e519cb1b"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a177264a4f2bd584f0a89a501e519cb1b">tacos::logic::MTLFormula::operator||</a></div><div class="ttdeci">MTLFormula operator||(const MTLFormula &amp;rhs) const</div><div class="ttdoc">Boolean-OR operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:201</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a1ec88e80b4c6baaf2768f34d5f17ebe4"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a1ec88e80b4c6baaf2768f34d5f17ebe4">tacos::logic::MTLFormula::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">less operator</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:233</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a3b554def707245b36dc4a2235c725a18"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a3b554def707245b36dc4a2235c725a18">tacos::logic::MTLFormula::operator&gt;</a></div><div class="ttdeci">bool operator&gt;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">larger operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:214</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a4dfbf0896b0ed90ad70f4fe480bae171"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a4dfbf0896b0ed90ad70f4fe480bae171">tacos::logic::MTLFormula::dual_until</a></div><div class="ttdeci">MTLFormula dual_until(const MTLFormula &amp;rhs, const TimeInterval &amp;duration=TimeInterval()) const</div><div class="ttdoc">timed dual_until operator (binary)</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:225</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a5c0f0dd7e0cb94763452fd7756e6a0c3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a5c0f0dd7e0cb94763452fd7756e6a0c3">tacos::logic::MTLFormula::TRUE</a></div><div class="ttdeci">static MTLFormula TRUE()</div><div class="ttdoc">Get a formula that is always true.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:162</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a64bdd0ffc9de366f99cc6e7dc133a263"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a64bdd0ffc9de366f99cc6e7dc133a263">tacos::logic::MTLFormula::operator!</a></div><div class="ttdeci">MTLFormula operator!() const</div><div class="ttdoc">Boolean negation operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:209</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6abea7b27f0438bc3948b87d6d5c71d3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6abea7b27f0438bc3948b87d6d5c71d3">tacos::logic::MTLFormula::operator==</a></div><div class="ttdeci">bool operator==(const MTLFormula &amp;rhs) const</div><div class="ttdoc">equal operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:234</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6b162911f8af646fb29bc0031d421c13"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6b162911f8af646fb29bc0031d421c13">tacos::logic::MTLFormula::create_disjunction</a></div><div class="ttdeci">static MTLFormula create_disjunction(const std::vector&lt; MTLFormula &gt; &amp;disjuncts)</div><div class="ttdef"><b>Definition</b> MTLFormula.h:189</div></div>
 <div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6d6228fa58b6739b82705cb140eb5e58"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6d6228fa58b6739b82705cb140eb5e58">tacos::logic::MTLFormula::operator=</a></div><div class="ttdeci">MTLFormula &amp; operator=(MTLFormula &amp;&amp;)=default</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6d6749787c7354f0d8262053cc937701"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6d6749787c7354f0d8262053cc937701">tacos::logic::MTLFormula::operator&amp;&amp;</a></div><div class="ttdeci">MTLFormula operator&amp;&amp;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">Boolean-AND operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:193</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a7a1cf993ac24d07f33a34eb781e1412f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a7a1cf993ac24d07f33a34eb781e1412f">tacos::logic::MTLFormula::operator!=</a></div><div class="ttdeci">bool operator!=(const MTLFormula &amp;rhs) const</div><div class="ttdoc">not-equal operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:240</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6d6749787c7354f0d8262053cc937701"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6d6749787c7354f0d8262053cc937701">tacos::logic::MTLFormula::operator&amp;&amp;</a></div><div class="ttdeci">MTLFormula operator&amp;&amp;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">Boolean-AND operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:193</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a7a1cf993ac24d07f33a34eb781e1412f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a7a1cf993ac24d07f33a34eb781e1412f">tacos::logic::MTLFormula::operator!=</a></div><div class="ttdeci">bool operator!=(const MTLFormula &amp;rhs) const</div><div class="ttdoc">not-equal operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:240</div></div>
 <div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a7d12bac7266e442b403ac8cfdf9e5ce1"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a7d12bac7266e442b403ac8cfdf9e5ce1">tacos::logic::MTLFormula::MTLFormula</a></div><div class="ttdeci">MTLFormula(MTLFormula &amp;&amp;)=default</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a84e45a9cc3c6e2ed6f59262486e2a3ab"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a84e45a9cc3c6e2ed6f59262486e2a3ab">tacos::logic::MTLFormula::get_maximal_region_index</a></div><div class="ttdeci">std::size_t get_maximal_region_index() const</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:299</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a91d7d4b07707f213aa5c7fad643e4dc8"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a91d7d4b07707f213aa5c7fad643e4dc8">tacos::logic::MTLFormula::get_atomicProposition</a></div><div class="ttdeci">AtomicProposition&lt; APType &gt; get_atomicProposition() const</div><div class="ttdoc">getter for the atomic proposition</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:287</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a97696f25a6a39a9a28116aa09b6faacd"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a97696f25a6a39a9a28116aa09b6faacd">tacos::logic::MTLFormula::get_alphabet</a></div><div class="ttdeci">std::set&lt; AtomicProposition&lt; APType &gt; &gt; get_alphabet() const</div><div class="ttdoc">collects all used atomic propositions of the formula</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:319</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a9a47951ce985446d0de2949de4325241"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a9a47951ce985446d0de2949de4325241">tacos::logic::MTLFormula::FALSE</a></div><div class="ttdeci">static MTLFormula FALSE()</div><div class="ttdoc">Get a formula that is always false.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:169</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a9c6150c59e6bab4bfb1c13604db6c90c"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a9c6150c59e6bab4bfb1c13604db6c90c">tacos::logic::MTLFormula::get_interval</a></div><div class="ttdeci">TimeInterval get_interval() const</div><div class="ttdoc">getter for the duration</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:276</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab82c723c33515430c3b0794f0210ab53"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab82c723c33515430c3b0794f0210ab53">tacos::logic::MTLFormula::get_subformulas_of_type</a></div><div class="ttdeci">std::set&lt; MTLFormula&lt; APType &gt; &gt; get_subformulas_of_type(LOP op) const</div><div class="ttdoc">collects all subformulas of a specific type</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:332</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab97381221fd21a6bf466ae54e1673fea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab97381221fd21a6bf466ae54e1673fea">tacos::logic::MTLFormula::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:350</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a84e45a9cc3c6e2ed6f59262486e2a3ab"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a84e45a9cc3c6e2ed6f59262486e2a3ab">tacos::logic::MTLFormula::get_maximal_region_index</a></div><div class="ttdeci">std::size_t get_maximal_region_index() const</div><div class="ttdef"><b>Definition</b> MTLFormula.h:299</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a91d7d4b07707f213aa5c7fad643e4dc8"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a91d7d4b07707f213aa5c7fad643e4dc8">tacos::logic::MTLFormula::get_atomicProposition</a></div><div class="ttdeci">AtomicProposition&lt; APType &gt; get_atomicProposition() const</div><div class="ttdoc">getter for the atomic proposition</div><div class="ttdef"><b>Definition</b> MTLFormula.h:287</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a97696f25a6a39a9a28116aa09b6faacd"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a97696f25a6a39a9a28116aa09b6faacd">tacos::logic::MTLFormula::get_alphabet</a></div><div class="ttdeci">std::set&lt; AtomicProposition&lt; APType &gt; &gt; get_alphabet() const</div><div class="ttdoc">collects all used atomic propositions of the formula</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:319</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a9a47951ce985446d0de2949de4325241"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a9a47951ce985446d0de2949de4325241">tacos::logic::MTLFormula::FALSE</a></div><div class="ttdeci">static MTLFormula FALSE()</div><div class="ttdoc">Get a formula that is always false.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:169</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a9c6150c59e6bab4bfb1c13604db6c90c"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a9c6150c59e6bab4bfb1c13604db6c90c">tacos::logic::MTLFormula::get_interval</a></div><div class="ttdeci">TimeInterval get_interval() const</div><div class="ttdoc">getter for the duration</div><div class="ttdef"><b>Definition</b> MTLFormula.h:276</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab82c723c33515430c3b0794f0210ab53"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab82c723c33515430c3b0794f0210ab53">tacos::logic::MTLFormula::get_subformulas_of_type</a></div><div class="ttdeci">std::set&lt; MTLFormula&lt; APType &gt; &gt; get_subformulas_of_type(LOP op) const</div><div class="ttdoc">collects all subformulas of a specific type</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:332</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab97381221fd21a6bf466ae54e1673fea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab97381221fd21a6bf466ae54e1673fea">tacos::logic::MTLFormula::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:350</div></div>
 <div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_abee26afa8e5c6c298d425c7517c46f86"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#abee26afa8e5c6c298d425c7517c46f86">tacos::logic::MTLFormula::MTLFormula</a></div><div class="ttdeci">MTLFormula(const MTLFormula &amp;)=default</div><div class="ttdoc">Copy-constructor.</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ac632effa3ec5702e90e8a1fa280ce361"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ac632effa3ec5702e90e8a1fa280ce361">tacos::logic::MTLFormula::operator&gt;=</a></div><div class="ttdeci">bool operator&gt;=(const MTLFormula &amp;rhs) const</div><div class="ttdoc">larger-equal operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:227</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_acbfe80d89c2235a130778e413a8c64f4"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#acbfe80d89c2235a130778e413a8c64f4">tacos::logic::MTLFormula::create_conjunction</a></div><div class="ttdeci">static MTLFormula create_conjunction(const std::vector&lt; MTLFormula &gt; &amp;conjuncts)</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:179</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_accd6cc1ba325f59328bb8f6ff51cc874"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#accd6cc1ba325f59328bb8f6ff51cc874">tacos::logic::MTLFormula::until</a></div><div class="ttdeci">MTLFormula until(const MTLFormula &amp;rhs, const TimeInterval &amp;duration=TimeInterval()) const</div><div class="ttdoc">timed-until operator (binary)</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:217</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_acd2391956a66d156e4bbd7116d958b83"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#acd2391956a66d156e4bbd7116d958b83">tacos::logic::MTLFormula::operator&lt;=</a></div><div class="ttdeci">bool operator&lt;=(const MTLFormula &amp;rhs) const</div><div class="ttdoc">less-equal operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:220</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ac632effa3ec5702e90e8a1fa280ce361"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ac632effa3ec5702e90e8a1fa280ce361">tacos::logic::MTLFormula::operator&gt;=</a></div><div class="ttdeci">bool operator&gt;=(const MTLFormula &amp;rhs) const</div><div class="ttdoc">larger-equal operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:227</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_acbfe80d89c2235a130778e413a8c64f4"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#acbfe80d89c2235a130778e413a8c64f4">tacos::logic::MTLFormula::create_conjunction</a></div><div class="ttdeci">static MTLFormula create_conjunction(const std::vector&lt; MTLFormula &gt; &amp;conjuncts)</div><div class="ttdef"><b>Definition</b> MTLFormula.h:179</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_accd6cc1ba325f59328bb8f6ff51cc874"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#accd6cc1ba325f59328bb8f6ff51cc874">tacos::logic::MTLFormula::until</a></div><div class="ttdeci">MTLFormula until(const MTLFormula &amp;rhs, const TimeInterval &amp;duration=TimeInterval()) const</div><div class="ttdoc">timed-until operator (binary)</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:217</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_acd2391956a66d156e4bbd7116d958b83"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#acd2391956a66d156e4bbd7116d958b83">tacos::logic::MTLFormula::operator&lt;=</a></div><div class="ttdeci">bool operator&lt;=(const MTLFormula &amp;rhs) const</div><div class="ttdoc">less-equal operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:220</div></div>
 <div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ae26d6e7f23bd18e2b3f3b41c46c0fa8f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ae26d6e7f23bd18e2b3f3b41c46c0fa8f">tacos::logic::MTLFormula::operator=</a></div><div class="ttdeci">MTLFormula &amp; operator=(const MTLFormula &amp;)=default</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html">tacos::logic::MTLWord</a></div><div class="ttdoc">A (timed-) word which can be validated against a given MTL-formula.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:108</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_a4f081f71275eed4fb4887f076ce4e43e"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#a4f081f71275eed4fb4887f076ce4e43e">tacos::logic::MTLWord::MTLWord</a></div><div class="ttdeci">MTLWord(std::initializer_list&lt; std::pair&lt; std::vector&lt; AtomicProposition&lt; APType &gt; &gt;, Endpoint &gt; &gt; a)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:115</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_a88cef82bc1f73fcde0450758900076c3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#a88cef82bc1f73fcde0450758900076c3">tacos::logic::MTLWord::satisfies</a></div><div class="ttdeci">bool satisfies(const MTLFormula&lt; APType &gt; &amp;phi) const</div><div class="ttdoc">Checks satisfaction at pos 0.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:180</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_aef89be5bb943cb9e301b6c6371165ea3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#aef89be5bb943cb9e301b6c6371165ea3">tacos::logic::MTLWord::satisfies_at</a></div><div class="ttdeci">bool satisfies_at(const MTLFormula&lt; APType &gt; &amp;phi, std::size_t i) const</div><div class="ttdoc">Checks satisfaction at a certain position.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:111</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">tacos::utilities::arithmetic::Interval</a></div><div class="ttdoc">Templated class for intervals with a reduced set of operations.</div><div class="ttdef"><b>Definition:</b> Interval.h:35</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html"><div class="ttname"><a href="namespacetacos_1_1logic.html">tacos::logic</a></div><div class="ttdoc">MTLFormulas and types related to MTL.</div><div class="ttdef"><b>Definition:</b> mtl_proto.h:15</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a05791a49e80664b08bbbc26cfb1ffcb8"><div class="ttname"><a href="namespacetacos_1_1logic.html#a05791a49e80664b08bbbc26cfb1ffcb8">tacos::logic::globally</a></div><div class="ttdeci">MTLFormula&lt; APType &gt; globally(const MTLFormula&lt; APType &gt; &amp;phi, const TimeInterval &amp;duration=TimeInterval())</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:376</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a16dd5f19684192339c06e142bd537104"><div class="ttname"><a href="namespacetacos_1_1logic.html#a16dd5f19684192339c06e142bd537104">tacos::logic::dual</a></div><div class="ttdeci">LOP dual(LOP in)</div><div class="ttdoc">Returns the dual of the passed operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a21c0e3cf4238087400461cd5a19a3baa"><div class="ttname"><a href="namespacetacos_1_1logic.html#a21c0e3cf4238087400461cd5a19a3baa">tacos::logic::operator!=</a></div><div class="ttdeci">bool operator!=(const AtomicProposition&lt; APType &gt; &amp;lhs, const AtomicProposition&lt; APType &gt; &amp;rhs)</div><div class="ttdoc">Not-equal operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:97</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a275fce3cc0f3c20002ff02f5b0f84d9e"><div class="ttname"><a href="namespacetacos_1_1logic.html#a275fce3cc0f3c20002ff02f5b0f84d9e">tacos::logic::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;out, const logic::AtomicProposition&lt; APType &gt; &amp;a)</div><div class="ttdoc">outstream operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:22</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a409bddda743c2179d7a3d8297a0a0d71"><div class="ttname"><a href="namespacetacos_1_1logic.html#a409bddda743c2179d7a3d8297a0a0d71">tacos::logic::TimeInterval</a></div><div class="ttdeci">utilities::arithmetic::Interval&lt; Endpoint &gt; TimeInterval</div><div class="ttdoc">An interval used for constrained until and dual until operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:30</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a7317efe47da93930f749137a5cfc6783"><div class="ttname"><a href="namespacetacos_1_1logic.html#a7317efe47da93930f749137a5cfc6783">tacos::logic::operator==</a></div><div class="ttdeci">bool operator==(const AtomicProposition&lt; APType &gt; &amp;lhs, const AtomicProposition&lt; APType &gt; &amp;rhs)</div><div class="ttdoc">Comparison override.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:89</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_aa7732d54191ff35a21b5ec0a6f0be389"><div class="ttname"><a href="namespacetacos_1_1logic.html#aa7732d54191ff35a21b5ec0a6f0be389">tacos::logic::LOP</a></div><div class="ttdeci">LOP</div><div class="ttdoc">Enum for logical operation-types.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:36</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_aba0a1732729a2da86059df0a6881464b"><div class="ttname"><a href="namespacetacos_1_1logic.html#aba0a1732729a2da86059df0a6881464b">tacos::logic::operator||</a></div><div class="ttdeci">MTLFormula&lt; APType &gt; operator||(const AtomicProposition&lt; APType &gt; &amp;lhs, const AtomicProposition&lt; APType &gt; &amp;rhs)</div><div class="ttdoc">Logical OR.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:342</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_acddd45125a5bb7949d7c1985705da8ef"><div class="ttname"><a href="namespacetacos_1_1logic.html#acddd45125a5bb7949d7c1985705da8ef">tacos::logic::operator&amp;&amp;</a></div><div class="ttdeci">MTLFormula&lt; APType &gt; operator&amp;&amp;(const AtomicProposition&lt; APType &gt; &amp;lhs, const AtomicProposition&lt; APType &gt; &amp;rhs)</div><div class="ttdoc">Logical AND.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:334</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_ae0f1516120c06fa57947a71bb9eaf207"><div class="ttname"><a href="namespacetacos_1_1logic.html#ae0f1516120c06fa57947a71bb9eaf207">tacos::logic::operator!</a></div><div class="ttdeci">MTLFormula&lt; APType &gt; operator!(const AtomicProposition&lt; APType &gt; &amp;ap)</div><div class="ttdoc">Logical NEGATION.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:350</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a27893ef0e7ca06297438e0d82507270e"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a27893ef0e7ca06297438e0d82507270e">tacos::logic::AtomicProposition::ap_</a></div><div class="ttdeci">APType ap_</div><div class="ttdoc">String representation of the ap.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:83</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a4313920fd45b0134a41eada838bd7c15"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a4313920fd45b0134a41eada838bd7c15">tacos::logic::AtomicProposition::AtomicProposition</a></div><div class="ttdeci">AtomicProposition(const APType &amp;name)</div><div class="ttdoc">Construct a new Atomic Proposition object from string.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:72</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html">tacos::logic::MTLWord</a></div><div class="ttdoc">A (timed-) word which can be validated against a given MTL-formula.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:108</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_a4f081f71275eed4fb4887f076ce4e43e"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#a4f081f71275eed4fb4887f076ce4e43e">tacos::logic::MTLWord::MTLWord</a></div><div class="ttdeci">MTLWord(std::initializer_list&lt; std::pair&lt; std::vector&lt; AtomicProposition&lt; APType &gt; &gt;, Endpoint &gt; &gt; a)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:115</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_a88cef82bc1f73fcde0450758900076c3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#a88cef82bc1f73fcde0450758900076c3">tacos::logic::MTLWord::satisfies</a></div><div class="ttdeci">bool satisfies(const MTLFormula&lt; APType &gt; &amp;phi) const</div><div class="ttdoc">Checks satisfaction at pos 0.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:180</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_aef89be5bb943cb9e301b6c6371165ea3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#aef89be5bb943cb9e301b6c6371165ea3">tacos::logic::MTLWord::satisfies_at</a></div><div class="ttdeci">bool satisfies_at(const MTLFormula&lt; APType &gt; &amp;phi, std::size_t i) const</div><div class="ttdoc">Checks satisfaction at a certain position.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:111</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">tacos::utilities::arithmetic::Interval</a></div><div class="ttdoc">Templated class for intervals with a reduced set of operations.</div><div class="ttdef"><b>Definition</b> Interval.h:35</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html"><div class="ttname"><a href="namespacetacos_1_1logic.html">tacos::logic</a></div><div class="ttdoc">MTLFormulas and types related to MTL.</div><div class="ttdef"><b>Definition</b> mtl_proto.h:15</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a05791a49e80664b08bbbc26cfb1ffcb8"><div class="ttname"><a href="namespacetacos_1_1logic.html#a05791a49e80664b08bbbc26cfb1ffcb8">tacos::logic::globally</a></div><div class="ttdeci">MTLFormula&lt; APType &gt; globally(const MTLFormula&lt; APType &gt; &amp;phi, const TimeInterval &amp;duration=TimeInterval())</div><div class="ttdef"><b>Definition</b> MTLFormula.h:376</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a16dd5f19684192339c06e142bd537104"><div class="ttname"><a href="namespacetacos_1_1logic.html#a16dd5f19684192339c06e142bd537104">tacos::logic::dual</a></div><div class="ttdeci">LOP dual(LOP in)</div><div class="ttdoc">Returns the dual of the passed operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a21c0e3cf4238087400461cd5a19a3baa"><div class="ttname"><a href="namespacetacos_1_1logic.html#a21c0e3cf4238087400461cd5a19a3baa">tacos::logic::operator!=</a></div><div class="ttdeci">bool operator!=(const AtomicProposition&lt; APType &gt; &amp;lhs, const AtomicProposition&lt; APType &gt; &amp;rhs)</div><div class="ttdoc">Not-equal operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:97</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a275fce3cc0f3c20002ff02f5b0f84d9e"><div class="ttname"><a href="namespacetacos_1_1logic.html#a275fce3cc0f3c20002ff02f5b0f84d9e">tacos::logic::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;out, const logic::AtomicProposition&lt; APType &gt; &amp;a)</div><div class="ttdoc">outstream operator</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:22</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a409bddda743c2179d7a3d8297a0a0d71"><div class="ttname"><a href="namespacetacos_1_1logic.html#a409bddda743c2179d7a3d8297a0a0d71">tacos::logic::TimeInterval</a></div><div class="ttdeci">utilities::arithmetic::Interval&lt; Endpoint &gt; TimeInterval</div><div class="ttdoc">An interval used for constrained until and dual until operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:30</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a7317efe47da93930f749137a5cfc6783"><div class="ttname"><a href="namespacetacos_1_1logic.html#a7317efe47da93930f749137a5cfc6783">tacos::logic::operator==</a></div><div class="ttdeci">bool operator==(const AtomicProposition&lt; APType &gt; &amp;lhs, const AtomicProposition&lt; APType &gt; &amp;rhs)</div><div class="ttdoc">Comparison override.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:89</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_aa7732d54191ff35a21b5ec0a6f0be389"><div class="ttname"><a href="namespacetacos_1_1logic.html#aa7732d54191ff35a21b5ec0a6f0be389">tacos::logic::LOP</a></div><div class="ttdeci">LOP</div><div class="ttdoc">Enum for logical operation-types.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:36</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_aba0a1732729a2da86059df0a6881464b"><div class="ttname"><a href="namespacetacos_1_1logic.html#aba0a1732729a2da86059df0a6881464b">tacos::logic::operator||</a></div><div class="ttdeci">MTLFormula&lt; APType &gt; operator||(const AtomicProposition&lt; APType &gt; &amp;lhs, const AtomicProposition&lt; APType &gt; &amp;rhs)</div><div class="ttdoc">Logical OR.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:342</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_acddd45125a5bb7949d7c1985705da8ef"><div class="ttname"><a href="namespacetacos_1_1logic.html#acddd45125a5bb7949d7c1985705da8ef">tacos::logic::operator&amp;&amp;</a></div><div class="ttdeci">MTLFormula&lt; APType &gt; operator&amp;&amp;(const AtomicProposition&lt; APType &gt; &amp;lhs, const AtomicProposition&lt; APType &gt; &amp;rhs)</div><div class="ttdoc">Logical AND.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:334</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_ae0f1516120c06fa57947a71bb9eaf207"><div class="ttname"><a href="namespacetacos_1_1logic.html#ae0f1516120c06fa57947a71bb9eaf207">tacos::logic::operator!</a></div><div class="ttdeci">MTLFormula&lt; APType &gt; operator!(const AtomicProposition&lt; APType &gt; &amp;ap)</div><div class="ttdoc">Logical NEGATION.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:350</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a27893ef0e7ca06297438e0d82507270e"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a27893ef0e7ca06297438e0d82507270e">tacos::logic::AtomicProposition::ap_</a></div><div class="ttdeci">APType ap_</div><div class="ttdoc">String representation of the ap.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:83</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a4313920fd45b0134a41eada838bd7c15"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a4313920fd45b0134a41eada838bd7c15">tacos::logic::AtomicProposition::AtomicProposition</a></div><div class="ttdeci">AtomicProposition(const APType &amp;name)</div><div class="ttdoc">Construct a new Atomic Proposition object from string.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:72</div></div>
 <div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a4e0789f4f7fc7bc63a0e65c067738ede"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a4e0789f4f7fc7bc63a0e65c067738ede">tacos::logic::AtomicProposition::operator=</a></div><div class="ttdeci">AtomicProposition &amp; operator=(const AtomicProposition &amp;other)=default</div><div class="ttdoc">Copy-assignment operator.</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a4e850484bdf4a8650ec39e36274f7ae3"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a4e850484bdf4a8650ec39e36274f7ae3">tacos::logic::AtomicProposition::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const AtomicProposition &amp;other) const</div><div class="ttdoc">less-operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:78</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a4e850484bdf4a8650ec39e36274f7ae3"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a4e850484bdf4a8650ec39e36274f7ae3">tacos::logic::AtomicProposition::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const AtomicProposition &amp;other) const</div><div class="ttdoc">less-operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:78</div></div>
 <div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_ac2ac3482147948a0d19fe5d10bb71da4"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#ac2ac3482147948a0d19fe5d10bb71da4">tacos::logic::AtomicProposition::AtomicProposition</a></div><div class="ttdeci">AtomicProposition(const AtomicProposition &amp;other)=default</div><div class="ttdoc">Copy constructor.</div></div>
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diff --git a/docs/MTLFormula_8hpp_source.html b/docs/MTLFormula_8hpp_source.html
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 <title>tacos: src/mtl/include/mtl/MTLFormula.hpp Source File</title>
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@@ -459,36 +459,36 @@
 <div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>}</div>
 <div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span> </div>
 <div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>} <span class="comment">// namespace tacos::logic</span></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0a9b9f88c1a660cbb99b40ff9bf4b5ee"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0a9b9f88c1a660cbb99b40ff9bf4b5ee">tacos::logic::MTLFormula::get_operands</a></div><div class="ttdeci">const std::vector&lt; MTLFormula &gt; &amp; get_operands() const</div><div class="ttdoc">getter for operands</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:260</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0c54686bd45f20f622c76c4015e080ea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0c54686bd45f20f622c76c4015e080ea">tacos::logic::MTLFormula::get_operator</a></div><div class="ttdeci">LOP get_operator() const</div><div class="ttdoc">getter for the logical operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:266</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0eadb7fce9aa1eee1461b4bcc2c4647f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0eadb7fce9aa1eee1461b4bcc2c4647f">tacos::logic::MTLFormula::to_positive_normal_form</a></div><div class="ttdeci">MTLFormula to_positive_normal_form() const</div><div class="ttdoc">Returns normalized formula (positive normal form)</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:263</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a177264a4f2bd584f0a89a501e519cb1b"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a177264a4f2bd584f0a89a501e519cb1b">tacos::logic::MTLFormula::operator||</a></div><div class="ttdeci">MTLFormula operator||(const MTLFormula &amp;rhs) const</div><div class="ttdoc">Boolean-OR operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:201</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a1ec88e80b4c6baaf2768f34d5f17ebe4"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a1ec88e80b4c6baaf2768f34d5f17ebe4">tacos::logic::MTLFormula::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">less operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:233</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a4dfbf0896b0ed90ad70f4fe480bae171"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a4dfbf0896b0ed90ad70f4fe480bae171">tacos::logic::MTLFormula::dual_until</a></div><div class="ttdeci">MTLFormula dual_until(const MTLFormula &amp;rhs, const TimeInterval &amp;duration=TimeInterval()) const</div><div class="ttdoc">timed dual_until operator (binary)</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:225</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a64bdd0ffc9de366f99cc6e7dc133a263"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a64bdd0ffc9de366f99cc6e7dc133a263">tacos::logic::MTLFormula::operator!</a></div><div class="ttdeci">MTLFormula operator!() const</div><div class="ttdoc">Boolean negation operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:209</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6d6749787c7354f0d8262053cc937701"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6d6749787c7354f0d8262053cc937701">tacos::logic::MTLFormula::operator&amp;&amp;</a></div><div class="ttdeci">MTLFormula operator&amp;&amp;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">Boolean-AND operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:193</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a91d7d4b07707f213aa5c7fad643e4dc8"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a91d7d4b07707f213aa5c7fad643e4dc8">tacos::logic::MTLFormula::get_atomicProposition</a></div><div class="ttdeci">AtomicProposition&lt; APType &gt; get_atomicProposition() const</div><div class="ttdoc">getter for the atomic proposition</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:287</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a97696f25a6a39a9a28116aa09b6faacd"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a97696f25a6a39a9a28116aa09b6faacd">tacos::logic::MTLFormula::get_alphabet</a></div><div class="ttdeci">std::set&lt; AtomicProposition&lt; APType &gt; &gt; get_alphabet() const</div><div class="ttdoc">collects all used atomic propositions of the formula</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:319</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a9c6150c59e6bab4bfb1c13604db6c90c"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a9c6150c59e6bab4bfb1c13604db6c90c">tacos::logic::MTLFormula::get_interval</a></div><div class="ttdeci">TimeInterval get_interval() const</div><div class="ttdoc">getter for the duration</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:276</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab82c723c33515430c3b0794f0210ab53"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab82c723c33515430c3b0794f0210ab53">tacos::logic::MTLFormula::get_subformulas_of_type</a></div><div class="ttdeci">std::set&lt; MTLFormula&lt; APType &gt; &gt; get_subformulas_of_type(LOP op) const</div><div class="ttdoc">collects all subformulas of a specific type</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:332</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab97381221fd21a6bf466ae54e1673fea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab97381221fd21a6bf466ae54e1673fea">tacos::logic::MTLFormula::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:350</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_accd6cc1ba325f59328bb8f6ff51cc874"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#accd6cc1ba325f59328bb8f6ff51cc874">tacos::logic::MTLFormula::until</a></div><div class="ttdeci">MTLFormula until(const MTLFormula &amp;rhs, const TimeInterval &amp;duration=TimeInterval()) const</div><div class="ttdoc">timed-until operator (binary)</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:217</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_a88cef82bc1f73fcde0450758900076c3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#a88cef82bc1f73fcde0450758900076c3">tacos::logic::MTLWord::satisfies</a></div><div class="ttdeci">bool satisfies(const MTLFormula&lt; APType &gt; &amp;phi) const</div><div class="ttdoc">Checks satisfaction at pos 0.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:180</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_aef89be5bb943cb9e301b6c6371165ea3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#aef89be5bb943cb9e301b6c6371165ea3">tacos::logic::MTLWord::satisfies_at</a></div><div class="ttdeci">bool satisfies_at(const MTLFormula&lt; APType &gt; &amp;phi, std::size_t i) const</div><div class="ttdoc">Checks satisfaction at a certain position.</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:111</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">tacos::utilities::arithmetic::Interval</a></div><div class="ttdoc">Templated class for intervals with a reduced set of operations.</div><div class="ttdef"><b>Definition:</b> Interval.h:35</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html"><div class="ttname"><a href="namespacetacos_1_1logic.html">tacos::logic</a></div><div class="ttdoc">MTLFormulas and types related to MTL.</div><div class="ttdef"><b>Definition:</b> mtl_proto.h:15</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a16dd5f19684192339c06e142bd537104"><div class="ttname"><a href="namespacetacos_1_1logic.html#a16dd5f19684192339c06e142bd537104">tacos::logic::dual</a></div><div class="ttdeci">LOP dual(LOP in)</div><div class="ttdoc">Returns the dual of the passed operator.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a275fce3cc0f3c20002ff02f5b0f84d9e"><div class="ttname"><a href="namespacetacos_1_1logic.html#a275fce3cc0f3c20002ff02f5b0f84d9e">tacos::logic::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;out, const logic::AtomicProposition&lt; APType &gt; &amp;a)</div><div class="ttdoc">outstream operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:22</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_aa7732d54191ff35a21b5ec0a6f0be389"><div class="ttname"><a href="namespacetacos_1_1logic.html#aa7732d54191ff35a21b5ec0a6f0be389">tacos::logic::LOP</a></div><div class="ttdeci">LOP</div><div class="ttdoc">Enum for logical operation-types.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:36</div></div>
-<div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472c"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">tacos::utilities::arithmetic::BoundType</a></div><div class="ttdeci">BoundType</div><div class="ttdoc">The type of an interval bound.</div><div class="ttdef"><b>Definition:</b> Interval.h:22</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0a9b9f88c1a660cbb99b40ff9bf4b5ee"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0a9b9f88c1a660cbb99b40ff9bf4b5ee">tacos::logic::MTLFormula::get_operands</a></div><div class="ttdeci">const std::vector&lt; MTLFormula &gt; &amp; get_operands() const</div><div class="ttdoc">getter for operands</div><div class="ttdef"><b>Definition</b> MTLFormula.h:260</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0c54686bd45f20f622c76c4015e080ea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0c54686bd45f20f622c76c4015e080ea">tacos::logic::MTLFormula::get_operator</a></div><div class="ttdeci">LOP get_operator() const</div><div class="ttdoc">getter for the logical operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:266</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0eadb7fce9aa1eee1461b4bcc2c4647f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0eadb7fce9aa1eee1461b4bcc2c4647f">tacos::logic::MTLFormula::to_positive_normal_form</a></div><div class="ttdeci">MTLFormula to_positive_normal_form() const</div><div class="ttdoc">Returns normalized formula (positive normal form)</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:263</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a177264a4f2bd584f0a89a501e519cb1b"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a177264a4f2bd584f0a89a501e519cb1b">tacos::logic::MTLFormula::operator||</a></div><div class="ttdeci">MTLFormula operator||(const MTLFormula &amp;rhs) const</div><div class="ttdoc">Boolean-OR operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:201</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a1ec88e80b4c6baaf2768f34d5f17ebe4"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a1ec88e80b4c6baaf2768f34d5f17ebe4">tacos::logic::MTLFormula::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">less operator</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:233</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a4dfbf0896b0ed90ad70f4fe480bae171"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a4dfbf0896b0ed90ad70f4fe480bae171">tacos::logic::MTLFormula::dual_until</a></div><div class="ttdeci">MTLFormula dual_until(const MTLFormula &amp;rhs, const TimeInterval &amp;duration=TimeInterval()) const</div><div class="ttdoc">timed dual_until operator (binary)</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:225</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a64bdd0ffc9de366f99cc6e7dc133a263"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a64bdd0ffc9de366f99cc6e7dc133a263">tacos::logic::MTLFormula::operator!</a></div><div class="ttdeci">MTLFormula operator!() const</div><div class="ttdoc">Boolean negation operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:209</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a6d6749787c7354f0d8262053cc937701"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a6d6749787c7354f0d8262053cc937701">tacos::logic::MTLFormula::operator&amp;&amp;</a></div><div class="ttdeci">MTLFormula operator&amp;&amp;(const MTLFormula &amp;rhs) const</div><div class="ttdoc">Boolean-AND operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:193</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a91d7d4b07707f213aa5c7fad643e4dc8"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a91d7d4b07707f213aa5c7fad643e4dc8">tacos::logic::MTLFormula::get_atomicProposition</a></div><div class="ttdeci">AtomicProposition&lt; APType &gt; get_atomicProposition() const</div><div class="ttdoc">getter for the atomic proposition</div><div class="ttdef"><b>Definition</b> MTLFormula.h:287</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a97696f25a6a39a9a28116aa09b6faacd"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a97696f25a6a39a9a28116aa09b6faacd">tacos::logic::MTLFormula::get_alphabet</a></div><div class="ttdeci">std::set&lt; AtomicProposition&lt; APType &gt; &gt; get_alphabet() const</div><div class="ttdoc">collects all used atomic propositions of the formula</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:319</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a9c6150c59e6bab4bfb1c13604db6c90c"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a9c6150c59e6bab4bfb1c13604db6c90c">tacos::logic::MTLFormula::get_interval</a></div><div class="ttdeci">TimeInterval get_interval() const</div><div class="ttdoc">getter for the duration</div><div class="ttdef"><b>Definition</b> MTLFormula.h:276</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab82c723c33515430c3b0794f0210ab53"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab82c723c33515430c3b0794f0210ab53">tacos::logic::MTLFormula::get_subformulas_of_type</a></div><div class="ttdeci">std::set&lt; MTLFormula&lt; APType &gt; &gt; get_subformulas_of_type(LOP op) const</div><div class="ttdoc">collects all subformulas of a specific type</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:332</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab97381221fd21a6bf466ae54e1673fea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab97381221fd21a6bf466ae54e1673fea">tacos::logic::MTLFormula::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:350</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_accd6cc1ba325f59328bb8f6ff51cc874"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#accd6cc1ba325f59328bb8f6ff51cc874">tacos::logic::MTLFormula::until</a></div><div class="ttdeci">MTLFormula until(const MTLFormula &amp;rhs, const TimeInterval &amp;duration=TimeInterval()) const</div><div class="ttdoc">timed-until operator (binary)</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:217</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_a88cef82bc1f73fcde0450758900076c3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#a88cef82bc1f73fcde0450758900076c3">tacos::logic::MTLWord::satisfies</a></div><div class="ttdeci">bool satisfies(const MTLFormula&lt; APType &gt; &amp;phi) const</div><div class="ttdoc">Checks satisfaction at pos 0.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:180</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLWord_html_aef89be5bb943cb9e301b6c6371165ea3"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLWord.html#aef89be5bb943cb9e301b6c6371165ea3">tacos::logic::MTLWord::satisfies_at</a></div><div class="ttdeci">bool satisfies_at(const MTLFormula&lt; APType &gt; &amp;phi, std::size_t i) const</div><div class="ttdoc">Checks satisfaction at a certain position.</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:111</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1arithmetic_1_1Interval_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">tacos::utilities::arithmetic::Interval</a></div><div class="ttdoc">Templated class for intervals with a reduced set of operations.</div><div class="ttdef"><b>Definition</b> Interval.h:35</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html"><div class="ttname"><a href="namespacetacos_1_1logic.html">tacos::logic</a></div><div class="ttdoc">MTLFormulas and types related to MTL.</div><div class="ttdef"><b>Definition</b> mtl_proto.h:15</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a16dd5f19684192339c06e142bd537104"><div class="ttname"><a href="namespacetacos_1_1logic.html#a16dd5f19684192339c06e142bd537104">tacos::logic::dual</a></div><div class="ttdeci">LOP dual(LOP in)</div><div class="ttdoc">Returns the dual of the passed operator.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a275fce3cc0f3c20002ff02f5b0f84d9e"><div class="ttname"><a href="namespacetacos_1_1logic.html#a275fce3cc0f3c20002ff02f5b0f84d9e">tacos::logic::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;out, const logic::AtomicProposition&lt; APType &gt; &amp;a)</div><div class="ttdoc">outstream operator</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:22</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_aa7732d54191ff35a21b5ec0a6f0be389"><div class="ttname"><a href="namespacetacos_1_1logic.html#aa7732d54191ff35a21b5ec0a6f0be389">tacos::logic::LOP</a></div><div class="ttdeci">LOP</div><div class="ttdoc">Enum for logical operation-types.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:36</div></div>
+<div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472c"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">tacos::utilities::arithmetic::BoundType</a></div><div class="ttdeci">BoundType</div><div class="ttdoc">The type of an interval bound.</div><div class="ttdef"><b>Definition</b> Interval.h:22</div></div>
 <div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472cac9b5a0979420dfb983a9aa10933ea169"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472cac9b5a0979420dfb983a9aa10933ea169">tacos::utilities::arithmetic::BoundType::INFTY</a></div><div class="ttdeci">@ INFTY</div><div class="ttdoc">The endpoint is infinite and therefore the interval is unbounded.</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a27893ef0e7ca06297438e0d82507270e"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a27893ef0e7ca06297438e0d82507270e">tacos::logic::AtomicProposition::ap_</a></div><div class="ttdeci">APType ap_</div><div class="ttdoc">String representation of the ap.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:83</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a27893ef0e7ca06297438e0d82507270e"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a27893ef0e7ca06297438e0d82507270e">tacos::logic::AtomicProposition::ap_</a></div><div class="ttdeci">APType ap_</div><div class="ttdoc">String representation of the ap.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:83</div></div>
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diff --git a/docs/XmlWriter_8h_source.html b/docs/XmlWriter_8h_source.html
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@@ -30,7 +30,7 @@
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@@ -299,7 +299,7 @@
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diff --git a/docs/adapter_8h_source.html b/docs/adapter_8h_source.html
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@@ -121,18 +121,18 @@
 <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>};</div>
 <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>} <span class="comment">// namespace tacos::search</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:160</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html">tacos::search::get_next_canonical_words</a></div><div class="ttdoc">Generic functor to get the next canonical word.</div><div class="ttdef"><b>Definition:</b> adapter.h:28</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a121bd028bc553d328f7d4707971d65b7"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a121bd028bc553d328f7d4707971d65b7">tacos::search::get_next_canonical_words::get_next_canonical_words</a></div><div class="ttdeci">get_next_canonical_words(const std::set&lt; ActionType &gt; &amp;controller_actions={}, const std::set&lt; ActionType &gt; &amp;environment_actions={})</div><div class="ttdef"><b>Definition:</b> adapter.h:34</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a31f11cc0e00782bbf049e8c7db3ac285"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a31f11cc0e00782bbf049e8c7db3ac285">tacos::search::get_next_canonical_words::operator()</a></div><div class="ttdeci">std::multimap&lt; ActionType, CanonicalABWord&lt; typename Plant::Location, ConstraintSymbolType &gt; &gt; operator()(const Plant &amp;, const automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ConstraintSymbolType &gt; &gt; &amp;, const std::pair&lt; typename Plant::Configuration, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; &amp;, const RegionIndex, const RegionIndex)</div><div class="ttdef"><b>Definition:</b> adapter.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition:</b> canonical_word.h:25</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html">tacos::search::get_next_canonical_words</a></div><div class="ttdoc">Generic functor to get the next canonical word.</div><div class="ttdef"><b>Definition</b> adapter.h:28</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a121bd028bc553d328f7d4707971d65b7"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a121bd028bc553d328f7d4707971d65b7">tacos::search::get_next_canonical_words::get_next_canonical_words</a></div><div class="ttdeci">get_next_canonical_words(const std::set&lt; ActionType &gt; &amp;controller_actions={}, const std::set&lt; ActionType &gt; &amp;environment_actions={})</div><div class="ttdef"><b>Definition</b> adapter.h:34</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a31f11cc0e00782bbf049e8c7db3ac285"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a31f11cc0e00782bbf049e8c7db3ac285">tacos::search::get_next_canonical_words::operator()</a></div><div class="ttdeci">std::multimap&lt; ActionType, CanonicalABWord&lt; typename Plant::Location, ConstraintSymbolType &gt; &gt; operator()(const Plant &amp;, const automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ConstraintSymbolType &gt; &gt; &amp;, const std::pair&lt; typename Plant::Configuration, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; &amp;, const RegionIndex, const RegionIndex)</div><div class="ttdef"><b>Definition</b> adapter.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition</b> canonical_word.h:25</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
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diff --git a/docs/app_2include_2app_2app_8h_source.html b/docs/app_2include_2app_2app_8h_source.html
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@@ -30,7 +30,7 @@
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@@ -118,14 +118,14 @@
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacetacos_1_1app.html#a6932450ee4acb140f70387abced3fc12">read_proto_from_file</a>(<span class="keyword">const</span> std::filesystem::path &amp;path, google::protobuf::Message *output);</div>
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-<div class="ttc" id="aclasstacos_1_1app_1_1Launcher_html"><div class="ttname"><a href="classtacos_1_1app_1_1Launcher.html">tacos::app::Launcher</a></div><div class="ttdoc">Launcher for the main application.</div><div class="ttdef"><b>Definition:</b> app.h:21</div></div>
-<div class="ttc" id="aclasstacos_1_1app_1_1Launcher_html_a59f9907e930f1573b10285d4706753f3"><div class="ttname"><a href="classtacos_1_1app_1_1Launcher.html#a59f9907e930f1573b10285d4706753f3">tacos::app::Launcher::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition:</b> app.cpp:163</div></div>
-<div class="ttc" id="anamespacetacos_1_1app_html"><div class="ttname"><a href="namespacetacos_1_1app.html">tacos::app</a></div><div class="ttdoc">The main application.</div><div class="ttdef"><b>Definition:</b> app.cpp:49</div></div>
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+<div class="ttc" id="aclasstacos_1_1app_1_1Launcher_html"><div class="ttname"><a href="classtacos_1_1app_1_1Launcher.html">tacos::app::Launcher</a></div><div class="ttdoc">Launcher for the main application.</div><div class="ttdef"><b>Definition</b> app.h:21</div></div>
+<div class="ttc" id="aclasstacos_1_1app_1_1Launcher_html_a59f9907e930f1573b10285d4706753f3"><div class="ttname"><a href="classtacos_1_1app_1_1Launcher.html#a59f9907e930f1573b10285d4706753f3">tacos::app::Launcher::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition</b> app.cpp:163</div></div>
+<div class="ttc" id="anamespacetacos_1_1app_html"><div class="ttname"><a href="namespacetacos_1_1app.html">tacos::app</a></div><div class="ttdoc">The main application.</div><div class="ttdef"><b>Definition</b> app.cpp:49</div></div>
+<div class="ttc" id="anamespacetacos_1_1app_html_a6932450ee4acb140f70387abced3fc12"><div class="ttname"><a href="namespacetacos_1_1app.html#a6932450ee4acb140f70387abced3fc12">tacos::app::read_proto_from_file</a></div><div class="ttdeci">void read_proto_from_file(const std::filesystem::path &amp;path, google::protobuf::Message *output)</div><div class="ttdoc">Read a protobuf message from a file.</div><div class="ttdef"><b>Definition</b> app.cpp:148</div></div>
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 <!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
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-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a11459fcc573c1643dedfb4939f829569"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a11459fcc573c1643dedfb4939f829569">tacos::automata::ata::AlternatingTimedAutomaton::make_time_step</a></div><div class="ttdeci">Configuration&lt; LocationT &gt; make_time_step(const Configuration&lt; LocationT &gt; &amp;start, const Time &amp;time) const</div><div class="ttdef"><b>Definition:</b> ata.hpp:252</div></div>
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-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a8ac09d801f075b783924dd0db3b69cd5"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a8ac09d801f075b783924dd0db3b69cd5">tacos::automata::ata::AlternatingTimedAutomaton::is_accepting_configuration</a></div><div class="ttdeci">bool is_accepting_configuration(const Configuration&lt; LocationT &gt; &amp;configuration) const</div><div class="ttdef"><b>Definition:</b> ata.hpp:293</div></div>
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+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a11459fcc573c1643dedfb4939f829569"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a11459fcc573c1643dedfb4939f829569">tacos::automata::ata::AlternatingTimedAutomaton::make_time_step</a></div><div class="ttdeci">Configuration&lt; LocationT &gt; make_time_step(const Configuration&lt; LocationT &gt; &amp;start, const Time &amp;time) const</div><div class="ttdef"><b>Definition</b> ata.hpp:252</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a376907d6eaaa681cb62e6b490ac22719"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a376907d6eaaa681cb62e6b490ac22719">tacos::automata::ata::AlternatingTimedAutomaton::get_initial_configuration</a></div><div class="ttdeci">Configuration&lt; LocationT &gt; get_initial_configuration() const</div><div class="ttdef"><b>Definition</b> ata.hpp:151</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a42727e9057ec58f232a169643f751f08"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a42727e9057ec58f232a169643f751f08">tacos::automata::ata::AlternatingTimedAutomaton::accepts_word</a></div><div class="ttdeci">bool accepts_word(const TimedATAWord&lt; SymbolT &gt; &amp;word) const</div><div class="ttdef"><b>Definition</b> ata.hpp:303</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a4d39093995afed83129213f784f3ed44"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a4d39093995afed83129213f784f3ed44">tacos::automata::ata::AlternatingTimedAutomaton::make_time_transition</a></div><div class="ttdeci">std::vector&lt; Run&lt; LocationT, SymbolT &gt; &gt; make_time_transition(const std::vector&lt; Run&lt; LocationT, SymbolT &gt; &gt; &amp;runs, const Time &amp;time) const</div><div class="ttdef"><b>Definition</b> ata.hpp:270</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a5fceac8519346e1aee4882845b93a743"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a5fceac8519346e1aee4882845b93a743">tacos::automata::ata::AlternatingTimedAutomaton::get_alphabet</a></div><div class="ttdeci">const std::set&lt; SymbolT &gt; &amp; get_alphabet() const</div><div class="ttdef"><b>Definition</b> ata.h:184</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a61175874a62d396b11c7f5f0aae2ff48"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a61175874a62d396b11c7f5f0aae2ff48">tacos::automata::ata::AlternatingTimedAutomaton::make_symbol_transition</a></div><div class="ttdeci">std::vector&lt; Run&lt; LocationT, SymbolT &gt; &gt; make_symbol_transition(const std::vector&lt; Run&lt; LocationT, SymbolT &gt; &gt; &amp;runs, const SymbolT &amp;symbol) const</div><div class="ttdef"><b>Definition</b> ata.hpp:223</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a8ac09d801f075b783924dd0db3b69cd5"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a8ac09d801f075b783924dd0db3b69cd5">tacos::automata::ata::AlternatingTimedAutomaton::is_accepting_configuration</a></div><div class="ttdeci">bool is_accepting_configuration(const Configuration&lt; LocationT &gt; &amp;configuration) const</div><div class="ttdef"><b>Definition</b> ata.hpp:293</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_ad023c551ff9e407e79558e8de02a0de3"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#ad023c551ff9e407e79558e8de02a0de3">tacos::automata::ata::AlternatingTimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; Configuration&lt; LocationT &gt; &gt; make_symbol_step(const Configuration&lt; LocationT &gt; &amp;start_states, const SymbolT &amp;symbol) const</div><div class="ttdef"><b>Definition</b> ata.hpp:158</div></div>
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+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html">tacos::automata::ata::Transition</a></div><div class="ttdoc">A transition of an alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:111</div></div>
 <div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_a000c28db3a23d025e8468203ddee4c8c"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#a000c28db3a23d025e8468203ddee4c8c">tacos::automata::ata::Transition::Transition</a></div><div class="ttdeci">Transition(Transition &amp;&amp;)=default</div></div>
 <div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_a648087a1842b1e799aad9a71399e3b3e"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#a648087a1842b1e799aad9a71399e3b3e">tacos::automata::ata::Transition::Transition</a></div><div class="ttdeci">Transition(const Transition &amp;)=delete</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_aa3aae2dcd5efe6761f84432aaebd5134"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#aa3aae2dcd5efe6761f84432aaebd5134">tacos::automata::ata::Transition::source_</a></div><div class="ttdeci">const LocationT source_</div><div class="ttdoc">The source location of the transition.</div><div class="ttdef"><b>Definition:</b> ata.h:149</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_ab19642cccb8f54ad687200bec253f511"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#ab19642cccb8f54ad687200bec253f511">tacos::automata::ata::Transition::symbol_</a></div><div class="ttdeci">const SymbolT symbol_</div><div class="ttdoc">The symbol this transition can fire on.</div><div class="ttdef"><b>Definition:</b> ata.h:151</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1WrongTransitionTypeException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1WrongTransitionTypeException.html">tacos::automata::ata::WrongTransitionTypeException</a></div><div class="ttdoc">Thrown if the wrong ATA transition type is attempted.</div><div class="ttdef"><b>Definition:</b> ata.h:34</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html">tacos::automata::ata</a></div><div class="ttdoc">Alternating timed automata.</div><div class="ttdef"><b>Definition:</b> ata.cpp:13</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a077dd8a06b06b56dee5e18fee6d12766"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a077dd8a06b06b56dee5e18fee6d12766">tacos::automata::ata::TimedATASymbol</a></div><div class="ttdeci">std::pair&lt; SymbolT, Time &gt; TimedATASymbol</div><div class="ttdef"><b>Definition:</b> ata.h:27</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0d91f87ed98c12f4fb260f5535f6c9df"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0d91f87ed98c12f4fb260f5535f6c9df">tacos::automata::ata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, SymbolT &gt; &amp;first, const Transition&lt; LocationT, SymbolT &gt; &amp;second)</div><div class="ttdef"><b>Definition:</b> ata.hpp:102</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a14755a7b28122c868ab3f927d45e613f"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a14755a7b28122c868ab3f927d45e613f">tacos::automata::ata::RunStep</a></div><div class="ttdeci">std::variant&lt; SymbolT, Time &gt; RunStep</div><div class="ttdef"><b>Definition:</b> ata.h:61</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a7e038c1d2eb56049a8d3c13ec6a0a8b7"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a7e038c1d2eb56049a8d3c13ec6a0a8b7">tacos::automata::ata::TimedATAWord</a></div><div class="ttdeci">std::vector&lt; TimedATASymbol&lt; SymbolT &gt; &gt; TimedATAWord</div><div class="ttdef"><b>Definition:</b> ata.h:30</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_aa09acbb62bed6e1199fe1b269b26a5bc"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#aa09acbb62bed6e1199fe1b269b26a5bc">tacos::automata::ata::RunComponent</a></div><div class="ttdeci">std::pair&lt; RunStep&lt; SymbolT &gt;, Configuration&lt; LocationT &gt; &gt; RunComponent</div><div class="ttdef"><b>Definition:</b> ata.h:65</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab84cfefb5a5a12a1a28c73444a0195bd"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab84cfefb5a5a12a1a28c73444a0195bd">tacos::automata::ata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const tacos::automata::ata::Transition&lt; LocationT, SymbolT &gt; &amp;transition)</div><div class="ttdef"><b>Definition:</b> ata.hpp:16</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_abfdd673ec28580b3717f860e42685d5a"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#abfdd673ec28580b3717f860e42685d5a">tacos::automata::ata::Run</a></div><div class="ttdeci">std::vector&lt; RunComponent&lt; LocationT, SymbolT &gt; &gt; Run</div><div class="ttdef"><b>Definition:</b> ata.h:69</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_af24ea1d7940b3fa307d6c23b69088bfb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#af24ea1d7940b3fa307d6c23b69088bfb">tacos::automata::ata::Configuration</a></div><div class="ttdeci">std::set&lt; State&lt; LocationT &gt; &gt; Configuration</div><div class="ttdef"><b>Definition:</b> ata.h:57</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_aa3aae2dcd5efe6761f84432aaebd5134"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#aa3aae2dcd5efe6761f84432aaebd5134">tacos::automata::ata::Transition::source_</a></div><div class="ttdeci">const LocationT source_</div><div class="ttdoc">The source location of the transition.</div><div class="ttdef"><b>Definition</b> ata.h:149</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_ab19642cccb8f54ad687200bec253f511"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#ab19642cccb8f54ad687200bec253f511">tacos::automata::ata::Transition::symbol_</a></div><div class="ttdeci">const SymbolT symbol_</div><div class="ttdoc">The symbol this transition can fire on.</div><div class="ttdef"><b>Definition</b> ata.h:151</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1WrongTransitionTypeException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1WrongTransitionTypeException.html">tacos::automata::ata::WrongTransitionTypeException</a></div><div class="ttdoc">Thrown if the wrong ATA transition type is attempted.</div><div class="ttdef"><b>Definition</b> ata.h:34</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html">tacos::automata::ata</a></div><div class="ttdoc">Alternating timed automata.</div><div class="ttdef"><b>Definition</b> ata.cpp:13</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a077dd8a06b06b56dee5e18fee6d12766"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a077dd8a06b06b56dee5e18fee6d12766">tacos::automata::ata::TimedATASymbol</a></div><div class="ttdeci">std::pair&lt; SymbolT, Time &gt; TimedATASymbol</div><div class="ttdef"><b>Definition</b> ata.h:27</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0d91f87ed98c12f4fb260f5535f6c9df"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0d91f87ed98c12f4fb260f5535f6c9df">tacos::automata::ata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, SymbolT &gt; &amp;first, const Transition&lt; LocationT, SymbolT &gt; &amp;second)</div><div class="ttdef"><b>Definition</b> ata.hpp:102</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a14755a7b28122c868ab3f927d45e613f"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a14755a7b28122c868ab3f927d45e613f">tacos::automata::ata::RunStep</a></div><div class="ttdeci">std::variant&lt; SymbolT, Time &gt; RunStep</div><div class="ttdef"><b>Definition</b> ata.h:61</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a7e038c1d2eb56049a8d3c13ec6a0a8b7"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a7e038c1d2eb56049a8d3c13ec6a0a8b7">tacos::automata::ata::TimedATAWord</a></div><div class="ttdeci">std::vector&lt; TimedATASymbol&lt; SymbolT &gt; &gt; TimedATAWord</div><div class="ttdef"><b>Definition</b> ata.h:30</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_aa09acbb62bed6e1199fe1b269b26a5bc"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#aa09acbb62bed6e1199fe1b269b26a5bc">tacos::automata::ata::RunComponent</a></div><div class="ttdeci">std::pair&lt; RunStep&lt; SymbolT &gt;, Configuration&lt; LocationT &gt; &gt; RunComponent</div><div class="ttdef"><b>Definition</b> ata.h:65</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab84cfefb5a5a12a1a28c73444a0195bd"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab84cfefb5a5a12a1a28c73444a0195bd">tacos::automata::ata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const tacos::automata::ata::Transition&lt; LocationT, SymbolT &gt; &amp;transition)</div><div class="ttdef"><b>Definition</b> ata.hpp:16</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_abfdd673ec28580b3717f860e42685d5a"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#abfdd673ec28580b3717f860e42685d5a">tacos::automata::ata::Run</a></div><div class="ttdeci">std::vector&lt; RunComponent&lt; LocationT, SymbolT &gt; &gt; Run</div><div class="ttdef"><b>Definition</b> ata.h:69</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_af24ea1d7940b3fa307d6c23b69088bfb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#af24ea1d7940b3fa307d6c23b69088bfb">tacos::automata::ata::Configuration</a></div><div class="ttdeci">std::set&lt; State&lt; LocationT &gt; &gt; Configuration</div><div class="ttdef"><b>Definition</b> ata.h:57</div></div>
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@@ -420,29 +420,29 @@
 <div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>}</div>
 <div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span> </div>
 <div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>} <span class="comment">// namespace tacos::automata::ata</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidTimedWordException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidTimedWordException.html">tacos::automata::InvalidTimedWordException</a></div><div class="ttdoc">Invalid timed word, e.g., first time is not initialized at 0.</div><div class="ttdef"><b>Definition:</b> automata.h:73</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:160</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a376907d6eaaa681cb62e6b490ac22719"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a376907d6eaaa681cb62e6b490ac22719">tacos::automata::ata::AlternatingTimedAutomaton::get_initial_configuration</a></div><div class="ttdeci">Configuration&lt; LocationT &gt; get_initial_configuration() const</div><div class="ttdef"><b>Definition:</b> ata.hpp:151</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_ad023c551ff9e407e79558e8de02a0de3"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#ad023c551ff9e407e79558e8de02a0de3">tacos::automata::ata::AlternatingTimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; Configuration&lt; LocationT &gt; &gt; make_symbol_step(const Configuration&lt; LocationT &gt; &amp;start_states, const SymbolT &amp;symbol) const</div><div class="ttdef"><b>Definition:</b> ata.hpp:158</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html">tacos::automata::ata::Formula</a></div><div class="ttdoc">An abstract ATA formula.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:99</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidTimedWordException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidTimedWordException.html">tacos::automata::InvalidTimedWordException</a></div><div class="ttdoc">Invalid timed word, e.g., first time is not initialized at 0.</div><div class="ttdef"><b>Definition</b> automata.h:73</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_a376907d6eaaa681cb62e6b490ac22719"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#a376907d6eaaa681cb62e6b490ac22719">tacos::automata::ata::AlternatingTimedAutomaton::get_initial_configuration</a></div><div class="ttdeci">Configuration&lt; LocationT &gt; get_initial_configuration() const</div><div class="ttdef"><b>Definition</b> ata.hpp:151</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html_ad023c551ff9e407e79558e8de02a0de3"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html#ad023c551ff9e407e79558e8de02a0de3">tacos::automata::ata::AlternatingTimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; Configuration&lt; LocationT &gt; &gt; make_symbol_step(const Configuration&lt; LocationT &gt; &amp;start_states, const SymbolT &amp;symbol) const</div><div class="ttdef"><b>Definition</b> ata.hpp:158</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html">tacos::automata::ata::Formula</a></div><div class="ttdoc">An abstract ATA formula.</div><div class="ttdef"><b>Definition</b> ata_formula.h:99</div></div>
 <div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html_a536f411e37c86132bbca6e8dcb6e2780"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html#a536f411e37c86132bbca6e8dcb6e2780">tacos::automata::ata::Formula::get_minimal_models</a></div><div class="ttdeci">virtual std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const =0</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1NegativeTimeDeltaException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1NegativeTimeDeltaException.html">tacos::automata::ata::NegativeTimeDeltaException</a></div><div class="ttdoc">Thrown if a transition with a negative time delta is attempted.</div><div class="ttdef"><b>Definition:</b> ata.h:44</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html">tacos::automata::ata::Transition</a></div><div class="ttdoc">A transition of an alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:111</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1NegativeTimeDeltaException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1NegativeTimeDeltaException.html">tacos::automata::ata::NegativeTimeDeltaException</a></div><div class="ttdoc">Thrown if a transition with a negative time delta is attempted.</div><div class="ttdef"><b>Definition</b> ata.h:44</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html">tacos::automata::ata::Transition</a></div><div class="ttdoc">A transition of an alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:111</div></div>
 <div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_a648087a1842b1e799aad9a71399e3b3e"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#a648087a1842b1e799aad9a71399e3b3e">tacos::automata::ata::Transition::Transition</a></div><div class="ttdeci">Transition(const Transition &amp;)=delete</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_aa3aae2dcd5efe6761f84432aaebd5134"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#aa3aae2dcd5efe6761f84432aaebd5134">tacos::automata::ata::Transition::source_</a></div><div class="ttdeci">const LocationT source_</div><div class="ttdoc">The source location of the transition.</div><div class="ttdef"><b>Definition:</b> ata.h:149</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_ab19642cccb8f54ad687200bec253f511"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#ab19642cccb8f54ad687200bec253f511">tacos::automata::ata::Transition::symbol_</a></div><div class="ttdeci">const SymbolT symbol_</div><div class="ttdoc">The symbol this transition can fire on.</div><div class="ttdef"><b>Definition:</b> ata.h:151</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1WrongTransitionTypeException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1WrongTransitionTypeException.html">tacos::automata::ata::WrongTransitionTypeException</a></div><div class="ttdoc">Thrown if the wrong ATA transition type is attempted.</div><div class="ttdef"><b>Definition:</b> ata.h:34</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html">tacos::automata::ata</a></div><div class="ttdoc">Alternating timed automata.</div><div class="ttdef"><b>Definition:</b> ata.cpp:13</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0d91f87ed98c12f4fb260f5535f6c9df"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0d91f87ed98c12f4fb260f5535f6c9df">tacos::automata::ata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, SymbolT &gt; &amp;first, const Transition&lt; LocationT, SymbolT &gt; &amp;second)</div><div class="ttdef"><b>Definition:</b> ata.hpp:102</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a7e038c1d2eb56049a8d3c13ec6a0a8b7"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a7e038c1d2eb56049a8d3c13ec6a0a8b7">tacos::automata::ata::TimedATAWord</a></div><div class="ttdeci">std::vector&lt; TimedATASymbol&lt; SymbolT &gt; &gt; TimedATAWord</div><div class="ttdef"><b>Definition:</b> ata.h:30</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab84cfefb5a5a12a1a28c73444a0195bd"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab84cfefb5a5a12a1a28c73444a0195bd">tacos::automata::ata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const tacos::automata::ata::Transition&lt; LocationT, SymbolT &gt; &amp;transition)</div><div class="ttdef"><b>Definition:</b> ata.hpp:16</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_abfdd673ec28580b3717f860e42685d5a"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#abfdd673ec28580b3717f860e42685d5a">tacos::automata::ata::Run</a></div><div class="ttdeci">std::vector&lt; RunComponent&lt; LocationT, SymbolT &gt; &gt; Run</div><div class="ttdef"><b>Definition:</b> ata.h:69</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_af24ea1d7940b3fa307d6c23b69088bfb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#af24ea1d7940b3fa307d6c23b69088bfb">tacos::automata::ata::Configuration</a></div><div class="ttdeci">std::set&lt; State&lt; LocationT &gt; &gt; Configuration</div><div class="ttdef"><b>Definition:</b> ata.h:57</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html">tacos::automata::ata::State</a></div><div class="ttdef"><b>Definition:</b> ata_formula.h:30</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_aa3aae2dcd5efe6761f84432aaebd5134"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#aa3aae2dcd5efe6761f84432aaebd5134">tacos::automata::ata::Transition::source_</a></div><div class="ttdeci">const LocationT source_</div><div class="ttdoc">The source location of the transition.</div><div class="ttdef"><b>Definition</b> ata.h:149</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html_ab19642cccb8f54ad687200bec253f511"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html#ab19642cccb8f54ad687200bec253f511">tacos::automata::ata::Transition::symbol_</a></div><div class="ttdeci">const SymbolT symbol_</div><div class="ttdoc">The symbol this transition can fire on.</div><div class="ttdef"><b>Definition</b> ata.h:151</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1WrongTransitionTypeException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1WrongTransitionTypeException.html">tacos::automata::ata::WrongTransitionTypeException</a></div><div class="ttdoc">Thrown if the wrong ATA transition type is attempted.</div><div class="ttdef"><b>Definition</b> ata.h:34</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html">tacos::automata::ata</a></div><div class="ttdoc">Alternating timed automata.</div><div class="ttdef"><b>Definition</b> ata.cpp:13</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0d91f87ed98c12f4fb260f5535f6c9df"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0d91f87ed98c12f4fb260f5535f6c9df">tacos::automata::ata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, SymbolT &gt; &amp;first, const Transition&lt; LocationT, SymbolT &gt; &amp;second)</div><div class="ttdef"><b>Definition</b> ata.hpp:102</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a7e038c1d2eb56049a8d3c13ec6a0a8b7"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a7e038c1d2eb56049a8d3c13ec6a0a8b7">tacos::automata::ata::TimedATAWord</a></div><div class="ttdeci">std::vector&lt; TimedATASymbol&lt; SymbolT &gt; &gt; TimedATAWord</div><div class="ttdef"><b>Definition</b> ata.h:30</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab84cfefb5a5a12a1a28c73444a0195bd"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab84cfefb5a5a12a1a28c73444a0195bd">tacos::automata::ata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const tacos::automata::ata::Transition&lt; LocationT, SymbolT &gt; &amp;transition)</div><div class="ttdef"><b>Definition</b> ata.hpp:16</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_abfdd673ec28580b3717f860e42685d5a"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#abfdd673ec28580b3717f860e42685d5a">tacos::automata::ata::Run</a></div><div class="ttdeci">std::vector&lt; RunComponent&lt; LocationT, SymbolT &gt; &gt; Run</div><div class="ttdef"><b>Definition</b> ata.h:69</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_af24ea1d7940b3fa307d6c23b69088bfb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#af24ea1d7940b3fa307d6c23b69088bfb">tacos::automata::ata::Configuration</a></div><div class="ttdeci">std::set&lt; State&lt; LocationT &gt; &gt; Configuration</div><div class="ttdef"><b>Definition</b> ata.h:57</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html">tacos::automata::ata::State</a></div><div class="ttdef"><b>Definition</b> ata_formula.h:30</div></div>
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diff --git a/docs/ata__formula_8h_source.html b/docs/ata__formula_8h_source.html
index dc00d8a7..816a1653 100644
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 <title>tacos: src/automata/include/automata/ata_formula.h Source File</title>
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@@ -30,7 +30,7 @@
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@@ -338,59 +338,59 @@
 <div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span><span class="preprocessor">#include &quot;ata_formula.hpp&quot;</span></div>
 <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span> </div>
 <div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_AUTOMATA_INCLUDE_AUTOMATA_ATA_FORMULA_H */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html">tacos::automata::ata::ClockConstraintFormula</a></div><div class="ttdoc">A formula requiring that a clock constraint must be satisfied.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:194</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a299eb18224cb8bc7dd86b36464b3b391"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a299eb18224cb8bc7dd86b36464b3b391">tacos::automata::ata::ClockConstraintFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:113</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a423a49237de26aaa0323182ab9d129f7"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a423a49237de26aaa0323182ab9d129f7">tacos::automata::ata::ClockConstraintFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:124</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a864a08706464ef01f7218a4e6229ca40"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a864a08706464ef01f7218a4e6229ca40">tacos::automata::ata::ClockConstraintFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:105</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_aa6ac8672be1799e959dcc757a80fab45"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#aa6ac8672be1799e959dcc757a80fab45">tacos::automata::ata::ClockConstraintFormula::ClockConstraintFormula</a></div><div class="ttdeci">ClockConstraintFormula(const ClockConstraint &amp;constraint)</div><div class="ttdef"><b>Definition:</b> ata_formula.h:203</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html">tacos::automata::ata::ConjunctionFormula</a></div><div class="ttdoc">A conjunction of two formulas.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:222</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a6e637bfea29103753012ec3e6a275571"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a6e637bfea29103753012ec3e6a275571">tacos::automata::ata::ConjunctionFormula::ConjunctionFormula</a></div><div class="ttdeci">ConjunctionFormula(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct2)</div><div class="ttdef"><b>Definition:</b> ata_formula.h:232</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a7042792f3644dfea22496f5fc4b115e7"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a7042792f3644dfea22496f5fc4b115e7">tacos::automata::ata::ConjunctionFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:139</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a88c91624ed3d7ce498a70e7c00626183"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a88c91624ed3d7ce498a70e7c00626183">tacos::automata::ata::ConjunctionFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:131</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_aa0e61e8f641d899617ab41959a9986a6"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#aa0e61e8f641d899617ab41959a9986a6">tacos::automata::ata::ConjunctionFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:155</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html">tacos::automata::ata::DisjunctionFormula</a></div><div class="ttdoc">A disjunction of formulas.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:257</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a0c0758e6b605329a05df3c0863c9f58f"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a0c0758e6b605329a05df3c0863c9f58f">tacos::automata::ata::DisjunctionFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:207</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a47d993919200c5293cf02f2583f46c35"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a47d993919200c5293cf02f2583f46c35">tacos::automata::ata::DisjunctionFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:162</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a66be4466d3a0d78e1abfc6498aa62922"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a66be4466d3a0d78e1abfc6498aa62922">tacos::automata::ata::DisjunctionFormula::DisjunctionFormula</a></div><div class="ttdeci">DisjunctionFormula(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct2)</div><div class="ttdef"><b>Definition:</b> ata_formula.h:267</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_ac6d0a880d3c91a48b20054b6895f7675"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#ac6d0a880d3c91a48b20054b6895f7675">tacos::automata::ata::DisjunctionFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:170</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html">tacos::automata::ata::FalseFormula</a></div><div class="ttdoc">A formula that is always false.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:152</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_a20013cd01dda71d23ce18f553c002e48"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#a20013cd01dda71d23ce18f553c002e48">tacos::automata::ata::FalseFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:69</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_a36cd82460a7b462784e25b2273d523ab"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#a36cd82460a7b462784e25b2273d523ab">tacos::automata::ata::FalseFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:76</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_afc42dbe352c1b9e5d07adbcc1c84494b"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#afc42dbe352c1b9e5d07adbcc1c84494b">tacos::automata::ata::FalseFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:61</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html">tacos::automata::ata::Formula</a></div><div class="ttdoc">An abstract ATA formula.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:99</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html">tacos::automata::ata::ClockConstraintFormula</a></div><div class="ttdoc">A formula requiring that a clock constraint must be satisfied.</div><div class="ttdef"><b>Definition</b> ata_formula.h:194</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a299eb18224cb8bc7dd86b36464b3b391"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a299eb18224cb8bc7dd86b36464b3b391">tacos::automata::ata::ClockConstraintFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:113</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a423a49237de26aaa0323182ab9d129f7"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a423a49237de26aaa0323182ab9d129f7">tacos::automata::ata::ClockConstraintFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:124</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a864a08706464ef01f7218a4e6229ca40"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a864a08706464ef01f7218a4e6229ca40">tacos::automata::ata::ClockConstraintFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:105</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_aa6ac8672be1799e959dcc757a80fab45"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#aa6ac8672be1799e959dcc757a80fab45">tacos::automata::ata::ClockConstraintFormula::ClockConstraintFormula</a></div><div class="ttdeci">ClockConstraintFormula(const ClockConstraint &amp;constraint)</div><div class="ttdef"><b>Definition</b> ata_formula.h:203</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html">tacos::automata::ata::ConjunctionFormula</a></div><div class="ttdoc">A conjunction of two formulas.</div><div class="ttdef"><b>Definition</b> ata_formula.h:222</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a6e637bfea29103753012ec3e6a275571"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a6e637bfea29103753012ec3e6a275571">tacos::automata::ata::ConjunctionFormula::ConjunctionFormula</a></div><div class="ttdeci">ConjunctionFormula(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct2)</div><div class="ttdef"><b>Definition</b> ata_formula.h:232</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a7042792f3644dfea22496f5fc4b115e7"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a7042792f3644dfea22496f5fc4b115e7">tacos::automata::ata::ConjunctionFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:139</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a88c91624ed3d7ce498a70e7c00626183"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a88c91624ed3d7ce498a70e7c00626183">tacos::automata::ata::ConjunctionFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:131</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_aa0e61e8f641d899617ab41959a9986a6"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#aa0e61e8f641d899617ab41959a9986a6">tacos::automata::ata::ConjunctionFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:155</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html">tacos::automata::ata::DisjunctionFormula</a></div><div class="ttdoc">A disjunction of formulas.</div><div class="ttdef"><b>Definition</b> ata_formula.h:257</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a0c0758e6b605329a05df3c0863c9f58f"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a0c0758e6b605329a05df3c0863c9f58f">tacos::automata::ata::DisjunctionFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:207</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a47d993919200c5293cf02f2583f46c35"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a47d993919200c5293cf02f2583f46c35">tacos::automata::ata::DisjunctionFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:162</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a66be4466d3a0d78e1abfc6498aa62922"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a66be4466d3a0d78e1abfc6498aa62922">tacos::automata::ata::DisjunctionFormula::DisjunctionFormula</a></div><div class="ttdeci">DisjunctionFormula(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct2)</div><div class="ttdef"><b>Definition</b> ata_formula.h:267</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_ac6d0a880d3c91a48b20054b6895f7675"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#ac6d0a880d3c91a48b20054b6895f7675">tacos::automata::ata::DisjunctionFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:170</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html">tacos::automata::ata::FalseFormula</a></div><div class="ttdoc">A formula that is always false.</div><div class="ttdef"><b>Definition</b> ata_formula.h:152</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_a20013cd01dda71d23ce18f553c002e48"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#a20013cd01dda71d23ce18f553c002e48">tacos::automata::ata::FalseFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:69</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_a36cd82460a7b462784e25b2273d523ab"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#a36cd82460a7b462784e25b2273d523ab">tacos::automata::ata::FalseFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:76</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_afc42dbe352c1b9e5d07adbcc1c84494b"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#afc42dbe352c1b9e5d07adbcc1c84494b">tacos::automata::ata::FalseFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:61</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html">tacos::automata::ata::Formula</a></div><div class="ttdoc">An abstract ATA formula.</div><div class="ttdef"><b>Definition</b> ata_formula.h:99</div></div>
 <div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html_a1bdf15e312cab64eb33fb4fe5eab7c7f"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html#a1bdf15e312cab64eb33fb4fe5eab7c7f">tacos::automata::ata::Formula::is_satisfied</a></div><div class="ttdeci">virtual bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const =0</div></div>
 <div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html_a536f411e37c86132bbca6e8dcb6e2780"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html#a536f411e37c86132bbca6e8dcb6e2780">tacos::automata::ata::Formula::get_minimal_models</a></div><div class="ttdeci">virtual std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const =0</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html_a6c58e9506aabea855c53216875613c1b"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html#a6c58e9506aabea855c53216875613c1b">tacos::automata::ata::Formula::Formula</a></div><div class="ttdeci">Formula()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:102</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html_a6c58e9506aabea855c53216875613c1b"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html#a6c58e9506aabea855c53216875613c1b">tacos::automata::ata::Formula::Formula</a></div><div class="ttdeci">Formula()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> ata_formula.h:102</div></div>
 <div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html_a9d93fd55d8d3b1bf5e5478ce5e7c5bcb"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html#a9d93fd55d8d3b1bf5e5478ce5e7c5bcb">tacos::automata::ata::Formula::print_to_ostream</a></div><div class="ttdeci">virtual void print_to_ostream(std::ostream &amp;os) const =0</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html">tacos::automata::ata::LocationFormula</a></div><div class="ttdoc">A formula requiring a specific location.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:167</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a29b670efa5b07c6740c419ceeb79bccd"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a29b670efa5b07c6740c419ceeb79bccd">tacos::automata::ata::LocationFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:98</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a3faa19e7b1839ca4f3caf349e978d95a"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a3faa19e7b1839ca4f3caf349e978d95a">tacos::automata::ata::LocationFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:83</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a495d2dc360d1d2ea3806b9d911d04309"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a495d2dc360d1d2ea3806b9d911d04309">tacos::automata::ata::LocationFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:91</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a89d36db9796ba93399dfbdb13066f8e4"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a89d36db9796ba93399dfbdb13066f8e4">tacos::automata::ata::LocationFormula::LocationFormula</a></div><div class="ttdeci">LocationFormula(const LocationT &amp;location)</div><div class="ttdef"><b>Definition:</b> ata_formula.h:176</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html">tacos::automata::ata::ResetClockFormula</a></div><div class="ttdoc">A formula that sets the clock valuation to 0 for it sub-formula.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:291</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_a187f104877c015b51bb5b0d5dc89077c"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#a187f104877c015b51bb5b0d5dc89077c">tacos::automata::ata::ResetClockFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:229</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_a9ff9a3f0ba1fee478572c803cf98e5cb"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#a9ff9a3f0ba1fee478572c803cf98e5cb">tacos::automata::ata::ResetClockFormula::ResetClockFormula</a></div><div class="ttdeci">ResetClockFormula(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; sub_formula)</div><div class="ttdef"><b>Definition:</b> ata_formula.h:300</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_ace7d6e85f6218440719178d48a0b39b9"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#ace7d6e85f6218440719178d48a0b39b9">tacos::automata::ata::ResetClockFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:214</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_afc3f970858056d723fc06a5a16ae78e2"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#afc3f970858056d723fc06a5a16ae78e2">tacos::automata::ata::ResetClockFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:222</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html">tacos::automata::ata::TrueFormula</a></div><div class="ttdoc">A formula that is always true.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:137</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_ac4fa053337a9fd9fe487300850eacf4d"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#ac4fa053337a9fd9fe487300850eacf4d">tacos::automata::ata::TrueFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:54</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_ad643067a89b29358d6f8b5bf6368c580"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#ad643067a89b29358d6f8b5bf6368c580">tacos::automata::ata::TrueFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:39</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_adacffc256bba1234bce98a24a829e4b2"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#adacffc256bba1234bce98a24a829e4b2">tacos::automata::ata::TrueFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:47</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html">tacos::automata::ata</a></div><div class="ttdoc">Alternating timed automata.</div><div class="ttdef"><b>Definition:</b> ata.cpp:13</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0d91f87ed98c12f4fb260f5535f6c9df"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0d91f87ed98c12f4fb260f5535f6c9df">tacos::automata::ata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, SymbolT &gt; &amp;first, const Transition&lt; LocationT, SymbolT &gt; &amp;second)</div><div class="ttdef"><b>Definition:</b> ata.hpp:102</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0f46d860a517ec9f94548a0ea23a3fdb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0f46d860a517ec9f94548a0ea23a3fdb">tacos::automata::ata::operator!=</a></div><div class="ttdeci">bool operator!=(const Formula&lt; LocationT &gt; &amp;, const Formula&lt; LocationT &gt; &amp;)</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:292</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a3111562fa8dd443ad45e5fcddd306dfa"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a3111562fa8dd443ad45e5fcddd306dfa">tacos::automata::ata::create_disjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_disjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct2)</div><div class="ttdoc">Create a disjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:317</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab1ef403d8d84cb7a614208f4f628d858"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab1ef403d8d84cb7a614208f4f628d858">tacos::automata::ata::operator==</a></div><div class="ttdeci">bool operator==(const State&lt; LocationT &gt; &amp;s1, const State&lt; LocationT &gt; &amp;s2)</div><div class="ttdef"><b>Definition:</b> ata_formula.h:58</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab84cfefb5a5a12a1a28c73444a0195bd"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab84cfefb5a5a12a1a28c73444a0195bd">tacos::automata::ata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const tacos::automata::ata::Transition&lt; LocationT, SymbolT &gt; &amp;transition)</div><div class="ttdef"><b>Definition:</b> ata.hpp:16</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_adf0bb6a35a3047956dab9ff72f58d440"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#adf0bb6a35a3047956dab9ff72f58d440">tacos::automata::ata::create_conjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_conjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct2)</div><div class="ttdoc">Create a conjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:299</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_ae76064700b8c5b972347a745856fc7b8"><div class="ttname"><a href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">tacos::automata::ClockConstraint</a></div><div class="ttdeci">std::variant&lt; AtomicClockConstraintT&lt; std::less&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::less_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::not_equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater&lt; Time &gt; &gt; &gt; ClockConstraint</div><div class="ttdef"><b>Definition:</b> automata.h:50</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html">tacos::automata::ata::State</a></div><div class="ttdef"><b>Definition:</b> ata_formula.h:30</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html_a94a18e9c004d1c7075fe7c6a218bf3a0"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html#a94a18e9c004d1c7075fe7c6a218bf3a0">tacos::automata::ata::State::clock_valuation</a></div><div class="ttdeci">ClockValuation clock_valuation</div><div class="ttdef"><b>Definition:</b> ata_formula.h:34</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html_ac657a0fb570fed6171bdc550dfa5b266"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html#ac657a0fb570fed6171bdc550dfa5b266">tacos::automata::ata::State::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition:</b> ata_formula.h:32</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html">tacos::automata::ata::LocationFormula</a></div><div class="ttdoc">A formula requiring a specific location.</div><div class="ttdef"><b>Definition</b> ata_formula.h:167</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a29b670efa5b07c6740c419ceeb79bccd"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a29b670efa5b07c6740c419ceeb79bccd">tacos::automata::ata::LocationFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:98</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a3faa19e7b1839ca4f3caf349e978d95a"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a3faa19e7b1839ca4f3caf349e978d95a">tacos::automata::ata::LocationFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:83</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a495d2dc360d1d2ea3806b9d911d04309"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a495d2dc360d1d2ea3806b9d911d04309">tacos::automata::ata::LocationFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:91</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a89d36db9796ba93399dfbdb13066f8e4"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a89d36db9796ba93399dfbdb13066f8e4">tacos::automata::ata::LocationFormula::LocationFormula</a></div><div class="ttdeci">LocationFormula(const LocationT &amp;location)</div><div class="ttdef"><b>Definition</b> ata_formula.h:176</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html">tacos::automata::ata::ResetClockFormula</a></div><div class="ttdoc">A formula that sets the clock valuation to 0 for it sub-formula.</div><div class="ttdef"><b>Definition</b> ata_formula.h:291</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_a187f104877c015b51bb5b0d5dc89077c"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#a187f104877c015b51bb5b0d5dc89077c">tacos::automata::ata::ResetClockFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:229</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_a9ff9a3f0ba1fee478572c803cf98e5cb"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#a9ff9a3f0ba1fee478572c803cf98e5cb">tacos::automata::ata::ResetClockFormula::ResetClockFormula</a></div><div class="ttdeci">ResetClockFormula(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; sub_formula)</div><div class="ttdef"><b>Definition</b> ata_formula.h:300</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_ace7d6e85f6218440719178d48a0b39b9"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#ace7d6e85f6218440719178d48a0b39b9">tacos::automata::ata::ResetClockFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:214</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_afc3f970858056d723fc06a5a16ae78e2"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#afc3f970858056d723fc06a5a16ae78e2">tacos::automata::ata::ResetClockFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:222</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html">tacos::automata::ata::TrueFormula</a></div><div class="ttdoc">A formula that is always true.</div><div class="ttdef"><b>Definition</b> ata_formula.h:137</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_ac4fa053337a9fd9fe487300850eacf4d"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#ac4fa053337a9fd9fe487300850eacf4d">tacos::automata::ata::TrueFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:54</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_ad643067a89b29358d6f8b5bf6368c580"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#ad643067a89b29358d6f8b5bf6368c580">tacos::automata::ata::TrueFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:39</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_adacffc256bba1234bce98a24a829e4b2"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#adacffc256bba1234bce98a24a829e4b2">tacos::automata::ata::TrueFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:47</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html">tacos::automata::ata</a></div><div class="ttdoc">Alternating timed automata.</div><div class="ttdef"><b>Definition</b> ata.cpp:13</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0d91f87ed98c12f4fb260f5535f6c9df"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0d91f87ed98c12f4fb260f5535f6c9df">tacos::automata::ata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, SymbolT &gt; &amp;first, const Transition&lt; LocationT, SymbolT &gt; &amp;second)</div><div class="ttdef"><b>Definition</b> ata.hpp:102</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0f46d860a517ec9f94548a0ea23a3fdb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0f46d860a517ec9f94548a0ea23a3fdb">tacos::automata::ata::operator!=</a></div><div class="ttdeci">bool operator!=(const Formula&lt; LocationT &gt; &amp;, const Formula&lt; LocationT &gt; &amp;)</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:292</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a3111562fa8dd443ad45e5fcddd306dfa"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a3111562fa8dd443ad45e5fcddd306dfa">tacos::automata::ata::create_disjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_disjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct2)</div><div class="ttdoc">Create a disjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:317</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab1ef403d8d84cb7a614208f4f628d858"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab1ef403d8d84cb7a614208f4f628d858">tacos::automata::ata::operator==</a></div><div class="ttdeci">bool operator==(const State&lt; LocationT &gt; &amp;s1, const State&lt; LocationT &gt; &amp;s2)</div><div class="ttdef"><b>Definition</b> ata_formula.h:58</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab84cfefb5a5a12a1a28c73444a0195bd"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab84cfefb5a5a12a1a28c73444a0195bd">tacos::automata::ata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const tacos::automata::ata::Transition&lt; LocationT, SymbolT &gt; &amp;transition)</div><div class="ttdef"><b>Definition</b> ata.hpp:16</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_adf0bb6a35a3047956dab9ff72f58d440"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#adf0bb6a35a3047956dab9ff72f58d440">tacos::automata::ata::create_conjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_conjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct2)</div><div class="ttdoc">Create a conjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:299</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_ae76064700b8c5b972347a745856fc7b8"><div class="ttname"><a href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">tacos::automata::ClockConstraint</a></div><div class="ttdeci">std::variant&lt; AtomicClockConstraintT&lt; std::less&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::less_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::not_equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater&lt; Time &gt; &gt; &gt; ClockConstraint</div><div class="ttdef"><b>Definition</b> automata.h:50</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html">tacos::automata::ata::State</a></div><div class="ttdef"><b>Definition</b> ata_formula.h:30</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html_a94a18e9c004d1c7075fe7c6a218bf3a0"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html#a94a18e9c004d1c7075fe7c6a218bf3a0">tacos::automata::ata::State::clock_valuation</a></div><div class="ttdeci">ClockValuation clock_valuation</div><div class="ttdef"><b>Definition</b> ata_formula.h:34</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html_ac657a0fb570fed6171bdc550dfa5b266"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html#ac657a0fb570fed6171bdc550dfa5b266">tacos::automata::ata::State::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition</b> ata_formula.h:32</div></div>
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diff --git a/docs/ata__formula_8hpp_source.html b/docs/ata__formula_8hpp_source.html
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@@ -451,51 +451,51 @@
 <div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>}</div>
 <div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span> </div>
 <div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>} <span class="comment">// namespace tacos::automata::ata</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html">tacos::automata::ata::ClockConstraintFormula</a></div><div class="ttdoc">A formula requiring that a clock constraint must be satisfied.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:194</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a299eb18224cb8bc7dd86b36464b3b391"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a299eb18224cb8bc7dd86b36464b3b391">tacos::automata::ata::ClockConstraintFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:113</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a423a49237de26aaa0323182ab9d129f7"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a423a49237de26aaa0323182ab9d129f7">tacos::automata::ata::ClockConstraintFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:124</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a864a08706464ef01f7218a4e6229ca40"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a864a08706464ef01f7218a4e6229ca40">tacos::automata::ata::ClockConstraintFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:105</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html">tacos::automata::ata::ConjunctionFormula</a></div><div class="ttdoc">A conjunction of two formulas.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:222</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a7042792f3644dfea22496f5fc4b115e7"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a7042792f3644dfea22496f5fc4b115e7">tacos::automata::ata::ConjunctionFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:139</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a88c91624ed3d7ce498a70e7c00626183"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a88c91624ed3d7ce498a70e7c00626183">tacos::automata::ata::ConjunctionFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:131</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_aa0e61e8f641d899617ab41959a9986a6"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#aa0e61e8f641d899617ab41959a9986a6">tacos::automata::ata::ConjunctionFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:155</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html">tacos::automata::ata::DisjunctionFormula</a></div><div class="ttdoc">A disjunction of formulas.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:257</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a0c0758e6b605329a05df3c0863c9f58f"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a0c0758e6b605329a05df3c0863c9f58f">tacos::automata::ata::DisjunctionFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:207</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a47d993919200c5293cf02f2583f46c35"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a47d993919200c5293cf02f2583f46c35">tacos::automata::ata::DisjunctionFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:162</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_ac6d0a880d3c91a48b20054b6895f7675"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#ac6d0a880d3c91a48b20054b6895f7675">tacos::automata::ata::DisjunctionFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:170</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html">tacos::automata::ata::FalseFormula</a></div><div class="ttdoc">A formula that is always false.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:152</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_a20013cd01dda71d23ce18f553c002e48"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#a20013cd01dda71d23ce18f553c002e48">tacos::automata::ata::FalseFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:69</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_a36cd82460a7b462784e25b2273d523ab"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#a36cd82460a7b462784e25b2273d523ab">tacos::automata::ata::FalseFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:76</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_afc42dbe352c1b9e5d07adbcc1c84494b"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#afc42dbe352c1b9e5d07adbcc1c84494b">tacos::automata::ata::FalseFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:61</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html">tacos::automata::ata::Formula</a></div><div class="ttdoc">An abstract ATA formula.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:99</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html">tacos::automata::ata::ClockConstraintFormula</a></div><div class="ttdoc">A formula requiring that a clock constraint must be satisfied.</div><div class="ttdef"><b>Definition</b> ata_formula.h:194</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a299eb18224cb8bc7dd86b36464b3b391"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a299eb18224cb8bc7dd86b36464b3b391">tacos::automata::ata::ClockConstraintFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:113</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a423a49237de26aaa0323182ab9d129f7"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a423a49237de26aaa0323182ab9d129f7">tacos::automata::ata::ClockConstraintFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:124</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html_a864a08706464ef01f7218a4e6229ca40"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html#a864a08706464ef01f7218a4e6229ca40">tacos::automata::ata::ClockConstraintFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:105</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html">tacos::automata::ata::ConjunctionFormula</a></div><div class="ttdoc">A conjunction of two formulas.</div><div class="ttdef"><b>Definition</b> ata_formula.h:222</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a7042792f3644dfea22496f5fc4b115e7"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a7042792f3644dfea22496f5fc4b115e7">tacos::automata::ata::ConjunctionFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:139</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_a88c91624ed3d7ce498a70e7c00626183"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#a88c91624ed3d7ce498a70e7c00626183">tacos::automata::ata::ConjunctionFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:131</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html_aa0e61e8f641d899617ab41959a9986a6"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html#aa0e61e8f641d899617ab41959a9986a6">tacos::automata::ata::ConjunctionFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:155</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html">tacos::automata::ata::DisjunctionFormula</a></div><div class="ttdoc">A disjunction of formulas.</div><div class="ttdef"><b>Definition</b> ata_formula.h:257</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a0c0758e6b605329a05df3c0863c9f58f"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a0c0758e6b605329a05df3c0863c9f58f">tacos::automata::ata::DisjunctionFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:207</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_a47d993919200c5293cf02f2583f46c35"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#a47d993919200c5293cf02f2583f46c35">tacos::automata::ata::DisjunctionFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:162</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html_ac6d0a880d3c91a48b20054b6895f7675"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html#ac6d0a880d3c91a48b20054b6895f7675">tacos::automata::ata::DisjunctionFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:170</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html">tacos::automata::ata::FalseFormula</a></div><div class="ttdoc">A formula that is always false.</div><div class="ttdef"><b>Definition</b> ata_formula.h:152</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_a20013cd01dda71d23ce18f553c002e48"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#a20013cd01dda71d23ce18f553c002e48">tacos::automata::ata::FalseFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:69</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_a36cd82460a7b462784e25b2273d523ab"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#a36cd82460a7b462784e25b2273d523ab">tacos::automata::ata::FalseFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:76</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html_afc42dbe352c1b9e5d07adbcc1c84494b"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html#afc42dbe352c1b9e5d07adbcc1c84494b">tacos::automata::ata::FalseFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:61</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html">tacos::automata::ata::Formula</a></div><div class="ttdoc">An abstract ATA formula.</div><div class="ttdef"><b>Definition</b> ata_formula.h:99</div></div>
 <div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html_a9d93fd55d8d3b1bf5e5478ce5e7c5bcb"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html#a9d93fd55d8d3b1bf5e5478ce5e7c5bcb">tacos::automata::ata::Formula::print_to_ostream</a></div><div class="ttdeci">virtual void print_to_ostream(std::ostream &amp;os) const =0</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html">tacos::automata::ata::LocationFormula</a></div><div class="ttdoc">A formula requiring a specific location.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:167</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a29b670efa5b07c6740c419ceeb79bccd"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a29b670efa5b07c6740c419ceeb79bccd">tacos::automata::ata::LocationFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:98</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a3faa19e7b1839ca4f3caf349e978d95a"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a3faa19e7b1839ca4f3caf349e978d95a">tacos::automata::ata::LocationFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:83</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a495d2dc360d1d2ea3806b9d911d04309"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a495d2dc360d1d2ea3806b9d911d04309">tacos::automata::ata::LocationFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:91</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html">tacos::automata::ata::ResetClockFormula</a></div><div class="ttdoc">A formula that sets the clock valuation to 0 for it sub-formula.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:291</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_a187f104877c015b51bb5b0d5dc89077c"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#a187f104877c015b51bb5b0d5dc89077c">tacos::automata::ata::ResetClockFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:229</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_ace7d6e85f6218440719178d48a0b39b9"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#ace7d6e85f6218440719178d48a0b39b9">tacos::automata::ata::ResetClockFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:214</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_afc3f970858056d723fc06a5a16ae78e2"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#afc3f970858056d723fc06a5a16ae78e2">tacos::automata::ata::ResetClockFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:222</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html">tacos::automata::ata::TrueFormula</a></div><div class="ttdoc">A formula that is always true.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:137</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_ac4fa053337a9fd9fe487300850eacf4d"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#ac4fa053337a9fd9fe487300850eacf4d">tacos::automata::ata::TrueFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:54</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_ad643067a89b29358d6f8b5bf6368c580"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#ad643067a89b29358d6f8b5bf6368c580">tacos::automata::ata::TrueFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:39</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_adacffc256bba1234bce98a24a829e4b2"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#adacffc256bba1234bce98a24a829e4b2">tacos::automata::ata::TrueFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:47</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html">tacos::automata::ata</a></div><div class="ttdoc">Alternating timed automata.</div><div class="ttdef"><b>Definition:</b> ata.cpp:13</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0d91f87ed98c12f4fb260f5535f6c9df"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0d91f87ed98c12f4fb260f5535f6c9df">tacos::automata::ata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, SymbolT &gt; &amp;first, const Transition&lt; LocationT, SymbolT &gt; &amp;second)</div><div class="ttdef"><b>Definition:</b> ata.hpp:102</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0f46d860a517ec9f94548a0ea23a3fdb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0f46d860a517ec9f94548a0ea23a3fdb">tacos::automata::ata::operator!=</a></div><div class="ttdeci">bool operator!=(const Formula&lt; LocationT &gt; &amp;, const Formula&lt; LocationT &gt; &amp;)</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:292</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a3111562fa8dd443ad45e5fcddd306dfa"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a3111562fa8dd443ad45e5fcddd306dfa">tacos::automata::ata::create_disjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_disjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct2)</div><div class="ttdoc">Create a disjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:317</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab1ef403d8d84cb7a614208f4f628d858"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab1ef403d8d84cb7a614208f4f628d858">tacos::automata::ata::operator==</a></div><div class="ttdeci">bool operator==(const State&lt; LocationT &gt; &amp;s1, const State&lt; LocationT &gt; &amp;s2)</div><div class="ttdef"><b>Definition:</b> ata_formula.h:58</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab84cfefb5a5a12a1a28c73444a0195bd"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab84cfefb5a5a12a1a28c73444a0195bd">tacos::automata::ata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const tacos::automata::ata::Transition&lt; LocationT, SymbolT &gt; &amp;transition)</div><div class="ttdef"><b>Definition:</b> ata.hpp:16</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_adf0bb6a35a3047956dab9ff72f58d440"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#adf0bb6a35a3047956dab9ff72f58d440">tacos::automata::ata::create_conjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_conjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct2)</div><div class="ttdoc">Create a conjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:299</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_abd59d3d5e615a98feb528be0c4704fcb"><div class="ttname"><a href="namespacetacos_1_1automata.html#abd59d3d5e615a98feb528be0c4704fcb">tacos::automata::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const ClockConstraint &amp;constraint, const Time &amp;valuation)</div><div class="ttdef"><b>Definition:</b> automata.cpp:14</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html">tacos::automata::ata::State</a></div><div class="ttdef"><b>Definition:</b> ata_formula.h:30</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html_a94a18e9c004d1c7075fe7c6a218bf3a0"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html#a94a18e9c004d1c7075fe7c6a218bf3a0">tacos::automata::ata::State::clock_valuation</a></div><div class="ttdeci">ClockValuation clock_valuation</div><div class="ttdef"><b>Definition:</b> ata_formula.h:34</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html_ac657a0fb570fed6171bdc550dfa5b266"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html#ac657a0fb570fed6171bdc550dfa5b266">tacos::automata::ata::State::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition:</b> ata_formula.h:32</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html">tacos::automata::ata::LocationFormula</a></div><div class="ttdoc">A formula requiring a specific location.</div><div class="ttdef"><b>Definition</b> ata_formula.h:167</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a29b670efa5b07c6740c419ceeb79bccd"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a29b670efa5b07c6740c419ceeb79bccd">tacos::automata::ata::LocationFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:98</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a3faa19e7b1839ca4f3caf349e978d95a"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a3faa19e7b1839ca4f3caf349e978d95a">tacos::automata::ata::LocationFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:83</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html_a495d2dc360d1d2ea3806b9d911d04309"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html#a495d2dc360d1d2ea3806b9d911d04309">tacos::automata::ata::LocationFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;v) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:91</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html">tacos::automata::ata::ResetClockFormula</a></div><div class="ttdoc">A formula that sets the clock valuation to 0 for it sub-formula.</div><div class="ttdef"><b>Definition</b> ata_formula.h:291</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_a187f104877c015b51bb5b0d5dc89077c"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#a187f104877c015b51bb5b0d5dc89077c">tacos::automata::ata::ResetClockFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:229</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_ace7d6e85f6218440719178d48a0b39b9"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#ace7d6e85f6218440719178d48a0b39b9">tacos::automata::ata::ResetClockFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;states, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:214</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html_afc3f970858056d723fc06a5a16ae78e2"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html#afc3f970858056d723fc06a5a16ae78e2">tacos::automata::ata::ResetClockFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:222</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html">tacos::automata::ata::TrueFormula</a></div><div class="ttdoc">A formula that is always true.</div><div class="ttdef"><b>Definition</b> ata_formula.h:137</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_ac4fa053337a9fd9fe487300850eacf4d"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#ac4fa053337a9fd9fe487300850eacf4d">tacos::automata::ata::TrueFormula::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:54</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_ad643067a89b29358d6f8b5bf6368c580"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#ad643067a89b29358d6f8b5bf6368c580">tacos::automata::ata::TrueFormula::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const std::set&lt; State&lt; LocationT &gt; &gt; &amp;, const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:39</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html_adacffc256bba1234bce98a24a829e4b2"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html#adacffc256bba1234bce98a24a829e4b2">tacos::automata::ata::TrueFormula::get_minimal_models</a></div><div class="ttdeci">std::set&lt; std::set&lt; State&lt; LocationT &gt; &gt; &gt; get_minimal_models(const ClockValuation &amp;) const override</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:47</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html">tacos::automata::ata</a></div><div class="ttdoc">Alternating timed automata.</div><div class="ttdef"><b>Definition</b> ata.cpp:13</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0d91f87ed98c12f4fb260f5535f6c9df"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0d91f87ed98c12f4fb260f5535f6c9df">tacos::automata::ata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, SymbolT &gt; &amp;first, const Transition&lt; LocationT, SymbolT &gt; &amp;second)</div><div class="ttdef"><b>Definition</b> ata.hpp:102</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a0f46d860a517ec9f94548a0ea23a3fdb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a0f46d860a517ec9f94548a0ea23a3fdb">tacos::automata::ata::operator!=</a></div><div class="ttdeci">bool operator!=(const Formula&lt; LocationT &gt; &amp;, const Formula&lt; LocationT &gt; &amp;)</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:292</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a3111562fa8dd443ad45e5fcddd306dfa"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a3111562fa8dd443ad45e5fcddd306dfa">tacos::automata::ata::create_disjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_disjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct2)</div><div class="ttdoc">Create a disjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:317</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab1ef403d8d84cb7a614208f4f628d858"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab1ef403d8d84cb7a614208f4f628d858">tacos::automata::ata::operator==</a></div><div class="ttdeci">bool operator==(const State&lt; LocationT &gt; &amp;s1, const State&lt; LocationT &gt; &amp;s2)</div><div class="ttdef"><b>Definition</b> ata_formula.h:58</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_ab84cfefb5a5a12a1a28c73444a0195bd"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#ab84cfefb5a5a12a1a28c73444a0195bd">tacos::automata::ata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const tacos::automata::ata::Transition&lt; LocationT, SymbolT &gt; &amp;transition)</div><div class="ttdef"><b>Definition</b> ata.hpp:16</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_adf0bb6a35a3047956dab9ff72f58d440"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#adf0bb6a35a3047956dab9ff72f58d440">tacos::automata::ata::create_conjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_conjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct2)</div><div class="ttdoc">Create a conjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:299</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_abd59d3d5e615a98feb528be0c4704fcb"><div class="ttname"><a href="namespacetacos_1_1automata.html#abd59d3d5e615a98feb528be0c4704fcb">tacos::automata::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const ClockConstraint &amp;constraint, const Time &amp;valuation)</div><div class="ttdef"><b>Definition</b> automata.cpp:14</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html">tacos::automata::ata::State</a></div><div class="ttdef"><b>Definition</b> ata_formula.h:30</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html_a94a18e9c004d1c7075fe7c6a218bf3a0"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html#a94a18e9c004d1c7075fe7c6a218bf3a0">tacos::automata::ata::State::clock_valuation</a></div><div class="ttdeci">ClockValuation clock_valuation</div><div class="ttdef"><b>Definition</b> ata_formula.h:34</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html_ac657a0fb570fed6171bdc550dfa5b266"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html#ac657a0fb570fed6171bdc550dfa5b266">tacos::automata::ata::State::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition</b> ata_formula.h:32</div></div>
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@@ -283,31 +283,31 @@
 <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span><span class="preprocessor">#include &quot;automata.hpp&quot;</span></div>
 <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span> </div>
 <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_AUTOMATA_INCLUDE_AUTOMATA_AUTOMATA_H */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition:</b> automata.h:136</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html_a319bf6e9af4b65b483ddbcebaa00a81b"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html#a319bf6e9af4b65b483ddbcebaa00a81b">tacos::automata::AtomicClockConstraintT::operator==</a></div><div class="ttdeci">friend bool operator==(const AtomicClockConstraintT&lt; Comp &gt; &amp;lhs, const AtomicClockConstraintT&lt; Comp &gt; &amp;rhs)</div><div class="ttdef"><b>Definition:</b> automata.h:146</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html_a6dfe5d32cd5905ba3fd6d686e1c0b1c7"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html#a6dfe5d32cd5905ba3fd6d686e1c0b1c7">tacos::automata::AtomicClockConstraintT::is_satisfied</a></div><div class="ttdeci">constexpr bool is_satisfied(const Time &amp;valuation) const</div><div class="ttdef"><b>Definition:</b> automata.h:155</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html_a989ac12d24579639bafdb28ee8e9dfed"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html#a989ac12d24579639bafdb28ee8e9dfed">tacos::automata::AtomicClockConstraintT::AtomicClockConstraintT</a></div><div class="ttdeci">AtomicClockConstraintT(const Endpoint &amp;comparand)</div><div class="ttdef"><b>Definition:</b> automata.h:141</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html_afa25cb22d96369f555640ea92ce7be27"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html#afa25cb22d96369f555640ea92ce7be27">tacos::automata::AtomicClockConstraintT::get_comparand</a></div><div class="ttdeci">Endpoint get_comparand() const</div><div class="ttdoc">Get the comparand.</div><div class="ttdef"><b>Definition:</b> automata.h:165</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockComparisonOperatorException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockComparisonOperatorException.html">tacos::automata::InvalidClockComparisonOperatorException</a></div><div class="ttdoc">Invalid clock constraint comparison operator.</div><div class="ttdef"><b>Definition:</b> automata.h:103</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockComparisonOperatorException_html_ac05a53925f92cbeb0416ff8178c39d76"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockComparisonOperatorException.html#ac05a53925f92cbeb0416ff8178c39d76">tacos::automata::InvalidClockComparisonOperatorException::InvalidClockComparisonOperatorException</a></div><div class="ttdeci">InvalidClockComparisonOperatorException()</div><div class="ttdef"><b>Definition:</b> automata.h:106</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockException.html">tacos::automata::InvalidClockException</a></div><div class="ttdoc">Invalid clock encountered.</div><div class="ttdef"><b>Definition:</b> automata.h:88</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockException_html_ab785a4c796aaa783690cff7d13eab616"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockException.html#ab785a4c796aaa783690cff7d13eab616">tacos::automata::InvalidClockException::InvalidClockException</a></div><div class="ttdeci">InvalidClockException(const std::string &amp;clock_name)</div><div class="ttdef"><b>Definition:</b> automata.h:93</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidSymbolException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidSymbolException.html">tacos::automata::InvalidSymbolException</a></div><div class="ttdoc">Invalid symbol encountered.</div><div class="ttdef"><b>Definition:</b> automata.h:115</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidSymbolException_html_ae0ff9fe0021345d247630a31baee71d9"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidSymbolException.html#ae0ff9fe0021345d247630a31baee71d9">tacos::automata::InvalidSymbolException::InvalidSymbolException</a></div><div class="ttdeci">InvalidSymbolException(const Symbol &amp;symbol)</div><div class="ttdef"><b>Definition:</b> automata.h:118</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidTimedWordException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidTimedWordException.html">tacos::automata::InvalidTimedWordException</a></div><div class="ttdoc">Invalid timed word, e.g., first time is not initialized at 0.</div><div class="ttdef"><b>Definition:</b> automata.h:73</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidTimedWordException_html_aa997606847145a5c06087acd674affe1"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidTimedWordException.html#aa997606847145a5c06087acd674affe1">tacos::automata::InvalidTimedWordException::InvalidTimedWordException</a></div><div class="ttdeci">InvalidTimedWordException(const std::string &amp;msg)</div><div class="ttdef"><b>Definition:</b> automata.h:78</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html"><div class="ttname"><a href="namespacetacos_1_1automata.html">tacos::automata</a></div><div class="ttdoc">Classes and functions related to automata.</div><div class="ttdef"><b>Definition:</b> ata.cpp:13</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_a21b5af8bd4cf7fe1cfb1fd806fa2dc12"><div class="ttname"><a href="namespacetacos_1_1automata.html#a21b5af8bd4cf7fe1cfb1fd806fa2dc12">tacos::automata::TimedWord</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; Symbol, Time &gt; &gt; TimedWord</div><div class="ttdef"><b>Definition:</b> automata.h:38</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_a3354e088f7ac6b7361e50cd4b2bfb2e7"><div class="ttname"><a href="namespacetacos_1_1automata.html#a3354e088f7ac6b7361e50cd4b2bfb2e7">tacos::automata::Symbol</a></div><div class="ttdeci">std::string Symbol</div><div class="ttdef"><b>Definition:</b> automata.h:36</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_a78a64ac99760e7726b5469451a13ba2b"><div class="ttname"><a href="namespacetacos_1_1automata.html#a78a64ac99760e7726b5469451a13ba2b">tacos::automata::get_relation_index</a></div><div class="ttdeci">std::optional&lt; std::size_t &gt; get_relation_index(const ClockConstraint &amp;constraint)</div><div class="ttdef"><b>Definition:</b> automata.h:189</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_aaa6c57b12c5cf33f9ec69a02cf86574d"><div class="ttname"><a href="namespacetacos_1_1automata.html#aaa6c57b12c5cf33f9ec69a02cf86574d">tacos::automata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const ClockConstraint &amp;lhs, const ClockConstraint &amp;rhs)</div><div class="ttdef"><b>Definition:</b> automata.h:214</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_abd59d3d5e615a98feb528be0c4704fcb"><div class="ttname"><a href="namespacetacos_1_1automata.html#abd59d3d5e615a98feb528be0c4704fcb">tacos::automata::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const ClockConstraint &amp;constraint, const Time &amp;valuation)</div><div class="ttdef"><b>Definition:</b> automata.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_ac572a7a3a4417d011e6097770b6ee564"><div class="ttname"><a href="namespacetacos_1_1automata.html#ac572a7a3a4417d011e6097770b6ee564">tacos::automata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ClockConstraint &amp;constraint)</div><div class="ttdef"><b>Definition:</b> automata.cpp:20</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_ae76064700b8c5b972347a745856fc7b8"><div class="ttname"><a href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">tacos::automata::ClockConstraint</a></div><div class="ttdeci">std::variant&lt; AtomicClockConstraintT&lt; std::less&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::less_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::not_equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater&lt; Time &gt; &gt; &gt; ClockConstraint</div><div class="ttdef"><b>Definition:</b> automata.h:50</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition</b> automata.h:136</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html_a319bf6e9af4b65b483ddbcebaa00a81b"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html#a319bf6e9af4b65b483ddbcebaa00a81b">tacos::automata::AtomicClockConstraintT::operator==</a></div><div class="ttdeci">friend bool operator==(const AtomicClockConstraintT&lt; Comp &gt; &amp;lhs, const AtomicClockConstraintT&lt; Comp &gt; &amp;rhs)</div><div class="ttdef"><b>Definition</b> automata.h:146</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html_a6dfe5d32cd5905ba3fd6d686e1c0b1c7"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html#a6dfe5d32cd5905ba3fd6d686e1c0b1c7">tacos::automata::AtomicClockConstraintT::is_satisfied</a></div><div class="ttdeci">constexpr bool is_satisfied(const Time &amp;valuation) const</div><div class="ttdef"><b>Definition</b> automata.h:155</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html_a989ac12d24579639bafdb28ee8e9dfed"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html#a989ac12d24579639bafdb28ee8e9dfed">tacos::automata::AtomicClockConstraintT::AtomicClockConstraintT</a></div><div class="ttdeci">AtomicClockConstraintT(const Endpoint &amp;comparand)</div><div class="ttdef"><b>Definition</b> automata.h:141</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html_afa25cb22d96369f555640ea92ce7be27"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html#afa25cb22d96369f555640ea92ce7be27">tacos::automata::AtomicClockConstraintT::get_comparand</a></div><div class="ttdeci">Endpoint get_comparand() const</div><div class="ttdoc">Get the comparand.</div><div class="ttdef"><b>Definition</b> automata.h:165</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockComparisonOperatorException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockComparisonOperatorException.html">tacos::automata::InvalidClockComparisonOperatorException</a></div><div class="ttdoc">Invalid clock constraint comparison operator.</div><div class="ttdef"><b>Definition</b> automata.h:103</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockComparisonOperatorException_html_ac05a53925f92cbeb0416ff8178c39d76"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockComparisonOperatorException.html#ac05a53925f92cbeb0416ff8178c39d76">tacos::automata::InvalidClockComparisonOperatorException::InvalidClockComparisonOperatorException</a></div><div class="ttdeci">InvalidClockComparisonOperatorException()</div><div class="ttdef"><b>Definition</b> automata.h:106</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockException.html">tacos::automata::InvalidClockException</a></div><div class="ttdoc">Invalid clock encountered.</div><div class="ttdef"><b>Definition</b> automata.h:88</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockException_html_ab785a4c796aaa783690cff7d13eab616"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockException.html#ab785a4c796aaa783690cff7d13eab616">tacos::automata::InvalidClockException::InvalidClockException</a></div><div class="ttdeci">InvalidClockException(const std::string &amp;clock_name)</div><div class="ttdef"><b>Definition</b> automata.h:93</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidSymbolException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidSymbolException.html">tacos::automata::InvalidSymbolException</a></div><div class="ttdoc">Invalid symbol encountered.</div><div class="ttdef"><b>Definition</b> automata.h:115</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidSymbolException_html_ae0ff9fe0021345d247630a31baee71d9"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidSymbolException.html#ae0ff9fe0021345d247630a31baee71d9">tacos::automata::InvalidSymbolException::InvalidSymbolException</a></div><div class="ttdeci">InvalidSymbolException(const Symbol &amp;symbol)</div><div class="ttdef"><b>Definition</b> automata.h:118</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidTimedWordException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidTimedWordException.html">tacos::automata::InvalidTimedWordException</a></div><div class="ttdoc">Invalid timed word, e.g., first time is not initialized at 0.</div><div class="ttdef"><b>Definition</b> automata.h:73</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidTimedWordException_html_aa997606847145a5c06087acd674affe1"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidTimedWordException.html#aa997606847145a5c06087acd674affe1">tacos::automata::InvalidTimedWordException::InvalidTimedWordException</a></div><div class="ttdeci">InvalidTimedWordException(const std::string &amp;msg)</div><div class="ttdef"><b>Definition</b> automata.h:78</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html"><div class="ttname"><a href="namespacetacos_1_1automata.html">tacos::automata</a></div><div class="ttdoc">Classes and functions related to automata.</div><div class="ttdef"><b>Definition</b> ata.cpp:13</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_a21b5af8bd4cf7fe1cfb1fd806fa2dc12"><div class="ttname"><a href="namespacetacos_1_1automata.html#a21b5af8bd4cf7fe1cfb1fd806fa2dc12">tacos::automata::TimedWord</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; Symbol, Time &gt; &gt; TimedWord</div><div class="ttdef"><b>Definition</b> automata.h:38</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_a3354e088f7ac6b7361e50cd4b2bfb2e7"><div class="ttname"><a href="namespacetacos_1_1automata.html#a3354e088f7ac6b7361e50cd4b2bfb2e7">tacos::automata::Symbol</a></div><div class="ttdeci">std::string Symbol</div><div class="ttdef"><b>Definition</b> automata.h:36</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_a78a64ac99760e7726b5469451a13ba2b"><div class="ttname"><a href="namespacetacos_1_1automata.html#a78a64ac99760e7726b5469451a13ba2b">tacos::automata::get_relation_index</a></div><div class="ttdeci">std::optional&lt; std::size_t &gt; get_relation_index(const ClockConstraint &amp;constraint)</div><div class="ttdef"><b>Definition</b> automata.h:189</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_aaa6c57b12c5cf33f9ec69a02cf86574d"><div class="ttname"><a href="namespacetacos_1_1automata.html#aaa6c57b12c5cf33f9ec69a02cf86574d">tacos::automata::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const ClockConstraint &amp;lhs, const ClockConstraint &amp;rhs)</div><div class="ttdef"><b>Definition</b> automata.h:214</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_abd59d3d5e615a98feb528be0c4704fcb"><div class="ttname"><a href="namespacetacos_1_1automata.html#abd59d3d5e615a98feb528be0c4704fcb">tacos::automata::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const ClockConstraint &amp;constraint, const Time &amp;valuation)</div><div class="ttdef"><b>Definition</b> automata.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_ac572a7a3a4417d011e6097770b6ee564"><div class="ttname"><a href="namespacetacos_1_1automata.html#ac572a7a3a4417d011e6097770b6ee564">tacos::automata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ClockConstraint &amp;constraint)</div><div class="ttdef"><b>Definition</b> automata.cpp:20</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_ae76064700b8c5b972347a745856fc7b8"><div class="ttname"><a href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">tacos::automata::ClockConstraint</a></div><div class="ttdeci">std::variant&lt; AtomicClockConstraintT&lt; std::less&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::less_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::not_equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater&lt; Time &gt; &gt; &gt; ClockConstraint</div><div class="ttdef"><b>Definition</b> automata.h:50</div></div>
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diff --git a/docs/automata_8hpp_source.html b/docs/automata_8hpp_source.html
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@@ -135,14 +135,14 @@
 <div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>}</div>
 <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
 <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>} <span class="comment">// namespace tacos::automata</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition:</b> automata.h:136</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockComparisonOperatorException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockComparisonOperatorException.html">tacos::automata::InvalidClockComparisonOperatorException</a></div><div class="ttdoc">Invalid clock constraint comparison operator.</div><div class="ttdef"><b>Definition:</b> automata.h:103</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html"><div class="ttname"><a href="namespacetacos_1_1automata.html">tacos::automata</a></div><div class="ttdoc">Classes and functions related to automata.</div><div class="ttdef"><b>Definition:</b> ata.cpp:13</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_ac572a7a3a4417d011e6097770b6ee564"><div class="ttname"><a href="namespacetacos_1_1automata.html#ac572a7a3a4417d011e6097770b6ee564">tacos::automata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ClockConstraint &amp;constraint)</div><div class="ttdef"><b>Definition:</b> automata.cpp:20</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition</b> automata.h:136</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockComparisonOperatorException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockComparisonOperatorException.html">tacos::automata::InvalidClockComparisonOperatorException</a></div><div class="ttdoc">Invalid clock constraint comparison operator.</div><div class="ttdef"><b>Definition</b> automata.h:103</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html"><div class="ttname"><a href="namespacetacos_1_1automata.html">tacos::automata</a></div><div class="ttdoc">Classes and functions related to automata.</div><div class="ttdef"><b>Definition</b> ata.cpp:13</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_ac572a7a3a4417d011e6097770b6ee564"><div class="ttname"><a href="namespacetacos_1_1automata.html#ac572a7a3a4417d011e6097770b6ee564">tacos::automata::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ClockConstraint &amp;constraint)</div><div class="ttdef"><b>Definition</b> automata.cpp:20</div></div>
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@@ -533,44 +533,44 @@
 <div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>};</div>
 <div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span> </div>
 <div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>} <span class="comment">// namespace fmt</span></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1InvalidCanonicalWordException_html"><div class="ttname"><a href="classtacos_1_1search_1_1InvalidCanonicalWordException.html">tacos::search::InvalidCanonicalWordException</a></div><div class="ttdoc">Thrown if a canonical word is not valid.</div><div class="ttdef"><b>Definition:</b> canonical_word.h:183</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1InvalidCanonicalWordException_html_a747b3e4d3ede382d763882d1311177cc"><div class="ttname"><a href="classtacos_1_1search_1_1InvalidCanonicalWordException.html#a747b3e4d3ede382d763882d1311177cc">tacos::search::InvalidCanonicalWordException::InvalidCanonicalWordException</a></div><div class="ttdeci">InvalidCanonicalWordException(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word, const std::string &amp;error)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:198</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1InvalidCanonicalWordException_html_a9980a71df32980959e64342462621260"><div class="ttname"><a href="classtacos_1_1search_1_1InvalidCanonicalWordException.html#a9980a71df32980959e64342462621260">tacos::search::InvalidCanonicalWordException::InvalidCanonicalWordException</a></div><div class="ttdeci">InvalidCanonicalWordException(const std::string &amp;message)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:188</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1InvalidCanonicalWordException_html_aeb20c776bfb5b10667128016c2b2f44b"><div class="ttname"><a href="classtacos_1_1search_1_1InvalidCanonicalWordException.html#aeb20c776bfb5b10667128016c2b2f44b">tacos::search::InvalidCanonicalWordException::what</a></div><div class="ttdeci">const char * what() const noexcept override</div><div class="ttdef"><b>Definition:</b> canonical_word.h:212</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_af24ea1d7940b3fa307d6c23b69088bfb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#af24ea1d7940b3fa307d6c23b69088bfb">tacos::automata::ata::Configuration</a></div><div class="ttdeci">std::set&lt; State&lt; LocationT &gt; &gt; Configuration</div><div class="ttdef"><b>Definition:</b> ata.h:57</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a17413bc3a5f5b9753f43b7a1f1500d57"><div class="ttname"><a href="namespacetacos_1_1search.html#a17413bc3a5f5b9753f43b7a1f1500d57">tacos::search::get_canonical_word</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_canonical_word(const PlantConfiguration&lt; Location &gt; &amp;plant_configuration, const ATAConfiguration&lt; ConstraintSymbolType &gt; &amp;ata_configuration, const unsigned int K)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:302</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition:</b> canonical_word.h:25</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition:</b> canonical_word.h:148</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a9370aca19be81e7b4076c52bd48f4ed4"><div class="ttname"><a href="namespacetacos_1_1search.html#a9370aca19be81e7b4076c52bd48f4ed4">tacos::search::get_region_index</a></div><div class="ttdeci">RegionIndex get_region_index(const ABRegionSymbol&lt; Location, ConstraintSymbolType &gt; &amp;w)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:172</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_ab705e3bb9ef2fa79c731170e72cee5ce"><div class="ttname"><a href="namespacetacos_1_1search.html#ab705e3bb9ef2fa79c731170e72cee5ce">tacos::search::ABRegionSymbol</a></div><div class="ttdeci">std::variant&lt; PlantRegionState&lt; LocationT &gt;, ATARegionState&lt; ConstraintSymbolType &gt; &gt; ABRegionSymbol</div><div class="ttdef"><b>Definition:</b> canonical_word.h:144</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_ab8e378b2721c0631f6e8412486e0a9b4"><div class="ttname"><a href="namespacetacos_1_1search.html#ab8e378b2721c0631f6e8412486e0a9b4">tacos::search::is_valid_canonical_word</a></div><div class="ttdeci">bool is_valid_canonical_word(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word, RegionIndex max_region=0)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:229</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_ac29b6bff518862f2a6d00beb7d2056db"><div class="ttname"><a href="namespacetacos_1_1search.html#ac29b6bff518862f2a6d00beb7d2056db">tacos::search::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const GologLocation &amp;first, const GologLocation &amp;second)</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:43</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_ac41d394d31bc0308509b84c5613b0dba"><div class="ttname"><a href="namespacetacos_1_1search.html#ac41d394d31bc0308509b84c5613b0dba">tacos::search::get_time</a></div><div class="ttdeci">ClockValuation get_time(const ABSymbol&lt; Location, ConstraintSymbolType &gt; &amp;w)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:156</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_af6a60514f433e080f772c65af6849e32"><div class="ttname"><a href="namespacetacos_1_1search.html#af6a60514f433e080f772c65af6849e32">tacos::search::ABSymbol</a></div><div class="ttdeci">std::variant&lt; PlantState&lt; LocationT &gt;, ATAState&lt; ConstraintSymbolType &gt; &gt; ABSymbol</div><div class="ttdef"><b>Definition:</b> canonical_word.h:60</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_afa1e263effa6e306682330acf974d587"><div class="ttname"><a href="namespacetacos_1_1search.html#afa1e263effa6e306682330acf974d587">tacos::search::operator==</a></div><div class="ttdeci">bool operator==(const PlantRegionState&lt; LocationT &gt; &amp;s1, const PlantRegionState&lt; LocationT &gt; &amp;s2)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:98</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a37d196250ab049f5ce55b6edc7672588"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a37d196250ab049f5ce55b6edc7672588">tacos::PlantConfiguration::clock_valuations</a></div><div class="ttdeci">ClockSetValuation clock_valuations</div><div class="ttdef"><b>Definition:</b> types.h:83</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a5ce672600ba7424765ef8aa330ceb7e6"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a5ce672600ba7424765ef8aa330ceb7e6">tacos::PlantConfiguration::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition:</b> types.h:81</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html">tacos::automata::ata::State</a></div><div class="ttdef"><b>Definition:</b> ata_formula.h:30</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions.html">tacos::automata::ta::TimedAutomatonRegions</a></div><div class="ttdoc">A set of one-dimensional regions.</div><div class="ttdef"><b>Definition:</b> ta_regions.h:37</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1ATARegionState_html"><div class="ttname"><a href="structtacos_1_1search_1_1ATARegionState.html">tacos::search::ATARegionState</a></div><div class="ttdoc">A regionalized ATA state.</div><div class="ttdef"><b>Definition:</b> canonical_word.h:108</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1ATARegionState_html_aaf06c040068bcb85dde74d4fe6120cdd"><div class="ttname"><a href="structtacos_1_1search_1_1ATARegionState.html#aaf06c040068bcb85dde74d4fe6120cdd">tacos::search::ATARegionState::formula</a></div><div class="ttdeci">logic::MTLFormula&lt; ConstraintSymbolType &gt; formula</div><div class="ttdef"><b>Definition:</b> canonical_word.h:110</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1ATARegionState_html_ab21616909fd553d79376a92426815bff"><div class="ttname"><a href="structtacos_1_1search_1_1ATARegionState.html#ab21616909fd553d79376a92426815bff">tacos::search::ATARegionState::region_index</a></div><div class="ttdeci">RegionIndex region_index</div><div class="ttdef"><b>Definition:</b> canonical_word.h:112</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html">tacos::search::PlantRegionState</a></div><div class="ttdoc">A regionalized plant state.</div><div class="ttdef"><b>Definition:</b> canonical_word.h:67</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html_a310e4a92ac000ce05903e94c4ef96ac1"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html#a310e4a92ac000ce05903e94c4ef96ac1">tacos::search::PlantRegionState::region_index</a></div><div class="ttdeci">RegionIndex region_index</div><div class="ttdef"><b>Definition:</b> canonical_word.h:73</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html_a431a243dbcca51f808b04ccdc37ff7af"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html#a431a243dbcca51f808b04ccdc37ff7af">tacos::search::PlantRegionState::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition:</b> canonical_word.h:69</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html_aa7b45380b4ac8487d3192b2849c5dba8"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html#aa7b45380b4ac8487d3192b2849c5dba8">tacos::search::PlantRegionState::clock</a></div><div class="ttdeci">std::string clock</div><div class="ttdef"><b>Definition:</b> canonical_word.h:71</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html">tacos::search::PlantState</a></div><div class="ttdoc">The state of a plant.</div><div class="ttdef"><b>Definition:</b> canonical_word.h:33</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html_a31e493564fcad325a26cf2de1a15e7be"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html#a31e493564fcad325a26cf2de1a15e7be">tacos::search::PlantState::clock</a></div><div class="ttdeci">std::string clock</div><div class="ttdef"><b>Definition:</b> canonical_word.h:37</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html_a3acc4ad7be661a3308bed4c9fb6c24af"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html#a3acc4ad7be661a3308bed4c9fb6c24af">tacos::search::PlantState::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition:</b> canonical_word.h:35</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html_a7126d16be469b739b9dbf1768328a628"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html#a7126d16be469b739b9dbf1768328a628">tacos::search::PlantState::clock_valuation</a></div><div class="ttdeci">ClockValuation clock_valuation</div><div class="ttdef"><b>Definition:</b> canonical_word.h:39</div></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1ApproxFloatComparator_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1ApproxFloatComparator.html">tacos::utilities::ApproxFloatComparator</a></div><div class="ttdoc">Sort into partitions by the fractional parts.</div><div class="ttdef"><b>Definition:</b> numbers.h:59</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1InvalidCanonicalWordException_html"><div class="ttname"><a href="classtacos_1_1search_1_1InvalidCanonicalWordException.html">tacos::search::InvalidCanonicalWordException</a></div><div class="ttdoc">Thrown if a canonical word is not valid.</div><div class="ttdef"><b>Definition</b> canonical_word.h:183</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1InvalidCanonicalWordException_html_a747b3e4d3ede382d763882d1311177cc"><div class="ttname"><a href="classtacos_1_1search_1_1InvalidCanonicalWordException.html#a747b3e4d3ede382d763882d1311177cc">tacos::search::InvalidCanonicalWordException::InvalidCanonicalWordException</a></div><div class="ttdeci">InvalidCanonicalWordException(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word, const std::string &amp;error)</div><div class="ttdef"><b>Definition</b> canonical_word.h:198</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1InvalidCanonicalWordException_html_a9980a71df32980959e64342462621260"><div class="ttname"><a href="classtacos_1_1search_1_1InvalidCanonicalWordException.html#a9980a71df32980959e64342462621260">tacos::search::InvalidCanonicalWordException::InvalidCanonicalWordException</a></div><div class="ttdeci">InvalidCanonicalWordException(const std::string &amp;message)</div><div class="ttdef"><b>Definition</b> canonical_word.h:188</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1InvalidCanonicalWordException_html_aeb20c776bfb5b10667128016c2b2f44b"><div class="ttname"><a href="classtacos_1_1search_1_1InvalidCanonicalWordException.html#aeb20c776bfb5b10667128016c2b2f44b">tacos::search::InvalidCanonicalWordException::what</a></div><div class="ttdeci">const char * what() const noexcept override</div><div class="ttdef"><b>Definition</b> canonical_word.h:212</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_af24ea1d7940b3fa307d6c23b69088bfb"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#af24ea1d7940b3fa307d6c23b69088bfb">tacos::automata::ata::Configuration</a></div><div class="ttdeci">std::set&lt; State&lt; LocationT &gt; &gt; Configuration</div><div class="ttdef"><b>Definition</b> ata.h:57</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a17413bc3a5f5b9753f43b7a1f1500d57"><div class="ttname"><a href="namespacetacos_1_1search.html#a17413bc3a5f5b9753f43b7a1f1500d57">tacos::search::get_canonical_word</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_canonical_word(const PlantConfiguration&lt; Location &gt; &amp;plant_configuration, const ATAConfiguration&lt; ConstraintSymbolType &gt; &amp;ata_configuration, const unsigned int K)</div><div class="ttdef"><b>Definition</b> canonical_word.h:302</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition</b> canonical_word.h:25</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition</b> canonical_word.h:148</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a9370aca19be81e7b4076c52bd48f4ed4"><div class="ttname"><a href="namespacetacos_1_1search.html#a9370aca19be81e7b4076c52bd48f4ed4">tacos::search::get_region_index</a></div><div class="ttdeci">RegionIndex get_region_index(const ABRegionSymbol&lt; Location, ConstraintSymbolType &gt; &amp;w)</div><div class="ttdef"><b>Definition</b> canonical_word.h:172</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ab705e3bb9ef2fa79c731170e72cee5ce"><div class="ttname"><a href="namespacetacos_1_1search.html#ab705e3bb9ef2fa79c731170e72cee5ce">tacos::search::ABRegionSymbol</a></div><div class="ttdeci">std::variant&lt; PlantRegionState&lt; LocationT &gt;, ATARegionState&lt; ConstraintSymbolType &gt; &gt; ABRegionSymbol</div><div class="ttdef"><b>Definition</b> canonical_word.h:144</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ab8e378b2721c0631f6e8412486e0a9b4"><div class="ttname"><a href="namespacetacos_1_1search.html#ab8e378b2721c0631f6e8412486e0a9b4">tacos::search::is_valid_canonical_word</a></div><div class="ttdeci">bool is_valid_canonical_word(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word, RegionIndex max_region=0)</div><div class="ttdef"><b>Definition</b> canonical_word.h:229</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ac29b6bff518862f2a6d00beb7d2056db"><div class="ttname"><a href="namespacetacos_1_1search.html#ac29b6bff518862f2a6d00beb7d2056db">tacos::search::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const GologLocation &amp;first, const GologLocation &amp;second)</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:43</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ac41d394d31bc0308509b84c5613b0dba"><div class="ttname"><a href="namespacetacos_1_1search.html#ac41d394d31bc0308509b84c5613b0dba">tacos::search::get_time</a></div><div class="ttdeci">ClockValuation get_time(const ABSymbol&lt; Location, ConstraintSymbolType &gt; &amp;w)</div><div class="ttdef"><b>Definition</b> canonical_word.h:156</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_af6a60514f433e080f772c65af6849e32"><div class="ttname"><a href="namespacetacos_1_1search.html#af6a60514f433e080f772c65af6849e32">tacos::search::ABSymbol</a></div><div class="ttdeci">std::variant&lt; PlantState&lt; LocationT &gt;, ATAState&lt; ConstraintSymbolType &gt; &gt; ABSymbol</div><div class="ttdef"><b>Definition</b> canonical_word.h:60</div></div>
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+<div class="ttc" id="astructtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions.html">tacos::automata::ta::TimedAutomatonRegions</a></div><div class="ttdoc">A set of one-dimensional regions.</div><div class="ttdef"><b>Definition</b> ta_regions.h:37</div></div>
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+<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html">tacos::search::PlantState</a></div><div class="ttdoc">The state of a plant.</div><div class="ttdef"><b>Definition</b> canonical_word.h:33</div></div>
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-<p >Get the current valuation of the clock </p><dl class="section return"><dt>Returns</dt><dd>The current time of the clock </dd></dl>
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-class tacos::automata::ata::ClockConstraintFormula&lt; LocationT &gt;</div><p >A formula requiring that a clock constraint must be satisfied. </p>
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-<p >Compute the minimal model of the formula. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Check if the formula is satisfied by a configuration and a clock valuation. </p><dl class="params"><dt>Parameters</dt><dd>
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 <div class="textblock"><div class="compoundTemplParams">template&lt;typename LocationT&gt;<br />
-class tacos::automata::ata::ConjunctionFormula&lt; LocationT &gt;</div><p >A conjunction of two formulas. </p>
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     <tr><td class="paramname">conjunct2</td><td>The second conjunct </td></tr>
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-<p >Compute the minimal model of the formula. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Check if the formula is satisfied by a configuration and a clock valuation. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Check if the formula is satisfied by a configuration and a clock valuation. </p><dl class="params"><dt>Parameters</dt><dd>
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 </div>
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-<h2 class="groupheader">Friends And Related Function Documentation</h2>
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-<p >Compare two ATA formulas. </p>
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-<p >Compute the minimal model of the formula. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Check if the formula is satisfied by a configuration and a clock valuation. </p><dl class="params"><dt>Parameters</dt><dd>
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+<p>Print a <a class="el" href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html" title="A disjunction of formulas.">DisjunctionFormula</a> to an ostream </p><dl class="params"><dt>Parameters</dt><dd>
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 </div>
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-<p >Compare two ATA formulas. </p>
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-<p >Compute the minimal model of the formula. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Check if the formula is satisfied by a configuration and a clock valuation. </p><dl class="params"><dt>Parameters</dt><dd>
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@@ -130,17 +130,17 @@
 <tr class="memitem:aecef4290752fd8615a0900b03d5bf051"><td class="memItemLeft" align="right" valign="top">std::set&lt; <a class="el" href="namespacetacos_1_1automata_1_1ta.html#ab7236c9910eda36b73325ff90309f7bc">TAConfiguration</a>&lt; LocationT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aecef4290752fd8615a0900b03d5bf051">make_symbol_step</a> (const <a class="el" href="namespacetacos_1_1automata_1_1ta.html#ab7236c9910eda36b73325ff90309f7bc">TAConfiguration</a>&lt; LocationT &gt; &amp;configuration, const AP &amp;symbol) const</td></tr>
 <tr class="separator:aecef4290752fd8615a0900b03d5bf051"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a33d0e246b751530f39027788a9be3f22"><td class="memItemLeft" align="right" valign="top">std::set&lt; <a class="el" href="classtacos_1_1automata_1_1ta_1_1Path.html">Path</a>&lt; LocationT, AP &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a33d0e246b751530f39027788a9be3f22">make_transition</a> (<a class="el" href="classtacos_1_1automata_1_1ta_1_1Path.html">Path</a>&lt; LocationT, AP &gt; path, const AP &amp;symbol, const Time &amp;time) const</td></tr>
-<tr class="memdesc:a33d0e246b751530f39027788a9be3f22"><td class="mdescLeft">&#160;</td><td class="mdescRight">Let the TA make a transition on the given symbol at the given time.  <a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a33d0e246b751530f39027788a9be3f22">More...</a><br /></td></tr>
+<tr class="memdesc:a33d0e246b751530f39027788a9be3f22"><td class="mdescLeft">&#160;</td><td class="mdescRight">Let the TA make a transition on the given symbol at the given time.  <br /></td></tr>
 <tr class="separator:a33d0e246b751530f39027788a9be3f22"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:ac66706f557bb3b10f12b3b213138f907"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ac66706f557bb3b10f12b3b213138f907">accepts_word</a> (const <a class="el" href="namespacetacos_1_1automata.html#a21b5af8bd4cf7fe1cfb1fd806fa2dc12">TimedWord</a> &amp;word) const</td></tr>
-<tr class="memdesc:ac66706f557bb3b10f12b3b213138f907"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the TA accepts the given timed word.  <a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ac66706f557bb3b10f12b3b213138f907">More...</a><br /></td></tr>
+<tr class="memdesc:ac66706f557bb3b10f12b3b213138f907"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the TA accepts the given timed word.  <br /></td></tr>
 <tr class="separator:ac66706f557bb3b10f12b3b213138f907"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aafe51eacc2fd85a3d974e2c71e0ef390"><td class="memItemLeft" align="right" valign="top"><a id="aafe51eacc2fd85a3d974e2c71e0ef390" name="aafe51eacc2fd85a3d974e2c71e0ef390"></a>
 std::vector&lt; <a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#af74f815be546b57baecc18dc4d8d96f5">Transition</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>get_enabled_transitions</b> (const <a class="el" href="namespacetacos_1_1automata_1_1ta.html#ab7236c9910eda36b73325ff90309f7bc">TAConfiguration</a>&lt; LocationT &gt; &amp;configuration)</td></tr>
 <tr class="memdesc:aafe51eacc2fd85a3d974e2c71e0ef390"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the enabled transitions in a given configuration. <br /></td></tr>
 <tr class="separator:aafe51eacc2fd85a3d974e2c71e0ef390"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aeebfd644cc0e52ac39ef1fe8b09e9c82"><td class="memItemLeft" align="right" valign="top">Endpoint&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aeebfd644cc0e52ac39ef1fe8b09e9c82">get_largest_constant</a> () const</td></tr>
-<tr class="memdesc:aeebfd644cc0e52ac39ef1fe8b09e9c82"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the largest constant any clock is compared to.  <a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aeebfd644cc0e52ac39ef1fe8b09e9c82">More...</a><br /></td></tr>
+<tr class="memdesc:aeebfd644cc0e52ac39ef1fe8b09e9c82"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the largest constant any clock is compared to.  <br /></td></tr>
 <tr class="separator:aeebfd644cc0e52ac39ef1fe8b09e9c82"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a1680a18e7b571b4ef04a1785185733ad"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacetacos_1_1automata_1_1ta.html#ab7236c9910eda36b73325ff90309f7bc">TAConfiguration</a>&lt; LocationT &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a1680a18e7b571b4ef04a1785185733ad">get_initial_configuration</a> () const</td></tr>
 <tr class="separator:a1680a18e7b571b4ef04a1785185733ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -154,17 +154,17 @@
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;typename LocationT, typename AP&gt;<br />
-class tacos::automata::ta::TimedAutomaton&lt; LocationT, AP &gt;</div><p >A timed automaton. </p>
-<p >A <a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html" title="A timed automaton.">TimedAutomaton</a> consists of a set of locations, an initial location, a final location, a set of clocks, and a set of transitions. A simple timed automaton with two locations and a single transition without constraints can be constructed with </p><div class="fragment"><div class="line"><a class="code hl_class" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">TimedAutomaton</a> ta{<span class="stringliteral">&quot;s0&quot;</span>, {<span class="stringliteral">&quot;s1&quot;</span>}};</div>
+class tacos::automata::ta::TimedAutomaton&lt; LocationT, AP &gt;</div><p>A timed automaton. </p>
+<p>A <a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html" title="A timed automaton.">TimedAutomaton</a> consists of a set of locations, an initial location, a final location, a set of clocks, and a set of transitions. A simple timed automaton with two locations and a single transition without constraints can be constructed with </p><div class="fragment"><div class="line"><a class="code hl_class" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">TimedAutomaton</a> ta{<span class="stringliteral">&quot;s0&quot;</span>, {<span class="stringliteral">&quot;s1&quot;</span>}};</div>
 <div class="line">ta.<a class="code hl_function" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a8a82d65d701a12c368c2e90acce57833">add_transition</a>(<a class="code hl_typedef" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#af74f815be546b57baecc18dc4d8d96f5">Transition</a>(<span class="stringliteral">&quot;s0&quot;</span>, <span class="stringliteral">&quot;a&quot;</span>, <span class="stringliteral">&quot;s1&quot;</span>));</div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:240</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a8a82d65d701a12c368c2e90acce57833"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a8a82d65d701a12c368c2e90acce57833">tacos::automata::ta::TimedAutomaton::add_transition</a></div><div class="ttdeci">void add_transition(const Transition &amp;transition)</div><div class="ttdef"><b>Definition:</b> ta.hpp:156</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_af74f815be546b57baecc18dc4d8d96f5"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#af74f815be546b57baecc18dc4d8d96f5">tacos::automata::ta::TimedAutomaton::Transition</a></div><div class="ttdeci">automata::ta::Transition&lt; LocationT, AP &gt; Transition</div><div class="ttdef"><b>Definition:</b> ta.h:246</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a8a82d65d701a12c368c2e90acce57833"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a8a82d65d701a12c368c2e90acce57833">tacos::automata::ta::TimedAutomaton::add_transition</a></div><div class="ttdeci">void add_transition(const Transition &amp;transition)</div><div class="ttdef"><b>Definition</b> ta.hpp:156</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_af74f815be546b57baecc18dc4d8d96f5"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#af74f815be546b57baecc18dc4d8d96f5">tacos::automata::ta::TimedAutomaton::Transition</a></div><div class="ttdeci">automata::ta::Transition&lt; LocationT, AP &gt; Transition</div><div class="ttdef"><b>Definition</b> ta.h:246</div></div>
 </div><!-- fragment --><p> To construct a timed automaton with a clock constraint <code>x &lt; 1</code>, use </p><div class="fragment"><div class="line"><a class="code hl_class" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">TimedAutomaton</a> ta{<span class="stringliteral">&quot;s0&quot;</span>, {<span class="stringliteral">&quot;s1&quot;</span>}};</div>
 <div class="line"><a class="code hl_typedef" href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">ClockConstraint</a> c = <a class="code hl_class" href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">AtomicClockConstraintT&lt;std::less&lt;Time&gt;</a>&gt;(1);</div>
 <div class="line">ta.add_transition(<a class="code hl_typedef" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#af74f815be546b57baecc18dc4d8d96f5">Transition</a>(<span class="stringliteral">&quot;s0&quot;</span>, <span class="stringliteral">&quot;a&quot;</span>, <span class="stringliteral">&quot;s1&quot;</span>, {{<span class="stringliteral">&quot;x&quot;</span>, c}}));</div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition:</b> automata.h:136</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_ae76064700b8c5b972347a745856fc7b8"><div class="ttname"><a href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">tacos::automata::ClockConstraint</a></div><div class="ttdeci">std::variant&lt; AtomicClockConstraintT&lt; std::less&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::less_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::not_equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater&lt; Time &gt; &gt; &gt; ClockConstraint</div><div class="ttdef"><b>Definition:</b> automata.h:50</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition</b> automata.h:136</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_ae76064700b8c5b972347a745856fc7b8"><div class="ttname"><a href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">tacos::automata::ClockConstraint</a></div><div class="ttdeci">std::variant&lt; AtomicClockConstraintT&lt; std::less&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::less_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::not_equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater&lt; Time &gt; &gt; &gt; ClockConstraint</div><div class="ttdef"><b>Definition</b> automata.h:50</div></div>
 </div><!-- fragment --> </div><h2 class="groupheader">Member Typedef Documentation</h2>
 <a id="a4d3d26e9352fd2e931eeead6398d0e1f" name="a4d3d26e9352fd2e931eeead6398d0e1f"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a4d3d26e9352fd2e931eeead6398d0e1f">&#9670;&#160;</a></span>Configuration</h2>
@@ -179,7 +179,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4d3d26e9352fd2e931eeead6
         </tr>
       </table>
 </div><div class="memdoc">
-<p >The configuration type of this automaton. </p>
+<p>The configuration type of this automaton. </p>
 
 </div>
 </div>
@@ -196,7 +196,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a626757da5a367094242b368c
         </tr>
       </table>
 </div><div class="memdoc">
-<p >The location type of this automaton. </p>
+<p>The location type of this automaton. </p>
 
 </div>
 </div>
@@ -213,7 +213,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#af74f815be546b57baecc18dc
         </tr>
       </table>
 </div><div class="memdoc">
-<p >The transition type of this automaton. </p>
+<p>The transition type of this automaton. </p>
 
 </div>
 </div>
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   </tr>
 </table>
 </div><div class="memdoc">
-<p >Constructor. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Constructor. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">alphabet</td><td>The valid symbols in the <a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html" title="A timed automaton.">TimedAutomaton</a> </td></tr>
     <tr><td class="paramname">initial_location</td><td>the initial location </td></tr>
@@ -329,7 +329,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a79a8b5017f5fe0806e7db26f
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Constructor. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Constructor. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">locations</td><td>All locations of the automaton </td></tr>
     <tr><td class="paramname">alphabet</td><td>The valid symbols in the <a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html" title="A timed automaton.">TimedAutomaton</a> </td></tr>
@@ -363,7 +363,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac66706f557bb3b10f12b3b21
 </div><div class="memdoc">
 
 <p>Check if the TA accepts the given timed word. </p>
-<p >Iteratively apply transitions for each (symbol,time) pair in the given timed word. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Iteratively apply transitions for each (symbol,time) pair in the given timed word. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">word</td><td>the word to read </td></tr>
   </table>
@@ -398,7 +398,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1a3df59e323976009bfd80e0
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Add an action to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Add an action to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">action</td><td>The action to add </td></tr>
   </table>
@@ -432,7 +432,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a5cdf0d962163ead85338c976
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Add a clock to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Add a clock to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">name</td><td>the name of the clock </td></tr>
   </table>
@@ -466,7 +466,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#adb8df50daa801583a37a43a8
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Add a final location to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Add a final location to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">location</td><td>the location to add </td></tr>
   </table>
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   </tr>
 </table>
 </div><div class="memdoc">
-<p >Add a location to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Add a location to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">location</td><td>the location to add </td></tr>
   </table>
@@ -535,7 +535,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab897af9d33ca4e59eb3816b7
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Add a set of locations to the TA </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Add a set of locations to the TA </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">locations</td><td>the locations to add </td></tr>
   </table>
@@ -561,7 +561,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8a82d65d701a12c368c2e90a
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Add a transition to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Add a transition to the TA. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">transition</td><td>The transition to add, must only mention clocks and locations that are already part of the TA. </td></tr>
   </table>
@@ -594,7 +594,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab3981c911b04d0398d49b870
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Get the alphabet </p><dl class="section return"><dt>Returns</dt><dd>A reference to the set of symbols used by the <a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html" title="A timed automaton.">TimedAutomaton</a> </dd></dl>
+<p>Get the alphabet </p><dl class="section return"><dt>Returns</dt><dd>A reference to the set of symbols used by the <a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html" title="A timed automaton.">TimedAutomaton</a> </dd></dl>
 
 </div>
 </div>
@@ -622,7 +622,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a65b876f51412397d08ebe772
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Get the clock names of the automaton. </p><dl class="section return"><dt>Returns</dt><dd>a set of clock names </dd></dl>
+<p>Get the clock names of the automaton. </p><dl class="section return"><dt>Returns</dt><dd>a set of clock names </dd></dl>
 
 </div>
 </div>
@@ -650,7 +650,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0fa220852df2462af18ca7f3
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Get the final locations. </p><dl class="section return"><dt>Returns</dt><dd>The final locations </dd></dl>
+<p>Get the final locations. </p><dl class="section return"><dt>Returns</dt><dd>The final locations </dd></dl>
 
 </div>
 </div>
@@ -667,7 +667,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1680a18e7b571b4ef04a1785
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Get the initial configuration of the automaton. </p><dl class="section return"><dt>Returns</dt><dd>The initial configuration </dd></dl>
+<p>Get the initial configuration of the automaton. </p><dl class="section return"><dt>Returns</dt><dd>The initial configuration </dd></dl>
 
 </div>
 </div>
@@ -695,7 +695,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#affcbb0c8e6a7e798ab0a46a9
   </tr>
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-<p >Get the initial location. </p><dl class="section return"><dt>Returns</dt><dd>The initial location </dd></dl>
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-<p >Get the locations. </p><dl class="section return"><dt>Returns</dt><dd>A reference to the set of locations </dd></dl>
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-<p >Get the transitions of the TA. </p><dl class="section return"><dt>Returns</dt><dd>A multimap with entries (location, transition) </dd></dl>
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-<p >Check if the given configuration is an accepting configuration of this automaton </p><dl class="params"><dt>Parameters</dt><dd>
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 <p>Let the TA make a transition on the given symbol at the given time. </p>
-<p >Check if there is a transition that can be enabled on the given symbol at the given time, starting with the given path. If so, modify the given path, i.e., apply the transition by switching to the new location, increasing all clocks by the time difference, and resetting all clocks specified in the transition. This always uses the first transition that is enabled, i.e., it does not work properly on non-deterministic TAs. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Check if there is a transition that can be enabled on the given symbol at the given time, starting with the given path. If so, modify the given path, i.e., apply the transition by switching to the new location, increasing all clocks by the time difference, and resetting all clocks specified in the transition. This always uses the first transition that is enabled, i.e., it does not work properly on non-deterministic TAs. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Print a timed automaton by printing its components. </p>
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-<tr class="memdesc:a77d4f3a18ab34ffde2c791c634d19ea1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the clock constraints defining the guard conditions.  <a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a77d4f3a18ab34ffde2c791c634d19ea1">More...</a><br /></td></tr>
+<tr class="memdesc:a77d4f3a18ab34ffde2c791c634d19ea1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the clock constraints defining the guard conditions.  <br /></td></tr>
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 const <a class="el" href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">Location</a>&lt; LocationT &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>get_source</b> () const</td></tr>
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-<tr class="memdesc:a8dabf1f5b5ce481949e9982a544fab05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two transitions.  <a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a8dabf1f5b5ce481949e9982a544fab05">More...</a><br /></td></tr>
+<tr class="memdesc:a8dabf1f5b5ce481949e9982a544fab05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two transitions.  <br /></td></tr>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;typename LocationT, typename AP&gt;<br />
-class tacos::automata::ta::Transition&lt; LocationT, AP &gt;</div><p >A transition in a timed automaton. </p>
+class tacos::automata::ta::Transition&lt; LocationT, AP &gt;</div><p>A transition in a timed automaton. </p>
 <dl class="section see"><dt>See also</dt><dd><a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html" title="A timed automaton.">TimedAutomaton</a> </dd></dl>
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-<p >Constructor. </p><dl class="params"><dt>Parameters</dt><dd>
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     <tr><td class="paramname">source</td><td>the source location </td></tr>
     <tr><td class="paramname">symbol</td><td>the symbol to read with this transition </td></tr>
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-<p >Check whether the transition is enabled on the given symbol and clock valuations. More specifically, check if the given symbol matches this transition's symbol, and that the clock valuations satisfy all clock constraints. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Check whether the transition is enabled on the given symbol and clock valuations. More specifically, check if the given symbol matches this transition's symbol, and that the clock valuations satisfy all clock constraints. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Print a transition </p><dl class="params"><dt>Parameters</dt><dd>
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 <p>Compare two transitions. </p>
-<p >Two transitions are equal if they use the same source, target, read the same symbol, have the same clock constraints, and reset the same clocks. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Two transitions are equal if they use the same source, target, read the same symbol, have the same clock constraints, and reset the same clocks. </p><dl class="params"><dt>Parameters</dt><dd>
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-<div class="textblock"><p ><a class="el" href="classtacos_1_1golog__app_1_1Launcher.html" title="Launcher for the main application. The launcher runs the main application, reads the input from pbtxt...">Launcher</a> for the main application. The launcher runs the main application, reads the input from pbtxt files, runs the search, and finally generates a controller. </p>
+<div class="textblock"><p><a class="el" href="classtacos_1_1golog__app_1_1Launcher.html" title="Launcher for the main application. The launcher runs the main application, reads the input from pbtxt...">Launcher</a> for the main application. The launcher runs the main application, reads the input from pbtxt files, runs the search, and finally generates a controller. </p>
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-<p >Initialize the launcher with the given command line arguments. </p><dl class="params"><dt>Parameters</dt><dd>
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-class tacos::logic::MTLFormula&lt; APType &gt;</div><p >Class representing an MTL-formula with the usual operators. </p>
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-<p >Construct a conjuction of sub-formulas. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Get the value of the largest constant occurring in the formula. <br  />
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 <p>Returns normalized formula (positive normal form) </p>
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-class tacos::logic::MTLWord&lt; APType &gt;</div><p >A (timed-) word which can be validated against a given MTL-formula. </p>
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 Public Member Functions</h2></td></tr>
 <tr class="memitem:a78254c8bb368908dfeddfc61d1bac7e9"><td class="memItemLeft" align="right" valign="top">ValueT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1search_1_1BfsHeuristic.html#a78254c8bb368908dfeddfc61d1bac7e9">compute_cost</a> (NodeT *) override</td></tr>
-<tr class="memdesc:a78254c8bb368908dfeddfc61d1bac7e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node.  <a href="classtacos_1_1search_1_1BfsHeuristic.html#a78254c8bb368908dfeddfc61d1bac7e9">More...</a><br /></td></tr>
+<tr class="memdesc:a78254c8bb368908dfeddfc61d1bac7e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node.  <br /></td></tr>
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 <tr class="memitem:a28ea30ec5558f8df76c17cd0a8e62c17 inherit pub_methods_classtacos_1_1search_1_1Heuristic"><td class="memItemLeft" align="right" valign="top">virtual ValueT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1search_1_1Heuristic.html#a28ea30ec5558f8df76c17cd0a8e62c17">compute_cost</a> (NodeT *node)=0</td></tr>
-<tr class="memdesc:a28ea30ec5558f8df76c17cd0a8e62c17 inherit pub_methods_classtacos_1_1search_1_1Heuristic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node.  <a href="classtacos_1_1search_1_1Heuristic.html#a28ea30ec5558f8df76c17cd0a8e62c17">More...</a><br /></td></tr>
+<tr class="memdesc:a28ea30ec5558f8df76c17cd0a8e62c17 inherit pub_methods_classtacos_1_1search_1_1Heuristic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node.  <br /></td></tr>
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 <tr class="memitem:a32ec271f1f293da7ec4de00267e9f32d inherit pub_methods_classtacos_1_1search_1_1Heuristic"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1search_1_1Heuristic.html#a32ec271f1f293da7ec4de00267e9f32d">~Heuristic</a> ()</td></tr>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;typename ValueT, typename NodeT&gt;<br />
-class tacos::search::BfsHeuristic&lt; ValueT, NodeT &gt;</div><p >Breadth-first search heuristic. </p>
-<p >The BFS heuristic simply increases the cost with every evaluated node and therefore processes them just like a FIFO queue, resulting in breadth-first sarch. </p><dl class="tparams"><dt>Template Parameters</dt><dd>
+class tacos::search::BfsHeuristic&lt; ValueT, NodeT &gt;</div><p>Breadth-first search heuristic. </p>
+<p>The BFS heuristic simply increases the cost with every evaluated node and therefore processes them just like a FIFO queue, resulting in breadth-first sarch. </p><dl class="tparams"><dt>Template Parameters</dt><dd>
   <table class="tparams">
     <tr><td class="paramname">ValueT</td><td>The value type of the heuristic function </td></tr>
     <tr><td class="paramname">LocationT</td><td>The type of the location of an automaton </td></tr>
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 <p>Compute the cost of the given node. </p>
-<p >The cost will strictly monotonically increase for each node, thereby emulating breadth-first search. </p><dl class="section return"><dt>Returns</dt><dd>The cost of the node </dd></dl>
+<p>The cost will strictly monotonically increase for each node, thereby emulating breadth-first search. </p><dl class="section return"><dt>Returns</dt><dd>The cost of the node </dd></dl>
 
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;typename ValueT, typename NodeT&gt;<br />
-class tacos::search::CompositeHeuristic&lt; ValueT, NodeT &gt;</div><p >Compose multiple heuristics. </p>
-<p >This heuristic computes a weighted sum over a set of heuristics. </p>
+class tacos::search::CompositeHeuristic&lt; ValueT, NodeT &gt;</div><p>Compose multiple heuristics. </p>
+<p>This heuristic computes a weighted sum over a set of heuristics. </p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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-<p >Initialize the heuristic. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Compute the cost of a node. </p><dl class="params"><dt>Parameters</dt><dd>
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-<tr class="memdesc:ae3e4296b18d9139e46a69fac83706f81"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node. The cost will strictly monotonically increase for each node, thereby emulating breadth-first search.  <a href="classtacos_1_1search_1_1DfsHeuristic.html#ae3e4296b18d9139e46a69fac83706f81">More...</a><br /></td></tr>
+<tr class="memdesc:ae3e4296b18d9139e46a69fac83706f81"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node. The cost will strictly monotonically increase for each node, thereby emulating breadth-first search.  <br /></td></tr>
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-<div class="textblock"><p >Wrapper for a Golog++ program. </p>
-<p >This class manages a Golog++ program and provides additional functionality needed for synthesizing a controller against this program. </p>
+<div class="textblock"><p>Wrapper for a Golog++ program. </p>
+<p>This class manages a Golog++ program and provides additional functionality needed for synthesizing a controller against this program. </p>
 </div><h2 class="groupheader">Member Typedef Documentation</h2>
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-<p >The underlying location type. </p><dl class="section see"><dt>See also</dt><dd>GologLocatoin </dd></dl>
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-<p >Construct a program from a program string. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Construct a program from a program string. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Clean up the Golog program and release global resources. </p>
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-<p >Get a pointer to the empty history. </p>
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-<p >Get the initial configuration of the program. A configuration consists of a location and clock valuations. For a Golog program, there is only a single clock called 'golog'. </p><dl class="section see"><dt>See also</dt><dd><a class="el" href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c" title="A configuration of a Golog program.">GologConfiguration</a> </dd></dl>
+<p>Get the initial configuration of the program. A configuration consists of a location and clock valuations. For a Golog program, there is only a single clock called 'golog'. </p><dl class="section see"><dt>See also</dt><dd><a class="el" href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c" title="A configuration of a Golog program.">GologConfiguration</a> </dd></dl>
 
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-<p >Get the initial location of the program. </p><dl class="section see"><dt>See also</dt><dd><a class="el" href="structtacos_1_1search_1_1GologLocation.html" title="The location of a Golog program.">GologLocation</a> </dd></dl>
+<p>Get the initial location of the program. </p><dl class="section see"><dt>See also</dt><dd><a class="el" href="structtacos_1_1search_1_1GologLocation.html" title="The location of a Golog program.">GologLocation</a> </dd></dl>
 
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-<p >Get the underlying golog++ semantics object for the program. </p>
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-<p >Check if action clocks should be used. </p>
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-<p >Check if a program is accepting, i.e., terminates, in the given configuration. </p>
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-<p >A heuristic is used by the search to determine which open node to expand next. This class needs to be specialized to actually implement a heuristic function. </p><dl class="tparams"><dt>Template Parameters</dt><dd>
+class tacos::search::Heuristic&lt; ValueT, NodeT &gt;</div><p>The heuristics interface. </p>
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-<p >Virtual destructor. </p>
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 <p>Compute the cost of the given node. </p>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<tr class="memdesc:a1f80fe010b9fe54da93f9ec15c345bf3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node.  <br /></td></tr>
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 <tr class="memitem:a28ea30ec5558f8df76c17cd0a8e62c17 inherit pub_methods_classtacos_1_1search_1_1Heuristic"><td class="memItemLeft" align="right" valign="top">virtual ValueT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1search_1_1Heuristic.html#a28ea30ec5558f8df76c17cd0a8e62c17">compute_cost</a> (NodeT *node)=0</td></tr>
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+<tr class="memdesc:a28ea30ec5558f8df76c17cd0a8e62c17 inherit pub_methods_classtacos_1_1search_1_1Heuristic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node.  <br /></td></tr>
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 <tr class="memitem:a32ec271f1f293da7ec4de00267e9f32d inherit pub_methods_classtacos_1_1search_1_1Heuristic"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1search_1_1Heuristic.html#a32ec271f1f293da7ec4de00267e9f32d">~Heuristic</a> ()</td></tr>
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 <div class="textblock"><div class="compoundTemplParams">template&lt;typename ValueT, typename NodeT&gt;<br />
-class tacos::search::RandomHeuristic&lt; ValueT, NodeT &gt;</div><p >Random heuristic that assigns random costs to nodes. </p>
+class tacos::search::RandomHeuristic&lt; ValueT, NodeT &gt;</div><p>Random heuristic that assigns random costs to nodes. </p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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-<p >Constructor. </p><dl class="params"><dt>Parameters</dt><dd>
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 </div><div class="memdoc">
 
 <p>Compute the cost of the given node. </p>
-<p >The higher the cost, the lower the priority. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>The higher the cost, the lower the priority. </p><dl class="params"><dt>Parameters</dt><dd>
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diff --git a/docs/classtacos_1_1search_1_1SearchTreeNode.html b/docs/classtacos_1_1search_1_1SearchTreeNode.html
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+<tr class="memdesc:aec31e8f9bf4ca5769713e8445f344dce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the node label and optionally cancel the children.  <br /></td></tr>
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 <tr class="memitem:a420d4cd13e387bff9a439679e2119d4a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html#a420d4cd13e387bff9a439679e2119d4a">label_propagate</a> (const std::set&lt; ActionType &gt; &amp;controller_actions, const std::set&lt; ActionType &gt; &amp;environment_actions, bool cancel_children=false)</td></tr>
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+<tr class="memdesc:a420d4cd13e387bff9a439679e2119d4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implements incremental labeling during search, bottom up. Nodes are labelled as soon as their label state can definitely be determined either because they are leaf-nodes or because the labeling of child nodes permits to determine a label (see details).  <br /></td></tr>
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+<tr class="memdesc:af0b7ddd64bc24c798309980647b952d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compares two nodes for equality.  <br /></td></tr>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;typename Location, typename ActionType, typename ConstraintSymbolType = ActionType&gt;<br />
-class tacos::search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt;</div><p >A node in the search tree. </p>
+class tacos::search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt;</div><p>A node in the search tree. </p>
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+<tr class="memdesc:a2ef32a2b09a1879183668861c3ca5f29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the cost of the given node.  <br /></td></tr>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;typename ValueT, typename NodeT&gt;<br />
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-<p >This heuristic computes the accumulated time from the root node to the current node and prioritizes nodes that occur early. </p>
+class tacos::search::TimeHeuristic&lt; ValueT, NodeT &gt;</div><p>The Time heuristic, which prefers early actions. </p>
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diff --git a/docs/classtacos_1_1search_1_1TreeSearch.html b/docs/classtacos_1_1search_1_1TreeSearch.html
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 <div class="textblock"><div class="compoundTemplParams">template&lt;typename Location, typename ActionType, typename ConstraintSymbolType = ActionType, bool use_location_constraints = false, typename Plant = automata::ta::TimedAutomaton&lt;typename Location::UnderlyingType, ActionType&gt;, bool use_set_semantics = false&gt;<br />
-class tacos::search::TreeSearch&lt; Location, ActionType, ConstraintSymbolType, use_location_constraints, Plant, use_set_semantics &gt;</div><p >Search the configuration tree for a valid controller. </p>
-<p >This class implements the main algorithm to check the existence of a controller. It builds a search graph following the transitions of the plant (e.g., the TA) and the ATA and then labels nodes recursively bottom-up. </p>
+class tacos::search::TreeSearch&lt; Location, ActionType, ConstraintSymbolType, use_location_constraints, Plant, use_set_semantics &gt;</div><p>Search the configuration tree for a valid controller. </p>
+<p>This class implements the main algorithm to check the existence of a controller. It builds a search graph following the transitions of the plant (e.g., the TA) and the ATA and then labels nodes recursively bottom-up. </p>
 </div><h2 class="groupheader">Member Typedef Documentation</h2>
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         </tr>
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-<p >The type of the input symbols that the ATA accepts. </p>
+<p>The type of the input symbols that the ATA accepts. </p>
 
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-<p >The corresponding Node type of this search. </p>
+<p>The corresponding Node type of this search. </p>
 
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-<p >Initialize the search. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Initialize the search. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">ta</td><td>The plant to be controlled </td></tr>
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-<p >Add a node the processing queue. This adds a new task to the thread pool that expands the node asynchronously. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Add a node the processing queue. This adds a new task to the thread pool that expands the node asynchronously. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Build the complete search tree by expanding nodes recursively. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Build the complete search tree by expanding nodes recursively. </p><dl class="params"><dt>Parameters</dt><dd>
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     <tr><td class="paramname">multi_threaded</td><td>If set to true, run the thread pool. Otherwise, process the jobs synchronously with a single thread. </td></tr>
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-<p >Process and expand the given node. <br  />
+<p>Process and expand the given node. <br  />
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-<p >Get the current search nodes. </p>
+<p>Get the current search nodes. </p>
 
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-<p >Get the root of the search tree. </p><dl class="section return"><dt>Returns</dt><dd>A pointer to the root, only valid as long as the <a class="el" href="classtacos_1_1search_1_1TreeSearch.html" title="Search the configuration tree for a valid controller.">TreeSearch</a> object has not been destroyed </dd></dl>
+<p>Get the root of the search tree. </p><dl class="section return"><dt>Returns</dt><dd>A pointer to the root, only valid as long as the <a class="el" href="classtacos_1_1search_1_1TreeSearch.html" title="Search the configuration tree for a valid controller.">TreeSearch</a> object has not been destroyed </dd></dl>
 
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-<p >Get the size of the search graph. </p><dl class="section return"><dt>Returns</dt><dd>The number of nodes in the search graph </dd></dl>
+<p>Get the size of the search graph. </p><dl class="section return"><dt>Returns</dt><dd>The number of nodes in the search graph </dd></dl>
 
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-<p >Check if a node is bad, i.e., if it violates the specification. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Check if a node is bad, i.e., if it violates the specification. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Compute the final tree labels. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Compute the final tree labels. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Compute the next iteration by taking the first item of the queue and expanding it. </p><dl class="section return"><dt>Returns</dt><dd>true if there was still an unexpanded node </dd></dl>
+<p>Compute the next iteration by taking the first item of the queue and expanding it. </p><dl class="section return"><dt>Returns</dt><dd>true if there was still an unexpanded node </dd></dl>
 
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diff --git a/docs/classtacos_1_1search_1_1get__next__canonical__words.html b/docs/classtacos_1_1search_1_1get__next__canonical__words.html
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 <div class="textblock"><div class="compoundTemplParams">template&lt;typename Plant, typename ActionType, typename ConstraintSymbolType, bool use_location_constraints = false, bool use_set_semantics = false&gt;<br />
-class tacos::search::get_next_canonical_words&lt; Plant, ActionType, ConstraintSymbolType, use_location_constraints, use_set_semantics &gt;</div><p >Generic functor to get the next canonical word. </p>
-<p >This is not actually an implementation, but only defines the interface. Instead, a plant-specific (partial) template specialization needs to be defined that computes the next canonical words. </p>
+class tacos::search::get_next_canonical_words&lt; Plant, ActionType, ConstraintSymbolType, use_location_constraints, use_set_semantics &gt;</div><p>Generic functor to get the next canonical word. </p>
+<p>This is not actually an implementation, but only defines the interface. Instead, a plant-specific (partial) template specialization needs to be defined that computes the next canonical words. </p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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-<p >Construct the comparator with the given action partitioning. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Construct the comparator with the given action partitioning. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">controller_actions</td><td>The actions that the controller can select </td></tr>
     <tr><td class="paramname">environment_actions</td><td>The actions that the environment can select </td></tr>
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-<p >Get all successors for one particular time successor. </p>
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diff --git a/docs/classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std5b4d2ecc3fe528c74cdadb62c529a8a9.html b/docs/classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std5b4d2ecc3fe528c74cdadb62c529a8a9.html
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diff --git a/docs/classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html b/docs/classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html
index 4653bbde..3ffe56e8 100644
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-<tr class="memdesc:aef590b60597572912656e59ffa07ebb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute all successors for one particular time successor and all possible symbols. Compute the successors by following all transitions in the program and ATA for one time successor and all actions that can be executed in the program.  <a href="classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html#aef590b60597572912656e59ffa07ebb4">More...</a><br /></td></tr>
+<tr class="memdesc:aef590b60597572912656e59ffa07ebb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute all successors for one particular time successor and all possible symbols. Compute the successors by following all transitions in the program and ATA for one time successor and all actions that can be executed in the program.  <br /></td></tr>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;bool use_location_constraints, bool use_set_semantics&gt;<br />
-class tacos::search::get_next_canonical_words&lt; GologProgram, std::string, std::string, use_location_constraints, use_set_semantics &gt;</div><p >Compute all Golog successors for one particular time successor and all possible symbols. </p>
-<p >Compute the successors by following all transitions in the program and ATA for one time successor and all actions that can be executed in the program. </p>
+class tacos::search::get_next_canonical_words&lt; GologProgram, std::string, std::string, use_location_constraints, use_set_semantics &gt;</div><p>Compute all Golog successors for one particular time successor and all possible symbols. </p>
+<p>Compute the successors by following all transitions in the program and ATA for one time successor and all actions that can be executed in the program. </p>
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-<p >The type of the input symbols that the ATA accepts. </p>
+<p>The type of the input symbols that the ATA accepts. </p>
 
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-<p >Construct the comparator with the given action partitioning. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Construct the comparator with the given action partitioning. </p><dl class="params"><dt>Parameters</dt><dd>
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     <tr><td class="paramname">controller_actions</td><td>The actions that the controller can do </td></tr>
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diff --git a/docs/classtacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435.html b/docs/classtacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435.html
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+++ b/docs/classtacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435.html
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@@ -30,7 +30,7 @@
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 <div class="textblock"><div class="compoundTemplParams">template&lt;typename LocationT, typename ActionType, typename ConstraintSymbolType, bool use_location_constraints&gt;<br />
-class tacos::search::get_next_canonical_words&lt; automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;, ActionType, ConstraintSymbolType, use_location_constraints &gt;</div><p >Compute all TA symbol successors for one particular time successor. </p>
-<p >Compute the successors by following all transitions in the TA and ATA for one time successor and all possible symbols. This is a partial template specialization of the generic plant adapter. </p>
+class tacos::search::get_next_canonical_words&lt; automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;, ActionType, ConstraintSymbolType, use_location_constraints &gt;</div><p>Compute all TA symbol successors for one particular time successor. </p>
+<p>Compute the successors by following all transitions in the TA and ATA for one time successor and all possible symbols. This is a partial template specialization of the generic plant adapter. </p>
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-<p >Construct the comparator with the given action partitioning. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Construct the comparator with the given action partitioning. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">controller_actions</td><td>The actions that the controller can select </td></tr>
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-          <td class="paramname"><em>RegionIndex</em>, </td>
+          <td class="paramtype">const RegionIndex&#160;</td>
+          <td class="paramname">, </td>
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-<p >Get the next canonical words. </p>
+<p>Get the next canonical words. </p>
 
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+++ b/docs/classtacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1826cb6f15ba10dc93709ba70b59f608.html
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;class Priority, class T&gt;<br />
-class tacos::utilities::QueueAccess&lt; Priority, T &gt;</div><p >Get direct access to the job of a thread pool. </p>
-<p >The <a class="el" href="classtacos_1_1utilities_1_1ThreadPool.html" title="A multi-threaded priority queue with a fixed number of workers.">ThreadPool</a> must not be running, i.e., you should use either the <a class="el" href="classtacos_1_1utilities_1_1ThreadPool.html" title="A multi-threaded priority queue with a fixed number of workers.">ThreadPool</a>'s workers, or start the <a class="el" href="classtacos_1_1utilities_1_1ThreadPool.html" title="A multi-threaded priority queue with a fixed number of workers.">ThreadPool</a> with StartOnInit::NO and access the queue manually. Direct queue access is mainly helpful for testing and for single-threaded, synchronous queue processing. </p><dl class="tparams"><dt>Template Parameters</dt><dd>
+class tacos::utilities::QueueAccess&lt; Priority, T &gt;</div><p>Get direct access to the job of a thread pool. </p>
+<p>The <a class="el" href="classtacos_1_1utilities_1_1ThreadPool.html" title="A multi-threaded priority queue with a fixed number of workers.">ThreadPool</a> must not be running, i.e., you should use either the <a class="el" href="classtacos_1_1utilities_1_1ThreadPool.html" title="A multi-threaded priority queue with a fixed number of workers.">ThreadPool</a>'s workers, or start the <a class="el" href="classtacos_1_1utilities_1_1ThreadPool.html" title="A multi-threaded priority queue with a fixed number of workers.">ThreadPool</a> with StartOnInit::NO and access the queue manually. Direct queue access is mainly helpful for testing and for single-threaded, synchronous queue processing. </p><dl class="tparams"><dt>Template Parameters</dt><dd>
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     <tr><td class="paramname">Priority</td><td>The priority type </td></tr>
     <tr><td class="paramname">T</td><td>The job type, must be a Callable </td></tr>
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-<p >Get access to a <a class="el" href="classtacos_1_1utilities_1_1ThreadPool.html" title="A multi-threaded priority queue with a fixed number of workers.">ThreadPool</a>. The lifetime of this QueueAcess must not exceed the pool's lifetime. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Get access to a <a class="el" href="classtacos_1_1utilities_1_1ThreadPool.html" title="A multi-threaded priority queue with a fixed number of workers.">ThreadPool</a>. The lifetime of this QueueAcess must not exceed the pool's lifetime. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Check if the pool's queue is empty. </p>
+<p>Check if the pool's queue is empty. </p>
 
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-<p >Get the size of the queue. </p>
+<p>Get the size of the queue. </p>
 
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-<p >Remove the first element of the pool's queue. </p>
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-<p >Get the first element of the pool. </p><dl class="section return"><dt>Returns</dt><dd>The first element of the pool's queue. </dd></dl>
+<p>Get the first element of the pool. </p><dl class="section return"><dt>Returns</dt><dd>The first element of the pool's queue. </dd></dl>
 
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p >Exception thrown if the pool's queue is already closed. </p>
+<div class="textblock"><p>Exception thrown if the pool's queue is already closed. </p>
 </div><hr/>The documentation for this class was generated from the following file:<ul>
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@@ -94,55 +94,55 @@
 <tr class="memdesc:aa1bd0c25a66a30184da50f99ff268b23"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html" title="Templated class for intervals with a reduced set of operations.">Interval</a> object. <br /></td></tr>
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-<tr class="memdesc:aacffa12edbcd418e7d97e8103da7aa29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html" title="Templated class for intervals with a reduced set of operations.">Interval</a> object from bounds with implicit weak bound types.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#aacffa12edbcd418e7d97e8103da7aa29">More...</a><br /></td></tr>
+<tr class="memdesc:aacffa12edbcd418e7d97e8103da7aa29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html" title="Templated class for intervals with a reduced set of operations.">Interval</a> object from bounds with implicit weak bound types.  <br /></td></tr>
 <tr class="separator:aacffa12edbcd418e7d97e8103da7aa29"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a5ccba1ff7fcb2abefbb3ffd1b635c879"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a5ccba1ff7fcb2abefbb3ffd1b635c879">Interval</a> (N lb, <a class="el" href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">BoundType</a> lbType, N ub, <a class="el" href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">BoundType</a> ubType)</td></tr>
-<tr class="memdesc:a5ccba1ff7fcb2abefbb3ffd1b635c879"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html" title="Templated class for intervals with a reduced set of operations.">Interval</a> object from bounds and bound types.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a5ccba1ff7fcb2abefbb3ffd1b635c879">More...</a><br /></td></tr>
+<tr class="memdesc:a5ccba1ff7fcb2abefbb3ffd1b635c879"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html" title="Templated class for intervals with a reduced set of operations.">Interval</a> object from bounds and bound types.  <br /></td></tr>
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 <tr class="memitem:abea24634365d0d3c1a5966db9d4afeb6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#abea24634365d0d3c1a5966db9d4afeb6">set_lower</a> (N lb, <a class="el" href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">BoundType</a> lbType)</td></tr>
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-<tr class="memdesc:a6d4297ffb3d018a3659e614fc8e6e94a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks containment of a value within the interval.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a6d4297ffb3d018a3659e614fc8e6e94a">More...</a><br /></td></tr>
+<tr class="memdesc:a6d4297ffb3d018a3659e614fc8e6e94a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks containment of a value within the interval.  <br /></td></tr>
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-<tr class="memdesc:a907d116afec330d468355a0db9f523bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks for emptiness.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a907d116afec330d468355a0db9f523bb">More...</a><br /></td></tr>
+<tr class="memdesc:a907d116afec330d468355a0db9f523bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks for emptiness.  <br /></td></tr>
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 <tr class="memitem:a476eaa421328459d2cc472aa0962a18f"><td class="memItemLeft" align="right" valign="top">const N &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a476eaa421328459d2cc472aa0962a18f">lower</a> () const noexcept</td></tr>
-<tr class="memdesc:a476eaa421328459d2cc472aa0962a18f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for lower bound.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a476eaa421328459d2cc472aa0962a18f">More...</a><br /></td></tr>
+<tr class="memdesc:a476eaa421328459d2cc472aa0962a18f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for lower bound.  <br /></td></tr>
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-<tr class="memdesc:ab34182ba0f05ee449fb8cfbc001057eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for upper bound.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#ab34182ba0f05ee449fb8cfbc001057eb">More...</a><br /></td></tr>
+<tr class="memdesc:ab34182ba0f05ee449fb8cfbc001057eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for upper bound.  <br /></td></tr>
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 <tr class="memitem:a73a5b5582945aaad2761d5ac4fbf45d5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">BoundType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a73a5b5582945aaad2761d5ac4fbf45d5">lowerBoundType</a> () const noexcept</td></tr>
-<tr class="memdesc:a73a5b5582945aaad2761d5ac4fbf45d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for lower bound type.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a73a5b5582945aaad2761d5ac4fbf45d5">More...</a><br /></td></tr>
+<tr class="memdesc:a73a5b5582945aaad2761d5ac4fbf45d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for lower bound type.  <br /></td></tr>
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 <tr class="memitem:a9286f12a9665229106bffc38b84ac24e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">BoundType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a9286f12a9665229106bffc38b84ac24e">upperBoundType</a> () const noexcept</td></tr>
-<tr class="memdesc:a9286f12a9665229106bffc38b84ac24e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for upper bound type.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a9286f12a9665229106bffc38b84ac24e">More...</a><br /></td></tr>
+<tr class="memdesc:a9286f12a9665229106bffc38b84ac24e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for upper bound type.  <br /></td></tr>
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 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="friends" name="friends"></a>
 Friends</h2></td></tr>
 <tr class="memitem:a351c3df24580bdd4040d3209ea7002eb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a351c3df24580bdd4040d3209ea7002eb">operator&lt;</a> (const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;first, const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;second)</td></tr>
-<tr class="memdesc:a351c3df24580bdd4040d3209ea7002eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the first interval is lexicographically smaller than the second.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a351c3df24580bdd4040d3209ea7002eb">More...</a><br /></td></tr>
+<tr class="memdesc:a351c3df24580bdd4040d3209ea7002eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the first interval is lexicographically smaller than the second.  <br /></td></tr>
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 <tr class="memitem:adeac332d89e2481a3acd128a1b70edb7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#adeac332d89e2481a3acd128a1b70edb7">operator&gt;</a> (const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;first, const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;second)</td></tr>
-<tr class="memdesc:adeac332d89e2481a3acd128a1b70edb7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the first interval is bigger than the second.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#adeac332d89e2481a3acd128a1b70edb7">More...</a><br /></td></tr>
+<tr class="memdesc:adeac332d89e2481a3acd128a1b70edb7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the first interval is bigger than the second.  <br /></td></tr>
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 <tr class="memitem:a92c43b8a4124eb85f36db59b24cd7944"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a92c43b8a4124eb85f36db59b24cd7944">operator==</a> (const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;first, const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;second)</td></tr>
-<tr class="memdesc:a92c43b8a4124eb85f36db59b24cd7944"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two intervals are identical.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a92c43b8a4124eb85f36db59b24cd7944">More...</a><br /></td></tr>
+<tr class="memdesc:a92c43b8a4124eb85f36db59b24cd7944"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two intervals are identical.  <br /></td></tr>
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 <tr class="memitem:a7db194d6b20ea60408c7e2040ac108eb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a7db194d6b20ea60408c7e2040ac108eb">operator!=</a> (const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;first, const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;second)</td></tr>
-<tr class="memdesc:a7db194d6b20ea60408c7e2040ac108eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two intervals are different.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a7db194d6b20ea60408c7e2040ac108eb">More...</a><br /></td></tr>
+<tr class="memdesc:a7db194d6b20ea60408c7e2040ac108eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two intervals are different.  <br /></td></tr>
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 <tr class="memitem:a92a5c873df1856ddd319a9121b9c3c22"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a92a5c873df1856ddd319a9121b9c3c22">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html">Interval</a> &amp;interval)</td></tr>
-<tr class="memdesc:a92a5c873df1856ddd319a9121b9c3c22"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print an interval to an ostream.  <a href="classtacos_1_1utilities_1_1arithmetic_1_1Interval.html#a92a5c873df1856ddd319a9121b9c3c22">More...</a><br /></td></tr>
+<tr class="memdesc:a92a5c873df1856ddd319a9121b9c3c22"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print an interval to an ostream.  <br /></td></tr>
 <tr class="separator:a92a5c873df1856ddd319a9121b9c3c22"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;typename N&gt;<br />
-class tacos::utilities::arithmetic::Interval&lt; N &gt;</div><p >Templated class for intervals with a reduced set of operations. </p>
+class tacos::utilities::arithmetic::Interval&lt; N &gt;</div><p>Templated class for intervals with a reduced set of operations. </p>
 <dl class="tparams"><dt>Template Parameters</dt><dd>
   <table class="tparams">
     <tr><td class="paramname">N</td><td>The used number type, relevant for comparisons and arithmetic operations. </td></tr>
@@ -425,7 +425,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#abea24634365d0d3c1a5966db
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Set the lower bound of the interval. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Set the lower bound of the interval. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">lb</td><td>The new value of the lower bound </td></tr>
     <tr><td class="paramname">lbType</td><td>The new type of the lower bound </td></tr>
@@ -470,7 +470,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a635c8a63a17f70f574f5f627
   </tr>
 </table>
 </div><div class="memdoc">
-<p >Set the upper bound of the interval. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Set the upper bound of the interval. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">ub</td><td>The new value of the upper bound </td></tr>
     <tr><td class="paramname">ubType</td><td>The new type of the upper bound </td></tr>
@@ -540,7 +540,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9286f12a9665229106bffc38
 
 </div>
 </div>
-<h2 class="groupheader">Friends And Related Function Documentation</h2>
+<h2 class="groupheader">Friends And Related Symbol Documentation</h2>
 <a id="a7db194d6b20ea60408c7e2040ac108eb" name="a7db194d6b20ea60408c7e2040ac108eb"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a7db194d6b20ea60408c7e2040ac108eb">&#9670;&#160;</a></span>operator!=</h2>
 
@@ -578,7 +578,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7db194d6b20ea60408c7e204
 </div><div class="memdoc">
 
 <p>Check if two intervals are different. </p>
-<p >Two intervals are different if any bound has a different value or a different type. The bound value is ignored if the bound type is INFTY. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Two intervals are different if any bound has a different value or a different type. The bound value is ignored if the bound type is INFTY. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">first</td><td>The first interval to compare </td></tr>
     <tr><td class="paramname">second</td><td>The second interval to compare </td></tr>
@@ -627,7 +627,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a351c3df24580bdd4040d3209
 </div><div class="memdoc">
 
 <p>Check if the first interval is lexicographically smaller than the second. </p>
-<p >Compare two intervals lexicographically. Note that this is not a partial order of intervals in the mathematical sense, e.g., if [a, b] &lt; [c, d], you cannot infer that b &lt; c. Instead, it is a total order used to put Intervals into containers. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Compare two intervals lexicographically. Note that this is not a partial order of intervals in the mathematical sense, e.g., if [a, b] &lt; [c, d], you cannot infer that b &lt; c. Instead, it is a total order used to put Intervals into containers. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">first</td><td>The first interval to compare </td></tr>
     <tr><td class="paramname">second</td><td>The second interval to compare </td></tr>
@@ -723,7 +723,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a92c43b8a4124eb85f36db59b
 </div><div class="memdoc">
 
 <p>Check if two intervals are identical. </p>
-<p >Two intervals are considered to be identical if they have the same bounds and bound types. The bound value is ignored if the bound type is INFTY. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Two intervals are considered to be identical if they have the same bounds and bound types. The bound value is ignored if the bound type is INFTY. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">first</td><td>The first interval to compare </td></tr>
     <tr><td class="paramname">second</td><td>The second interval to compare </td></tr>
@@ -772,7 +772,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#adeac332d89e2481a3acd128a
 </div><div class="memdoc">
 
 <p>Check if the first interval is bigger than the second. </p>
-<p >This is the inverse of operator&lt;. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>This is the inverse of operator&lt;. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">first</td><td>The first interval to compare </td></tr>
     <tr><td class="paramname">second</td><td>The second interval to compare </td></tr>
@@ -790,7 +790,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#adeac332d89e2481a3acd128a
 </div><!-- contents -->
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-<p >Add an edge to the graph. If the source or target node does not exist, it will be created. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Check if the graph has a node with the given identifier. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Set a default node property for all nodes of the graph. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p >Create a dot representation of the graph. </p><dl class="section return"><dt>Returns</dt><dd>The dot representation as string </dd></dl>
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 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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-<p >Get the underlying node. </p><dl class="section return"><dt>Returns</dt><dd>A pointer to the cgraph node. </dd></dl>
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+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" width="16" height="24" viewBox="0 0 80 60" id="doc" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve">
+<g style="fill:#C4CFE5">
+<path d="m 14,-1.1445312 c -2.824372,0 -5.1445313,2.320159 -5.1445312,5.1445312 v 72 c 0,2.824372 2.3201592,5.144531 5.1445312,5.144531 h 52 c 2.824372,0 5.144531,-2.320159 5.144531,-5.144531 V 23.699219 a 1.1447968,1.1447968 0 0 0 -0.01563,-0.1875 C 70.977847,22.605363 70.406495,21.99048 70.007812,21.591797 L 48.208984,-0.20898438 C 47.606104,-0.81186474 46.804652,-1.1445313 46,-1.1445312 Z m 1.144531,6.2890624 H 42.855469 V 24 c 0,1.724372 1.420159,3.144531 3.144531,3.144531 H 64.855469 V 74.855469 H 15.144531 Z m 34,4.4179688 L 60.4375,20.855469 H 49.144531 Z"/>
+</g>
+<g style="fill:#4665A2;stroke-width:0">
+<path d="M 3.0307167,13.993174 V 7.0307167 h 2.7576792 2.7576792 v 1.8826151 c 0,1.2578262 0.0099,1.9287572 0.029818,2.0216512 0.03884,0.181105 0.168631,0.348218 0.33827,0.43554 l 0.1355017,0.06975 1.9598092,0.0079 1.959809,0.0078 v 4.749829 4.749829 H 8 3.0307167 Z" transform="matrix(5,0,0,5,0,-30)" />
+<path d="M 9.8293515,9.0581469 V 7.9456453 l 1.1058025,1.1055492 c 0.608191,0.6080521 1.105802,1.1086775 1.105802,1.1125015 0,0.0038 -0.497611,0.007 -1.105802,0.007 H 9.8293515 Z" transform="matrix(5,0,0,5,0,-30)" />
+</g>
+</svg>
diff --git a/docs/doxygen.css b/docs/doxygen.css
index 89dee6c4..0caa19b2 100644
--- a/docs/doxygen.css
+++ b/docs/doxygen.css
@@ -1,4 +1,4 @@
-/* The standard CSS for doxygen 1.9.5*/
+/* The standard CSS for doxygen 1.9.7*/
 
 html {
 /* page base colors */
@@ -39,7 +39,9 @@ html {
 
 --icon-background-color: #728DC1;
 --icon-foreground-color: white;
---icon-doc-image: url('doc.png');
+--icon-doc-image: url('doc.svg');
+--icon-folder-open-image: url('folderopen.svg');
+--icon-folder-closed-image: url('folderclosed.svg');
 
 /* brief member declaration list */
 --memdecl-background-color: #F9FAFC;
@@ -100,6 +102,7 @@ html {
 --toc-background-color: #F4F6FA;
 --toc-border-color: #D8DFEE;
 --toc-header-color: #4665A2;
+--toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px' fill='grey'><text x='0' y='5' font-size='10'>&%238595;</text></svg>");
 
 /** search field */
 --search-background-color: white;
@@ -125,6 +128,7 @@ html {
 --code-preprocessor-color: #806020;
 --code-string-literal-color: #002080;
 --code-char-literal-color: #008080;
+--code-xml-cdata-color: black;
 --code-vhdl-digit-color: #FF00FF;
 --code-vhdl-char-color: #000000;
 --code-vhdl-keyword-color: #700070;
@@ -151,7 +155,7 @@ html {
 
 /** font-family */
 --font-family-normal: Roboto,sans-serif;
---font-family-monospace: monospace,fixed;
+--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
 --font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
 --font-family-title: Tahoma,Arial,sans-serif;
 --font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
@@ -203,7 +207,9 @@ html {
 
 --icon-background-color: #334975;
 --icon-foreground-color: #C4CFE5;
---icon-doc-image: url('docd.png');
+--icon-doc-image: url('docd.svg');
+--icon-folder-open-image: url('folderopend.svg');
+--icon-folder-closed-image: url('folderclosedd.svg');
 
 /* brief member declaration list */
 --memdecl-background-color: #0B101A;
@@ -264,6 +270,7 @@ html {
 --toc-background-color: #151E30;
 --toc-border-color: #202E4A;
 --toc-header-color: #A3B4D7;
+--toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px'><text x='0' y='5' font-size='10' fill='grey'>&%238595;</text></svg>");
 
 /** search field */
 --search-background-color: black;
@@ -289,6 +296,7 @@ html {
 --code-preprocessor-color: #65CABE;
 --code-string-literal-color: #7EC699;
 --code-char-literal-color: #00E0F0;
+--code-xml-cdata-color: #C9D1D9;
 --code-vhdl-digit-color: #FF00FF;
 --code-vhdl-char-color: #000000;
 --code-vhdl-keyword-color: #700070;
@@ -315,7 +323,7 @@ html {
 
 /** font-family */
 --font-family-normal: Roboto,sans-serif;
---font-family-monospace: monospace,fixed;
+--font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
 --font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
 --font-family-title: Tahoma,Arial,sans-serif;
 --font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
@@ -327,20 +335,6 @@ html {
 body {
     background-color: var(--page-background-color);
     color: var(--page-foreground-color);
-    scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
-}
-
-::-webkit-scrollbar {
-        background-color: var(--scrollbar-background-color);
-	height: 10px;
-        width: 10px;
-}
-::-webkit-scrollbar-thumb {
-        background-color: var(--scrollbar-thumb-color);
-        border-radius: 8px;
-}
-::-webkit-scrollbar-corner {
-        background-color: var(--scrollbar-background-color);
 }
 
 body, table, div, p, dl {
@@ -601,6 +595,16 @@ ul {
   overflow: visible;
 }
 
+ul.multicol {
+        -moz-column-gap: 1em;
+        -webkit-column-gap: 1em;
+        column-gap: 1em;
+        -moz-column-count: 3;
+        -webkit-column-count: 3;
+        column-count: 3;
+        list-style-type: none;
+}
+
 #side-nav ul {
   overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
 }
@@ -642,7 +646,7 @@ div.line {
 	font-family: var(--font-family-monospace);
         font-size: 13px;
 	min-height: 13px;
-	line-height: 1.0;
+	line-height: 1.2;
 	text-wrap: unrestricted;
 	white-space: -moz-pre-wrap; /* Moz */
 	white-space: -pre-wrap;     /* Opera 4-6 */
@@ -812,6 +816,10 @@ span.charliteral {
 	color: var(--code-char-literal-color);
 }
 
+span.xmlcdata {
+	color: var(--code-xml-cdata-color);
+}
+
 span.vhdldigit { 
 	color: var(--code-vhdl-digit-color);
 }
@@ -1226,8 +1234,7 @@ div.directory {
     width: 24px;
     height: 18px;
     margin-bottom: 4px;
-    background-image:url('folderopen.png');
-    background-position: 0px -4px;
+    background-image:var(--icon-folder-open-image);
     background-repeat: repeat-y;
     vertical-align:top;
     display: inline-block;
@@ -1237,8 +1244,7 @@ div.directory {
     width: 24px;
     height: 18px;
     margin-bottom: 4px;
-    background-image:url('folderclosed.png');
-    background-position: 0px -4px;
+    background-image:var(--icon-folder-closed-image);
     background-repeat: repeat-y;
     vertical-align:top;
     display: inline-block;
@@ -1657,7 +1663,7 @@ div.toc {
 }
 
 div.toc li {
-        background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+        background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent;
         font: 10px/1.2 var(--font-family-toc);
         margin-top: 5px;
         padding-left: 10px;
@@ -1686,11 +1692,11 @@ div.toc li.level2 {
 }
 
 div.toc li.level3 {
-        margin-left: 30px;
+        margin-left: 15px;
 }
 
 div.toc li.level4 {
-        margin-left: 45px;
+        margin-left: 15px;
 }
 
 span.emoji {
@@ -1971,3 +1977,41 @@ u {
 	text-decoration: underline;
 }
 
+details>summary {
+  list-style-type: none;
+}
+
+details > summary::-webkit-details-marker {
+    display: none;
+}
+
+details>summary::before {
+    content: "\25ba";
+    padding-right:4px;
+    font-size: 80%;
+}
+
+details[open]>summary::before {
+    content: "\25bc";
+    padding-right:4px;
+    font-size: 80%;
+}
+
+body {
+    scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
+}
+
+::-webkit-scrollbar {
+        background-color: var(--scrollbar-background-color);
+        height: 12px;
+        width: 12px;
+}
+::-webkit-scrollbar-thumb {
+        border-radius: 6px;
+        box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color);
+        border: solid 2px transparent;
+}
+::-webkit-scrollbar-corner {
+        background-color: var(--scrollbar-background-color);
+}
+
diff --git a/docs/doxygen.svg b/docs/doxygen.svg
index d42dad52..79a76354 100644
--- a/docs/doxygen.svg
+++ b/docs/doxygen.svg
@@ -1,4 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
 <svg version="1.1" viewBox="0 0 104 31" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
  <defs>
   <linearGradient id="a">
@@ -17,7 +19,7 @@
   </filter>
  </defs>
  <g>
-  <path transform="translate(-2.5759 -27.848)" d="m13.609 32.203v6.8633h-0.05078c-0.40533-0.66867-0.96254-1.1715-1.6719-1.5059-0.69244-0.35193-1.4282-0.52734-2.2051-0.52734-0.96267 0-1.807 0.2027-2.5332 0.60742-0.72622 0.38713-1.3344 0.90556-1.8242 1.5566-0.47289 0.65108-0.83456 1.4092-1.0879 2.2715-0.23644 0.84464-0.35547 1.7236-0.35547 2.6387 0 0.95022 0.11902 1.8643 0.35547 2.7441 0.25333 0.87983 0.615 1.6633 1.0879 2.3496 0.48978 0.66867 1.1065 1.2066 1.8496 1.6113 0.74311 0.38713 1.6044 0.58008 2.584 0.58008 0.86133 0 1.6311-0.15787 2.3066-0.47461 0.69244-0.33434 1.2497-0.87227 1.6719-1.6113h0.05078v1.7422h3.4199v-18.846zm12.875 4.8301c-1.0302 0-1.9596 0.17541-2.7871 0.52734-0.82756 0.33434-1.5358 0.81965-2.127 1.4531-0.59111 0.61588-1.0483 1.3721-1.3691 2.2695-0.32089 0.87983-0.48047 1.866-0.48047 2.957s0.15958 2.0752 0.48047 2.9551c0.32089 0.87983 0.77803 1.6361 1.3691 2.2695 0.59111 0.61588 1.2994 1.0914 2.127 1.4258 0.82756 0.33434 1.7569 0.50195 2.7871 0.50195 1.0302 0 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@@ -159,24 +159,24 @@
 <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>} <span class="comment">// namespace fmt</span></div>
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-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:160</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html">tacos::search::GologProgram</a></div><div class="ttdoc">Wrapper for a Golog++ program.</div><div class="ttdef"><b>Definition:</b> golog_program.h:58</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18_html_a684d6891e43b92d6f65e57392c58fe43"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html#a684d6891e43b92d6f65e57392c58fe43">tacos::search::get_next_canonical_words&lt; GologProgram, std::string, std::string, use_location_constraints, use_set_semantics &gt;::ATAInputType</a></div><div class="ttdeci">typename std::disjunction&lt; utilities::values_equal&lt; use_set_semantics, false, std::string &gt;, utilities::values_equal&lt; use_set_semantics, true, std::set&lt; std::string &gt; &gt;, std::void_t&lt; void &gt; &gt;::type ATAInputType</div><div class="ttdef"><b>Definition:</b> golog_adapter.h:51</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18_html_a7ef17a3fbe0313f18fe0af7b7501f6f0"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html#a7ef17a3fbe0313f18fe0af7b7501f6f0">tacos::search::get_next_canonical_words&lt; GologProgram, std::string, std::string, use_location_constraints, use_set_semantics &gt;::get_next_canonical_words</a></div><div class="ttdeci">get_next_canonical_words(const std::set&lt; std::string &gt; &amp;controller_actions, const std::set&lt; std::string &gt; &amp;environment_actions)</div><div class="ttdef"><b>Definition:</b> golog_adapter.h:56</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html">tacos::search::get_next_canonical_words</a></div><div class="ttdoc">Generic functor to get the next canonical word.</div><div class="ttdef"><b>Definition:</b> adapter.h:28</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a31f11cc0e00782bbf049e8c7db3ac285"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a31f11cc0e00782bbf049e8c7db3ac285">tacos::search::get_next_canonical_words::operator()</a></div><div class="ttdeci">std::multimap&lt; ActionType, CanonicalABWord&lt; typename Plant::Location, ConstraintSymbolType &gt; &gt; operator()(const Plant &amp;, const automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ConstraintSymbolType &gt; &gt; &amp;, const std::pair&lt; typename Plant::Configuration, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; &amp;, const RegionIndex, const RegionIndex)</div><div class="ttdef"><b>Definition:</b> adapter.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition:</b> canonical_word.h:25</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a7cc43ed657355e7e21b4d70c443241e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a7cc43ed657355e7e21b4d70c443241e5">tacos::search::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const GologLocation &amp;location)</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:17</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html">tacos::search::PlantState</a></div><div class="ttdoc">The state of a plant.</div><div class="ttdef"><b>Definition:</b> canonical_word.h:33</div></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1values__equal_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1values__equal.html">tacos::utilities::values_equal</a></div><div class="ttdoc">Check if two types are the same.</div><div class="ttdef"><b>Definition:</b> type_traits.h:20</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html">tacos::search::GologProgram</a></div><div class="ttdoc">Wrapper for a Golog++ program.</div><div class="ttdef"><b>Definition</b> golog_program.h:59</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18_html_a684d6891e43b92d6f65e57392c58fe43"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html#a684d6891e43b92d6f65e57392c58fe43">tacos::search::get_next_canonical_words&lt; GologProgram, std::string, std::string, use_location_constraints, use_set_semantics &gt;::ATAInputType</a></div><div class="ttdeci">typename std::disjunction&lt; utilities::values_equal&lt; use_set_semantics, false, std::string &gt;, utilities::values_equal&lt; use_set_semantics, true, std::set&lt; std::string &gt; &gt;, std::void_t&lt; void &gt; &gt;::type ATAInputType</div><div class="ttdef"><b>Definition</b> golog_adapter.h:51</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18_html_a7ef17a3fbe0313f18fe0af7b7501f6f0"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html#a7ef17a3fbe0313f18fe0af7b7501f6f0">tacos::search::get_next_canonical_words&lt; GologProgram, std::string, std::string, use_location_constraints, use_set_semantics &gt;::get_next_canonical_words</a></div><div class="ttdeci">get_next_canonical_words(const std::set&lt; std::string &gt; &amp;controller_actions, const std::set&lt; std::string &gt; &amp;environment_actions)</div><div class="ttdef"><b>Definition</b> golog_adapter.h:56</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html">tacos::search::get_next_canonical_words</a></div><div class="ttdoc">Generic functor to get the next canonical word.</div><div class="ttdef"><b>Definition</b> adapter.h:28</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html_a31f11cc0e00782bbf049e8c7db3ac285"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html#a31f11cc0e00782bbf049e8c7db3ac285">tacos::search::get_next_canonical_words::operator()</a></div><div class="ttdeci">std::multimap&lt; ActionType, CanonicalABWord&lt; typename Plant::Location, ConstraintSymbolType &gt; &gt; operator()(const Plant &amp;, const automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ConstraintSymbolType &gt; &gt; &amp;, const std::pair&lt; typename Plant::Configuration, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; &amp;, const RegionIndex, const RegionIndex)</div><div class="ttdef"><b>Definition</b> adapter.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition</b> canonical_word.h:25</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a7cc43ed657355e7e21b4d70c443241e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a7cc43ed657355e7e21b4d70c443241e5">tacos::search::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const GologLocation &amp;location)</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:17</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html">tacos::search::PlantState</a></div><div class="ttdoc">The state of a plant.</div><div class="ttdef"><b>Definition</b> canonical_word.h:33</div></div>
+<div class="ttc" id="astructtacos_1_1utilities_1_1values__equal_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1values__equal.html">tacos::utilities::values_equal</a></div><div class="ttdoc">Check if two types are the same.</div><div class="ttdef"><b>Definition</b> type_traits.h:20</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/golog__adapter_8hpp_source.html b/docs/golog__adapter_8hpp_source.html
index a6c3c481..68857598 100644
--- a/docs/golog__adapter_8hpp_source.html
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@@ -3,7 +3,7 @@
 <head>
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 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
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 <title>tacos: src/golog_adapter/include/golog_adapter/golog_adapter.hpp Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
 </div>
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-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -188,16 +188,16 @@
 <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>}</div>
 <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
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-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:160</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html">tacos::search::GologProgram</a></div><div class="ttdoc">Wrapper for a Golog++ program.</div><div class="ttdef"><b>Definition:</b> golog_program.h:58</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a17413bc3a5f5b9753f43b7a1f1500d57"><div class="ttname"><a href="namespacetacos_1_1search.html#a17413bc3a5f5b9753f43b7a1f1500d57">tacos::search::get_canonical_word</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_canonical_word(const PlantConfiguration&lt; Location &gt; &amp;plant_configuration, const ATAConfiguration&lt; ConstraintSymbolType &gt; &amp;ata_configuration, const unsigned int K)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:302</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html">tacos::search::GologProgram</a></div><div class="ttdoc">Wrapper for a Golog++ program.</div><div class="ttdef"><b>Definition</b> golog_program.h:59</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a17413bc3a5f5b9753f43b7a1f1500d57"><div class="ttname"><a href="namespacetacos_1_1search.html#a17413bc3a5f5b9753f43b7a1f1500d57">tacos::search::get_canonical_word</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_canonical_word(const PlantConfiguration&lt; Location &gt; &amp;plant_configuration, const ATAConfiguration&lt; ConstraintSymbolType &gt; &amp;ata_configuration, const unsigned int K)</div><div class="ttdef"><b>Definition</b> canonical_word.h:302</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
 </small></address>
 </body>
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diff --git a/docs/golog__app_2include_2golog__app_2app_8h_source.html b/docs/golog__app_2include_2golog__app_2app_8h_source.html
index 2c49851d..99f7601b 100644
--- a/docs/golog__app_2include_2golog__app_2app_8h_source.html
+++ b/docs/golog__app_2include_2golog__app_2app_8h_source.html
@@ -3,7 +3,7 @@
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/golog_app/include/golog_app/app.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -125,14 +125,14 @@
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>unwrap_fluents(std::set&lt;<a class="code hl_struct" href="structtacos_1_1logic_1_1AtomicProposition.html">logic::AtomicProposition</a>&lt;std::set&lt;std::string&gt;&gt;&gt; input);</div>
 <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
 <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>} <span class="comment">// namespace tacos::golog_app</span></div>
-<div class="ttc" id="aclasstacos_1_1golog__app_1_1Launcher_html"><div class="ttname"><a href="classtacos_1_1golog__app_1_1Launcher.html">tacos::golog_app::Launcher</a></div><div class="ttdoc">Launcher for the main application. The launcher runs the main application, reads the input from pbtxt...</div><div class="ttdef"><b>Definition:</b> app.h:22</div></div>
-<div class="ttc" id="aclasstacos_1_1golog__app_1_1Launcher_html_a1ad1bafb6e48fa809b0ef80e460a46de"><div class="ttname"><a href="classtacos_1_1golog__app_1_1Launcher.html#a1ad1bafb6e48fa809b0ef80e460a46de">tacos::golog_app::Launcher::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition:</b> app.cpp:206</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html">tacos::search::GologProgram</a></div><div class="ttdoc">Wrapper for a Golog++ program.</div><div class="ttdef"><b>Definition:</b> golog_program.h:58</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="aclasstacos_1_1golog__app_1_1Launcher_html"><div class="ttname"><a href="classtacos_1_1golog__app_1_1Launcher.html">tacos::golog_app::Launcher</a></div><div class="ttdoc">Launcher for the main application. The launcher runs the main application, reads the input from pbtxt...</div><div class="ttdef"><b>Definition</b> app.h:22</div></div>
+<div class="ttc" id="aclasstacos_1_1golog__app_1_1Launcher_html_a1ad1bafb6e48fa809b0ef80e460a46de"><div class="ttname"><a href="classtacos_1_1golog__app_1_1Launcher.html#a1ad1bafb6e48fa809b0ef80e460a46de">tacos::golog_app::Launcher::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition</b> app.cpp:206</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html">tacos::search::GologProgram</a></div><div class="ttdoc">Wrapper for a Golog++ program.</div><div class="ttdef"><b>Definition</b> golog_program.h:59</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
 </small></address>
 </body>
 </html>
diff --git a/docs/golog__program_8h_source.html b/docs/golog__program_8h_source.html
index aab619c5..5c821e7f 100644
--- a/docs/golog__program_8h_source.html
+++ b/docs/golog__program_8h_source.html
@@ -3,7 +3,7 @@
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/golog_adapter/include/golog_adapter/golog_program.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -88,132 +88,133 @@
 <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#pragma once</span></div>
 <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
 <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#pragma GCC diagnostic push</span></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Wdeprecated-copy&quot;</span></div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Wpedantic&quot;</span></div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &lt;execution/plan.h&gt;</span></div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &lt;model/gologpp.h&gt;</span></div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &lt;model/reference.h&gt;</span></div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &lt;semantics/readylog/reference.h&gt;</span></div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#include &lt;semantics/readylog/semantics.h&gt;</span></div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &lt;semantics/readylog/utilities.h&gt;</span></div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &lt;utilities/types.h&gt;</span></div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#pragma GCC diagnostic pop</span></div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacetacos_1_1search.html">tacos::search</a> {</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="keyword">class </span>GologProgram;</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="structtacos_1_1search_1_1GologLocation.html">   35</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a></div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>{</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="structtacos_1_1search_1_1GologLocation.html#acf240ca3e74a830e052a4629b7534943">   38</a></span>    std::set&lt;std::string&gt; <a class="code hl_variable" href="structtacos_1_1search_1_1GologLocation.html#acf240ca3e74a830e052a4629b7534943">satisfied_fluents</a>;</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structtacos_1_1search_1_1GologLocation.html#af6899b2170ad92c25944d95e39a519de">   40</a></span>    gologpp::shared_ptr&lt;gologpp::ManagedTerm&gt; <a class="code hl_variable" href="structtacos_1_1search_1_1GologLocation.html#af6899b2170ad92c25944d95e39a519de">remaining_program</a>;</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structtacos_1_1search_1_1GologLocation.html#a6c63a6f4db2ca11ea5339200b0551efa">   42</a></span>    gologpp::shared_ptr&lt;gologpp::History&gt; <a class="code hl_variable" href="structtacos_1_1search_1_1GologLocation.html#a6c63a6f4db2ca11ea5339200b0551efa">history</a>;</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>};</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c">   48</a></span><span class="keyword">using </span><a class="code hl_struct" href="structtacos_1_1PlantConfiguration.html">GologConfiguration</a> = <a class="code hl_struct" href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration&lt;GologLocation&gt;</a>;</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="keywordtype">bool</span> <a class="code hl_function" href="namespacetacos_1_1search.html#ac29b6bff518862f2a6d00beb7d2056db">operator&lt;</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a> &amp;, <span class="keyword">const</span> <a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a> &amp;);</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html">   57</a></span><span class="keyword">class </span><a class="code hl_class" href="classtacos_1_1search_1_1GologProgram.html">GologProgram</a></div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>{</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#abf5f5e1ae2ebc671bfd9a595823a6492">   63</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">Location</a> = <a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a>;</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <a class="code hl_class" href="classtacos_1_1search_1_1GologProgram.html">GologProgram</a>(<span class="keyword">const</span> std::string           &amp;program,</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                 <span class="keyword">const</span> std::set&lt;std::string&gt; &amp;relevant_fluent_symbols = {},</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                 <span class="keywordtype">bool</span>                         all_action_clocks       = <span class="keyword">true</span>,</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                 std::set&lt;std::string&gt;        action_clock_names      = {});</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a4f56ebb6a700ea5c8dc6b0f21d00cc2f">~GologProgram</a>();</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    GologLocation <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#ae38c0628c0cb4c14036b33c9652b2e86">get_initial_location</a>() <span class="keyword">const</span>;</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <a class="code hl_typedef" href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c">GologConfiguration</a> <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a06bc85fd195a7c75e6857117cbaf39bd">get_initial_configuration</a>() <span class="keyword">const</span>;</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    gologpp::Semantics&lt;gologpp::Instruction&gt; &amp;</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#a106f1b683bcc85163d2e2553f3774a2e">   93</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a106f1b683bcc85163d2e2553f3774a2e">get_semantics</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>        <span class="keywordflow">return</span> main-&gt;semantics();</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    }</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    gologpp::shared_ptr&lt;gologpp::History&gt;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#ae2f79ce7a1b499e64216a6fa24cdee67">  100</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#ae2f79ce7a1b499e64216a6fa24cdee67">get_empty_history</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        <span class="keywordflow">return</span> empty_history;</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    }</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    gologpp::shared_ptr&lt;gologpp::ManagedTerm&gt;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#aae6e3e93c3c1f0b09c328bedf81d9cfb">  107</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#aae6e3e93c3c1f0b09c328bedf81d9cfb">get_empty_program</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        <span class="keywordflow">return</span> empty_program;</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    }</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a4c6fb98ef3b7413b723bfec03c9c100a">is_accepting_configuration</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structtacos_1_1PlantConfiguration.html">GologConfiguration</a> &amp;configuration) <span class="keyword">const</span>;</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    std::set&lt;std::string&gt; <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a90a8fd18a72afcba3f804fedd7e18301">get_relevant_satisfied_fluents</a>(<span class="keyword">const</span> gologpp::History &amp;history) <span class="keyword">const</span>;</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    std::set&lt;std::string&gt; <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#adebb65b2f63eae2012103d2ab295c610">get_all_satisfied_fluents</a>(<span class="keyword">const</span> gologpp::History &amp;history) <span class="keyword">const</span>;</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keywordtype">bool</span></div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#ad73fe67f3a6897ab975e6798abc5d912">  123</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#ad73fe67f3a6897ab975e6798abc5d912">is_relevant_fluent</a>(<span class="keyword">const</span> std::string &amp;fluent)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordflow">return</span> relevant_fluents.find(fluent) != relevant_fluents.end();</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    }</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordtype">bool</span></div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#acbb52737b8d75f93c11c0b4441610451">  130</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#acbb52737b8d75f93c11c0b4441610451">has_action_clock</a>(<span class="keyword">const</span> std::string &amp;action)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span><span class="keyword">    </span>{</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>        <span class="keywordflow">return</span> (all_action_clocks &amp;&amp; action.substr(0, 6) == <span class="stringliteral">&quot;start(&quot;</span>)</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>               || action_clock_names.find(action) != action_clock_names.end();</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    }</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="keywordtype">void</span>                  teardown();</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordtype">void</span>                  populate_fluents(<span class="keyword">const</span> std::set&lt;std::string&gt; &amp;relevant_fluent_symbols);</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    std::set&lt;std::string&gt; get_satisfied_fluents(</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>      <span class="keyword">const</span> gologpp::History                                             &amp;history,</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>      <span class="keyword">const</span> std::map&lt;std::string, gologpp::Reference&lt;gologpp::Fluent&gt; *&gt; &amp;fluents) <span class="keyword">const</span>;</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="comment">// We can only have one program at a time, because the program accesses the global scope. Thus,</span></div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <span class="comment">// make sure that we do not run two programs simultaneously.</span></div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span>                                                  initialized;</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    std::shared_ptr&lt;gologpp::Procedure&gt;                          procedure;</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    gologpp::Instruction                                        *main;</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    gologpp::SemanticsFactory                                   *semantics;</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    std::shared_ptr&lt;gologpp::History&gt;                            empty_history;</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    std::shared_ptr&lt;gologpp::ManagedTerm&gt;                        empty_program;</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    std::map&lt;std::string, gologpp::Reference&lt;gologpp::Fluent&gt; *&gt; all_fluents;</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    std::map&lt;std::string, gologpp::Reference&lt;gologpp::Fluent&gt; *&gt; relevant_fluents;</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    <span class="keywordtype">bool</span>                                                         all_action_clocks;</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    std::set&lt;std::string&gt;                                        action_clock_names;</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>};</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>} <span class="comment">// namespace tacos::search</span></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html">tacos::search::GologProgram</a></div><div class="ttdoc">Wrapper for a Golog++ program.</div><div class="ttdef"><b>Definition:</b> golog_program.h:58</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a06bc85fd195a7c75e6857117cbaf39bd"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a06bc85fd195a7c75e6857117cbaf39bd">tacos::search::GologProgram::get_initial_configuration</a></div><div class="ttdeci">GologConfiguration get_initial_configuration() const</div><div class="ttdef"><b>Definition:</b> golog_program.cpp:90</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a106f1b683bcc85163d2e2553f3774a2e"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a106f1b683bcc85163d2e2553f3774a2e">tacos::search::GologProgram::get_semantics</a></div><div class="ttdeci">gologpp::Semantics&lt; gologpp::Instruction &gt; &amp; get_semantics() const</div><div class="ttdef"><b>Definition:</b> golog_program.h:93</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a4c6fb98ef3b7413b723bfec03c9c100a"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a4c6fb98ef3b7413b723bfec03c9c100a">tacos::search::GologProgram::is_accepting_configuration</a></div><div class="ttdeci">bool is_accepting_configuration(const GologConfiguration &amp;configuration) const</div><div class="ttdef"><b>Definition:</b> golog_program.cpp:97</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a4f56ebb6a700ea5c8dc6b0f21d00cc2f"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a4f56ebb6a700ea5c8dc6b0f21d00cc2f">tacos::search::GologProgram::~GologProgram</a></div><div class="ttdeci">~GologProgram()</div><div class="ttdef"><b>Definition:</b> golog_program.cpp:64</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a90a8fd18a72afcba3f804fedd7e18301"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a90a8fd18a72afcba3f804fedd7e18301">tacos::search::GologProgram::get_relevant_satisfied_fluents</a></div><div class="ttdeci">std::set&lt; std::string &gt; get_relevant_satisfied_fluents(const gologpp::History &amp;history) const</div><div class="ttdef"><b>Definition:</b> golog_program.cpp:118</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_aae6e3e93c3c1f0b09c328bedf81d9cfb"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#aae6e3e93c3c1f0b09c328bedf81d9cfb">tacos::search::GologProgram::get_empty_program</a></div><div class="ttdeci">gologpp::shared_ptr&lt; gologpp::ManagedTerm &gt; get_empty_program() const</div><div class="ttdef"><b>Definition:</b> golog_program.h:107</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_acbb52737b8d75f93c11c0b4441610451"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#acbb52737b8d75f93c11c0b4441610451">tacos::search::GologProgram::has_action_clock</a></div><div class="ttdeci">bool has_action_clock(const std::string &amp;action) const</div><div class="ttdef"><b>Definition:</b> golog_program.h:130</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_ad73fe67f3a6897ab975e6798abc5d912"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#ad73fe67f3a6897ab975e6798abc5d912">tacos::search::GologProgram::is_relevant_fluent</a></div><div class="ttdeci">bool is_relevant_fluent(const std::string &amp;fluent) const</div><div class="ttdef"><b>Definition:</b> golog_program.h:123</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_adebb65b2f63eae2012103d2ab295c610"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#adebb65b2f63eae2012103d2ab295c610">tacos::search::GologProgram::get_all_satisfied_fluents</a></div><div class="ttdeci">std::set&lt; std::string &gt; get_all_satisfied_fluents(const gologpp::History &amp;history) const</div><div class="ttdef"><b>Definition:</b> golog_program.cpp:124</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_ae2f79ce7a1b499e64216a6fa24cdee67"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#ae2f79ce7a1b499e64216a6fa24cdee67">tacos::search::GologProgram::get_empty_history</a></div><div class="ttdeci">gologpp::shared_ptr&lt; gologpp::History &gt; get_empty_history() const</div><div class="ttdef"><b>Definition:</b> golog_program.h:100</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_ae38c0628c0cb4c14036b33c9652b2e86"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#ae38c0628c0cb4c14036b33c9652b2e86">tacos::search::GologProgram::get_initial_location</a></div><div class="ttdeci">GologLocation get_initial_location() const</div><div class="ttdef"><b>Definition:</b> golog_program.cpp:80</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_aacb5e85ba2f250d528e06f4badd8411c"><div class="ttname"><a href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c">tacos::search::GologConfiguration</a></div><div class="ttdeci">tacos::PlantConfiguration&lt; GologLocation &gt; GologConfiguration</div><div class="ttdoc">A configuration of a Golog program.</div><div class="ttdef"><b>Definition:</b> golog_program.h:48</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_ac29b6bff518862f2a6d00beb7d2056db"><div class="ttname"><a href="namespacetacos_1_1search.html#ac29b6bff518862f2a6d00beb7d2056db">tacos::search::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const GologLocation &amp;first, const GologLocation &amp;second)</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:43</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1GologLocation_html"><div class="ttname"><a href="structtacos_1_1search_1_1GologLocation.html">tacos::search::GologLocation</a></div><div class="ttdoc">The location of a Golog program.</div><div class="ttdef"><b>Definition:</b> golog_program.h:36</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1GologLocation_html_a6c63a6f4db2ca11ea5339200b0551efa"><div class="ttname"><a href="structtacos_1_1search_1_1GologLocation.html#a6c63a6f4db2ca11ea5339200b0551efa">tacos::search::GologLocation::history</a></div><div class="ttdeci">gologpp::shared_ptr&lt; gologpp::History &gt; history</div><div class="ttdef"><b>Definition:</b> golog_program.h:42</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1GologLocation_html_acf240ca3e74a830e052a4629b7534943"><div class="ttname"><a href="structtacos_1_1search_1_1GologLocation.html#acf240ca3e74a830e052a4629b7534943">tacos::search::GologLocation::satisfied_fluents</a></div><div class="ttdeci">std::set&lt; std::string &gt; satisfied_fluents</div><div class="ttdef"><b>Definition:</b> golog_program.h:38</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1GologLocation_html_af6899b2170ad92c25944d95e39a519de"><div class="ttname"><a href="structtacos_1_1search_1_1GologLocation.html#af6899b2170ad92c25944d95e39a519de">tacos::search::GologLocation::remaining_program</a></div><div class="ttdeci">gologpp::shared_ptr&lt; gologpp::ManagedTerm &gt; remaining_program</div><div class="ttdef"><b>Definition:</b> golog_program.h:40</div></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;set&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#pragma GCC diagnostic push</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Wdeprecated-copy&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Wpedantic&quot;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &lt;execution/plan.h&gt;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &lt;model/gologpp.h&gt;</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &lt;model/reference.h&gt;</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#include &lt;semantics/readylog/reference.h&gt;</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &lt;semantics/readylog/semantics.h&gt;</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &lt;semantics/readylog/utilities.h&gt;</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#include &lt;utilities/types.h&gt;</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#pragma GCC diagnostic pop</span></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacetacos_1_1search.html">tacos::search</a> {</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="keyword">class </span>GologProgram;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="structtacos_1_1search_1_1GologLocation.html">   36</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>{</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="structtacos_1_1search_1_1GologLocation.html#acf240ca3e74a830e052a4629b7534943">   39</a></span>    std::set&lt;std::string&gt; <a class="code hl_variable" href="structtacos_1_1search_1_1GologLocation.html#acf240ca3e74a830e052a4629b7534943">satisfied_fluents</a>;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structtacos_1_1search_1_1GologLocation.html#af6899b2170ad92c25944d95e39a519de">   41</a></span>    gologpp::shared_ptr&lt;gologpp::ManagedTerm&gt; <a class="code hl_variable" href="structtacos_1_1search_1_1GologLocation.html#af6899b2170ad92c25944d95e39a519de">remaining_program</a>;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structtacos_1_1search_1_1GologLocation.html#a6c63a6f4db2ca11ea5339200b0551efa">   43</a></span>    gologpp::shared_ptr&lt;gologpp::History&gt; <a class="code hl_variable" href="structtacos_1_1search_1_1GologLocation.html#a6c63a6f4db2ca11ea5339200b0551efa">history</a>;</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>};</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c">   49</a></span><span class="keyword">using </span><a class="code hl_struct" href="structtacos_1_1PlantConfiguration.html">GologConfiguration</a> = <a class="code hl_struct" href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration&lt;GologLocation&gt;</a>;</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="keywordtype">bool</span> <a class="code hl_function" href="namespacetacos_1_1search.html#ac29b6bff518862f2a6d00beb7d2056db">operator&lt;</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a> &amp;, <span class="keyword">const</span> <a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a> &amp;);</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html">   58</a></span><span class="keyword">class </span><a class="code hl_class" href="classtacos_1_1search_1_1GologProgram.html">GologProgram</a></div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>{</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#abf5f5e1ae2ebc671bfd9a595823a6492">   64</a></span>    <span class="keyword">using </span><a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">Location</a> = <a class="code hl_struct" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a>;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <a class="code hl_class" href="classtacos_1_1search_1_1GologProgram.html">GologProgram</a>(<span class="keyword">const</span> std::string           &amp;program,</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                 <span class="keyword">const</span> std::set&lt;std::string&gt; &amp;relevant_fluent_symbols = {},</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                 <span class="keywordtype">bool</span>                         all_action_clocks       = <span class="keyword">true</span>,</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>                 std::set&lt;std::string&gt;        action_clock_names      = {});</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a4f56ebb6a700ea5c8dc6b0f21d00cc2f">~GologProgram</a>();</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    GologLocation <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#ae38c0628c0cb4c14036b33c9652b2e86">get_initial_location</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <a class="code hl_typedef" href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c">GologConfiguration</a> <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a06bc85fd195a7c75e6857117cbaf39bd">get_initial_configuration</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    gologpp::Semantics&lt;gologpp::Instruction&gt; &amp;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#a106f1b683bcc85163d2e2553f3774a2e">   94</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a106f1b683bcc85163d2e2553f3774a2e">get_semantics</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>        <span class="keywordflow">return</span> main-&gt;semantics();</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    }</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    gologpp::shared_ptr&lt;gologpp::History&gt;</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#ae2f79ce7a1b499e64216a6fa24cdee67">  101</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#ae2f79ce7a1b499e64216a6fa24cdee67">get_empty_history</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        <span class="keywordflow">return</span> empty_history;</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    }</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    gologpp::shared_ptr&lt;gologpp::ManagedTerm&gt;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#aae6e3e93c3c1f0b09c328bedf81d9cfb">  108</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#aae6e3e93c3c1f0b09c328bedf81d9cfb">get_empty_program</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        <span class="keywordflow">return</span> empty_program;</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    }</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a4c6fb98ef3b7413b723bfec03c9c100a">is_accepting_configuration</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structtacos_1_1PlantConfiguration.html">GologConfiguration</a> &amp;configuration) <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    std::set&lt;std::string&gt; <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#a90a8fd18a72afcba3f804fedd7e18301">get_relevant_satisfied_fluents</a>(<span class="keyword">const</span> gologpp::History &amp;history) <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    std::set&lt;std::string&gt; <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#adebb65b2f63eae2012103d2ab295c610">get_all_satisfied_fluents</a>(<span class="keyword">const</span> gologpp::History &amp;history) <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <span class="keywordtype">bool</span></div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#ad73fe67f3a6897ab975e6798abc5d912">  124</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#ad73fe67f3a6897ab975e6798abc5d912">is_relevant_fluent</a>(<span class="keyword">const</span> std::string &amp;fluent)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>        <span class="keywordflow">return</span> relevant_fluents.find(fluent) != relevant_fluents.end();</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    }</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <span class="keywordtype">bool</span></div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classtacos_1_1search_1_1GologProgram.html#acbb52737b8d75f93c11c0b4441610451">  131</a></span>    <a class="code hl_function" href="classtacos_1_1search_1_1GologProgram.html#acbb52737b8d75f93c11c0b4441610451">has_action_clock</a>(<span class="keyword">const</span> std::string &amp;action)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span><span class="keyword">    </span>{</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        <span class="keywordflow">return</span> (all_action_clocks &amp;&amp; action.substr(0, 6) == <span class="stringliteral">&quot;start(&quot;</span>)</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>               || action_clock_names.find(action) != action_clock_names.end();</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    }</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordtype">void</span>                  teardown();</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <span class="keywordtype">void</span>                  populate_fluents(<span class="keyword">const</span> std::set&lt;std::string&gt; &amp;relevant_fluent_symbols);</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    std::set&lt;std::string&gt; get_satisfied_fluents(</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>      <span class="keyword">const</span> gologpp::History                                             &amp;history,</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>      <span class="keyword">const</span> std::map&lt;std::string, gologpp::Reference&lt;gologpp::Fluent&gt; *&gt; &amp;fluents) <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <span class="comment">// We can only have one program at a time, because the program accesses the global scope. Thus,</span></div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <span class="comment">// make sure that we do not run two programs simultaneously.</span></div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span>                                                  initialized;</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    std::shared_ptr&lt;gologpp::Procedure&gt;                          procedure;</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    gologpp::Instruction                                        *main;</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    gologpp::SemanticsFactory                                   *semantics;</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    std::shared_ptr&lt;gologpp::History&gt;                            empty_history;</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    std::shared_ptr&lt;gologpp::ManagedTerm&gt;                        empty_program;</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    std::map&lt;std::string, gologpp::Reference&lt;gologpp::Fluent&gt; *&gt; all_fluents;</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    std::map&lt;std::string, gologpp::Reference&lt;gologpp::Fluent&gt; *&gt; relevant_fluents;</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keywordtype">bool</span>                                                         all_action_clocks;</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    std::set&lt;std::string&gt;                                        action_clock_names;</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>};</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>} <span class="comment">// namespace tacos::search</span></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html">tacos::search::GologProgram</a></div><div class="ttdoc">Wrapper for a Golog++ program.</div><div class="ttdef"><b>Definition</b> golog_program.h:59</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a06bc85fd195a7c75e6857117cbaf39bd"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a06bc85fd195a7c75e6857117cbaf39bd">tacos::search::GologProgram::get_initial_configuration</a></div><div class="ttdeci">GologConfiguration get_initial_configuration() const</div><div class="ttdef"><b>Definition</b> golog_program.cpp:90</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a106f1b683bcc85163d2e2553f3774a2e"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a106f1b683bcc85163d2e2553f3774a2e">tacos::search::GologProgram::get_semantics</a></div><div class="ttdeci">gologpp::Semantics&lt; gologpp::Instruction &gt; &amp; get_semantics() const</div><div class="ttdef"><b>Definition</b> golog_program.h:94</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a4c6fb98ef3b7413b723bfec03c9c100a"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a4c6fb98ef3b7413b723bfec03c9c100a">tacos::search::GologProgram::is_accepting_configuration</a></div><div class="ttdeci">bool is_accepting_configuration(const GologConfiguration &amp;configuration) const</div><div class="ttdef"><b>Definition</b> golog_program.cpp:97</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a4f56ebb6a700ea5c8dc6b0f21d00cc2f"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a4f56ebb6a700ea5c8dc6b0f21d00cc2f">tacos::search::GologProgram::~GologProgram</a></div><div class="ttdeci">~GologProgram()</div><div class="ttdef"><b>Definition</b> golog_program.cpp:64</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_a90a8fd18a72afcba3f804fedd7e18301"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#a90a8fd18a72afcba3f804fedd7e18301">tacos::search::GologProgram::get_relevant_satisfied_fluents</a></div><div class="ttdeci">std::set&lt; std::string &gt; get_relevant_satisfied_fluents(const gologpp::History &amp;history) const</div><div class="ttdef"><b>Definition</b> golog_program.cpp:118</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_aae6e3e93c3c1f0b09c328bedf81d9cfb"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#aae6e3e93c3c1f0b09c328bedf81d9cfb">tacos::search::GologProgram::get_empty_program</a></div><div class="ttdeci">gologpp::shared_ptr&lt; gologpp::ManagedTerm &gt; get_empty_program() const</div><div class="ttdef"><b>Definition</b> golog_program.h:108</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_acbb52737b8d75f93c11c0b4441610451"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#acbb52737b8d75f93c11c0b4441610451">tacos::search::GologProgram::has_action_clock</a></div><div class="ttdeci">bool has_action_clock(const std::string &amp;action) const</div><div class="ttdef"><b>Definition</b> golog_program.h:131</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_ad73fe67f3a6897ab975e6798abc5d912"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#ad73fe67f3a6897ab975e6798abc5d912">tacos::search::GologProgram::is_relevant_fluent</a></div><div class="ttdeci">bool is_relevant_fluent(const std::string &amp;fluent) const</div><div class="ttdef"><b>Definition</b> golog_program.h:124</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_adebb65b2f63eae2012103d2ab295c610"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#adebb65b2f63eae2012103d2ab295c610">tacos::search::GologProgram::get_all_satisfied_fluents</a></div><div class="ttdeci">std::set&lt; std::string &gt; get_all_satisfied_fluents(const gologpp::History &amp;history) const</div><div class="ttdef"><b>Definition</b> golog_program.cpp:124</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_ae2f79ce7a1b499e64216a6fa24cdee67"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#ae2f79ce7a1b499e64216a6fa24cdee67">tacos::search::GologProgram::get_empty_history</a></div><div class="ttdeci">gologpp::shared_ptr&lt; gologpp::History &gt; get_empty_history() const</div><div class="ttdef"><b>Definition</b> golog_program.h:101</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1GologProgram_html_ae38c0628c0cb4c14036b33c9652b2e86"><div class="ttname"><a href="classtacos_1_1search_1_1GologProgram.html#ae38c0628c0cb4c14036b33c9652b2e86">tacos::search::GologProgram::get_initial_location</a></div><div class="ttdeci">GologLocation get_initial_location() const</div><div class="ttdef"><b>Definition</b> golog_program.cpp:80</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_aacb5e85ba2f250d528e06f4badd8411c"><div class="ttname"><a href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c">tacos::search::GologConfiguration</a></div><div class="ttdeci">tacos::PlantConfiguration&lt; GologLocation &gt; GologConfiguration</div><div class="ttdoc">A configuration of a Golog program.</div><div class="ttdef"><b>Definition</b> golog_program.h:49</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ac29b6bff518862f2a6d00beb7d2056db"><div class="ttname"><a href="namespacetacos_1_1search.html#ac29b6bff518862f2a6d00beb7d2056db">tacos::search::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const GologLocation &amp;first, const GologLocation &amp;second)</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:43</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1GologLocation_html"><div class="ttname"><a href="structtacos_1_1search_1_1GologLocation.html">tacos::search::GologLocation</a></div><div class="ttdoc">The location of a Golog program.</div><div class="ttdef"><b>Definition</b> golog_program.h:37</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1GologLocation_html_a6c63a6f4db2ca11ea5339200b0551efa"><div class="ttname"><a href="structtacos_1_1search_1_1GologLocation.html#a6c63a6f4db2ca11ea5339200b0551efa">tacos::search::GologLocation::history</a></div><div class="ttdeci">gologpp::shared_ptr&lt; gologpp::History &gt; history</div><div class="ttdef"><b>Definition</b> golog_program.h:43</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1GologLocation_html_acf240ca3e74a830e052a4629b7534943"><div class="ttname"><a href="structtacos_1_1search_1_1GologLocation.html#acf240ca3e74a830e052a4629b7534943">tacos::search::GologLocation::satisfied_fluents</a></div><div class="ttdeci">std::set&lt; std::string &gt; satisfied_fluents</div><div class="ttdef"><b>Definition</b> golog_program.h:39</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1GologLocation_html_af6899b2170ad92c25944d95e39a519de"><div class="ttname"><a href="structtacos_1_1search_1_1GologLocation.html#af6899b2170ad92c25944d95e39a519de">tacos::search::GologLocation::remaining_program</a></div><div class="ttdeci">gologpp::shared_ptr&lt; gologpp::ManagedTerm &gt; remaining_program</div><div class="ttdef"><b>Definition</b> golog_program.h:41</div></div>
 </div><!-- fragment --></div><!-- contents -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
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diff --git a/docs/golog__symbols_8h_source.html b/docs/golog__symbols_8h_source.html
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@@ -95,12 +95,12 @@
 <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>std::pair&lt;std::string, std::vector&lt;std::string&gt;&gt; <a class="code hl_function" href="namespacetacos_1_1search.html#a4c3a9316b680bf0be228cc756e762500">split_symbol</a>(<span class="keyword">const</span> std::string &amp;symbol);</div>
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-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a4c3a9316b680bf0be228cc756e762500"><div class="ttname"><a href="namespacetacos_1_1search.html#a4c3a9316b680bf0be228cc756e762500">tacos::search::split_symbol</a></div><div class="ttdeci">std::pair&lt; std::string, std::vector&lt; std::string &gt; &gt; split_symbol(const std::string &amp;symbol)</div><div class="ttdef"><b>Definition:</b> golog_symbols.cpp:17</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a4c3a9316b680bf0be228cc756e762500"><div class="ttname"><a href="namespacetacos_1_1search.html#a4c3a9316b680bf0be228cc756e762500">tacos::search::split_symbol</a></div><div class="ttdeci">std::pair&lt; std::string, std::vector&lt; std::string &gt; &gt; split_symbol(const std::string &amp;symbol)</div><div class="ttdef"><b>Definition</b> golog_symbols.cpp:17</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/graph_legend.html b/docs/graph_legend.html
index 7db51515..d9eb5748 100644
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@@ -3,7 +3,7 @@
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@@ -30,7 +30,7 @@
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@@ -73,8 +73,8 @@
   <div class="headertitle"><div class="title">Graph Legend</div></div>
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-<p >This page explains how to interpret the graphs that are generated by doxygen.</p>
-<p >Consider the following example: </p><div class="fragment"><div class="line"><span class="comment">/*! Invisible class because of truncation */</span></div>
+<p>This page explains how to interpret the graphs that are generated by doxygen.</p>
+<p>Consider the following example: </p><div class="fragment"><div class="line"><span class="comment">/*! Invisible class because of truncation */</span></div>
 <div class="line"><span class="keyword">class </span>Invisible { };</div>
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@@ -109,7 +109,7 @@
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 </div><!-- fragment --><p> This will result in the following graph:</p>
-<center><img src="graph_legend.png" alt="" class="inline"/></center><p >The boxes in the above graph have the following meaning: </p>
+<center><img src="graph_legend.png" alt="" class="inline"/></center><p>The boxes in the above graph have the following meaning: </p>
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 <li>
 A filled gray box represents the struct or class for which the graph is generated. </li>
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 A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries. </li>
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-<p >The arrows have the following meaning: </p>
+<p>The arrows have the following meaning: </p>
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 A blue arrow is used to visualize a public inheritance relation between two classes. </li>
@@ -136,7 +136,7 @@
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/graph_legend.md5 b/docs/graph_legend.md5
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index f3a8fa4f..5dd61085 100644
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@@ -30,7 +30,7 @@
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@@ -167,23 +167,23 @@
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-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a1996ef855c72d4670a1c36641bb16093"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a1996ef855c72d4670a1c36641bb16093">tacos::utilities::graphviz::Graph::set_default_node_property</a></div><div class="ttdeci">void set_default_node_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition:</b> graph.cpp:47</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a36481cbd0794e952f81327563c374cd7"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a36481cbd0794e952f81327563c374cd7">tacos::utilities::graphviz::Graph::to_dot</a></div><div class="ttdeci">std::string to_dot()</div><div class="ttdef"><b>Definition:</b> graph.cpp:100</div></div>
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+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html">tacos::utilities::graphviz::Graph</a></div><div class="ttdoc">A simple wrapper to create graphs with graphviz.</div><div class="ttdef"><b>Definition</b> graphviz.h:68</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a07bd7211446a8946fdbcb38868b31351"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a07bd7211446a8946fdbcb38868b31351">tacos::utilities::graphviz::Graph::has_node</a></div><div class="ttdeci">bool has_node(std::string identifier)</div><div class="ttdef"><b>Definition</b> graph.cpp:83</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a138606c622f05e604e00ac6cb45fd668"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a138606c622f05e604e00ac6cb45fd668">tacos::utilities::graphviz::Graph::add_node</a></div><div class="ttdeci">Node add_node(std::string label, std::optional&lt; std::string &gt; identifier=std::nullopt)</div><div class="ttdef"><b>Definition</b> graph.cpp:53</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a1996ef855c72d4670a1c36641bb16093"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a1996ef855c72d4670a1c36641bb16093">tacos::utilities::graphviz::Graph::set_default_node_property</a></div><div class="ttdeci">void set_default_node_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition</b> graph.cpp:47</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a36481cbd0794e952f81327563c374cd7"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a36481cbd0794e952f81327563c374cd7">tacos::utilities::graphviz::Graph::to_dot</a></div><div class="ttdeci">std::string to_dot()</div><div class="ttdef"><b>Definition</b> graph.cpp:100</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a4b86a20e3f829e7bfacfb3c59a26a232"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a4b86a20e3f829e7bfacfb3c59a26a232">tacos::utilities::graphviz::Graph::render_to_file</a></div><div class="ttdeci">void render_to_file(const std::filesystem::path &amp;output_path)</div><div class="ttdef"><b>Definition</b> graph.cpp:114</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a4d67330635cc9f48025885a720161b62"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a4d67330635cc9f48025885a720161b62">tacos::utilities::graphviz::Graph::set_property</a></div><div class="ttdeci">void set_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition</b> graph.cpp:77</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a50c99dd6e080b182ced6e4a02d33d74b"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a50c99dd6e080b182ced6e4a02d33d74b">tacos::utilities::graphviz::Graph::~Graph</a></div><div class="ttdeci">~Graph()</div><div class="ttdoc">Destructor. Frees all resources that were allocated while creating the graph.</div><div class="ttdef"><b>Definition</b> graph.cpp:37</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a99d434698074fcf8883570f78f278ce6"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a99d434698074fcf8883570f78f278ce6">tacos::utilities::graphviz::Graph::get_node</a></div><div class="ttdeci">std::optional&lt; Node &gt; get_node(std::string identifier)</div><div class="ttdef"><b>Definition</b> graph.cpp:89</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_aec95c67633339e2d20bcd2a9965eae88"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#aec95c67633339e2d20bcd2a9965eae88">tacos::utilities::graphviz::Graph::add_edge</a></div><div class="ttdeci">void add_edge(const Node &amp;source, const Node &amp;target, std::string label=&quot;&quot;)</div><div class="ttdef"><b>Definition</b> graph.cpp:69</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_af1baea11c902426eb0d386735b19edcd"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#af1baea11c902426eb0d386735b19edcd">tacos::utilities::graphviz::Graph::Graph</a></div><div class="ttdeci">Graph()</div><div class="ttdef"><b>Definition</b> graph.cpp:20</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html">tacos::utilities::graphviz::Node</a></div><div class="ttdoc">A wrapper for a node in graphviz.</div><div class="ttdef"><b>Definition</b> graphviz.h:37</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html_a3eb69cad93806493ded8100eb056f78a"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html#a3eb69cad93806493ded8100eb056f78a">tacos::utilities::graphviz::Node::get_agnode</a></div><div class="ttdeci">Agnode_t * get_agnode() const</div><div class="ttdef"><b>Definition</b> graphviz.h:54</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html_a8efabd53ffdc48f5024e6a67b968659f"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html#a8efabd53ffdc48f5024e6a67b968659f">tacos::utilities::graphviz::Node::Node</a></div><div class="ttdeci">Node()</div><div class="ttdef"><b>Definition</b> graphviz.h:42</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html_abbca1b7a572dfb91d66ed30102d92c33"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html#abbca1b7a572dfb91d66ed30102d92c33">tacos::utilities::graphviz::Node::set_property</a></div><div class="ttdeci">void set_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition</b> node.cpp:20</div></div>
+<div class="ttc" id="anamespacetacos_1_1utilities_1_1graphviz_html"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1graphviz.html">tacos::utilities::graphviz</a></div><div class="ttdoc">A thin C++ wrapper around the cgraph library.</div><div class="ttdef"><b>Definition</b> graph.cpp:18</div></div>
+<div class="ttc" id="anamespacetacos_1_1utilities_1_1graphviz_html_a0a6c01b0d3bc03e39ce51593f97bc85b"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1graphviz.html#a0a6c01b0d3bc03e39ce51593f97bc85b">tacos::utilities::graphviz::GraphType</a></div><div class="ttdeci">GraphType</div><div class="ttdoc">The edge of the graph (e.g., undirected or directed).</div><div class="ttdef"><b>Definition</b> graphviz.h:26</div></div>
 <div class="ttc" id="anamespacetacos_1_1utilities_1_1graphviz_html_a0a6c01b0d3bc03e39ce51593f97bc85ba06342d541b10bd9f330c932de75d6da5"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1graphviz.html#a0a6c01b0d3bc03e39ce51593f97bc85ba06342d541b10bd9f330c932de75d6da5">tacos::utilities::graphviz::GraphType::Undirected</a></div><div class="ttdeci">@ Undirected</div><div class="ttdoc">An undirected graph.</div></div>
 <div class="ttc" id="anamespacetacos_1_1utilities_1_1graphviz_html_a0a6c01b0d3bc03e39ce51593f97bc85ba39d19e66f7f1910177ab8d69006c9f13"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1graphviz.html#a0a6c01b0d3bc03e39ce51593f97bc85ba39d19e66f7f1910177ab8d69006c9f13">tacos::utilities::graphviz::GraphType::Directed</a></div><div class="ttdeci">@ Directed</div><div class="ttdoc">A directed graph.</div></div>
 <div class="ttc" id="anamespacetacos_1_1utilities_1_1graphviz_html_a0a6c01b0d3bc03e39ce51593f97bc85ba5ab406d882f51a72fdf3943bdc170f4a"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1graphviz.html#a0a6c01b0d3bc03e39ce51593f97bc85ba5ab406d882f51a72fdf3943bdc170f4a">tacos::utilities::graphviz::GraphType::StrictDirected</a></div><div class="ttdeci">@ StrictDirected</div><div class="ttdoc">A directed graph without multi-edges.</div></div>
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diff --git a/docs/heuristics_8h_source.html b/docs/heuristics_8h_source.html
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@@ -239,32 +239,32 @@
 <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>} <span class="comment">// namespace tacos::search</span></div>
 <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
 <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_SYNCHRONOUS_PRODUCT_INCLUDE_SYNCHRONOUS_PRODUCT_HEURISTICS_H */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1BfsHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1BfsHeuristic.html">tacos::search::BfsHeuristic</a></div><div class="ttdoc">Breadth-first search heuristic.</div><div class="ttdef"><b>Definition:</b> heuristics.h:54</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1BfsHeuristic_html_a78254c8bb368908dfeddfc61d1bac7e9"><div class="ttname"><a href="classtacos_1_1search_1_1BfsHeuristic.html#a78254c8bb368908dfeddfc61d1bac7e9">tacos::search::BfsHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *) override</div><div class="ttdoc">Compute the cost of the given node.</div><div class="ttdef"><b>Definition:</b> heuristics.h:63</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1CompositeHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1CompositeHeuristic.html">tacos::search::CompositeHeuristic</a></div><div class="ttdoc">Compose multiple heuristics.</div><div class="ttdef"><b>Definition:</b> heuristics.h:179</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1CompositeHeuristic_html_a6f7619d73deb46241a967e10d16a50cd"><div class="ttname"><a href="classtacos_1_1search_1_1CompositeHeuristic.html#a6f7619d73deb46241a967e10d16a50cd">tacos::search::CompositeHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *node) override</div><div class="ttdef"><b>Definition:</b> heuristics.h:195</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1CompositeHeuristic_html_af652e725c3b03a6f6f941e0c3e848a12"><div class="ttname"><a href="classtacos_1_1search_1_1CompositeHeuristic.html#af652e725c3b03a6f6f941e0c3e848a12">tacos::search::CompositeHeuristic::CompositeHeuristic</a></div><div class="ttdeci">CompositeHeuristic(std::vector&lt; std::pair&lt; ValueT, std::unique_ptr&lt; Heuristic&lt; ValueT, NodeT &gt; &gt; &gt; &gt; heuristics)</div><div class="ttdef"><b>Definition:</b> heuristics.h:184</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1DfsHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1DfsHeuristic.html">tacos::search::DfsHeuristic</a></div><div class="ttdoc">Depth-first search heuristic.</div><div class="ttdef"><b>Definition:</b> heuristics.h:79</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1DfsHeuristic_html_ae3e4296b18d9139e46a69fac83706f81"><div class="ttname"><a href="classtacos_1_1search_1_1DfsHeuristic.html#ae3e4296b18d9139e46a69fac83706f81">tacos::search::DfsHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *) override</div><div class="ttdoc">Compute the cost of the given node. The cost will strictly monotonically increase for each node,...</div><div class="ttdef"><b>Definition:</b> heuristics.h:87</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1Heuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1Heuristic.html">tacos::search::Heuristic</a></div><div class="ttdoc">The heuristics interface.</div><div class="ttdef"><b>Definition:</b> heuristics.h:29</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1BfsHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1BfsHeuristic.html">tacos::search::BfsHeuristic</a></div><div class="ttdoc">Breadth-first search heuristic.</div><div class="ttdef"><b>Definition</b> heuristics.h:54</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1BfsHeuristic_html_a78254c8bb368908dfeddfc61d1bac7e9"><div class="ttname"><a href="classtacos_1_1search_1_1BfsHeuristic.html#a78254c8bb368908dfeddfc61d1bac7e9">tacos::search::BfsHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *) override</div><div class="ttdoc">Compute the cost of the given node.</div><div class="ttdef"><b>Definition</b> heuristics.h:63</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1CompositeHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1CompositeHeuristic.html">tacos::search::CompositeHeuristic</a></div><div class="ttdoc">Compose multiple heuristics.</div><div class="ttdef"><b>Definition</b> heuristics.h:179</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1CompositeHeuristic_html_a6f7619d73deb46241a967e10d16a50cd"><div class="ttname"><a href="classtacos_1_1search_1_1CompositeHeuristic.html#a6f7619d73deb46241a967e10d16a50cd">tacos::search::CompositeHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *node) override</div><div class="ttdef"><b>Definition</b> heuristics.h:195</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1CompositeHeuristic_html_af652e725c3b03a6f6f941e0c3e848a12"><div class="ttname"><a href="classtacos_1_1search_1_1CompositeHeuristic.html#af652e725c3b03a6f6f941e0c3e848a12">tacos::search::CompositeHeuristic::CompositeHeuristic</a></div><div class="ttdeci">CompositeHeuristic(std::vector&lt; std::pair&lt; ValueT, std::unique_ptr&lt; Heuristic&lt; ValueT, NodeT &gt; &gt; &gt; &gt; heuristics)</div><div class="ttdef"><b>Definition</b> heuristics.h:184</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1DfsHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1DfsHeuristic.html">tacos::search::DfsHeuristic</a></div><div class="ttdoc">Depth-first search heuristic.</div><div class="ttdef"><b>Definition</b> heuristics.h:79</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1DfsHeuristic_html_ae3e4296b18d9139e46a69fac83706f81"><div class="ttname"><a href="classtacos_1_1search_1_1DfsHeuristic.html#ae3e4296b18d9139e46a69fac83706f81">tacos::search::DfsHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *) override</div><div class="ttdoc">Compute the cost of the given node. The cost will strictly monotonically increase for each node,...</div><div class="ttdef"><b>Definition</b> heuristics.h:87</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1Heuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1Heuristic.html">tacos::search::Heuristic</a></div><div class="ttdoc">The heuristics interface.</div><div class="ttdef"><b>Definition</b> heuristics.h:29</div></div>
 <div class="ttc" id="aclasstacos_1_1search_1_1Heuristic_html_a28ea30ec5558f8df76c17cd0a8e62c17"><div class="ttname"><a href="classtacos_1_1search_1_1Heuristic.html#a28ea30ec5558f8df76c17cd0a8e62c17">tacos::search::Heuristic::compute_cost</a></div><div class="ttdeci">virtual ValueT compute_cost(NodeT *node)=0</div><div class="ttdoc">Compute the cost of the given node.</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1Heuristic_html_a32ec271f1f293da7ec4de00267e9f32d"><div class="ttname"><a href="classtacos_1_1search_1_1Heuristic.html#a32ec271f1f293da7ec4de00267e9f32d">tacos::search::Heuristic::~Heuristic</a></div><div class="ttdeci">virtual ~Heuristic()</div><div class="ttdef"><b>Definition:</b> heuristics.h:39</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1NumCanonicalWordsHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1NumCanonicalWordsHeuristic.html">tacos::search::NumCanonicalWordsHeuristic</a></div><div class="ttdoc">Prefer nodes with a low number of canonical words.</div><div class="ttdef"><b>Definition:</b> heuristics.h:160</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1NumCanonicalWordsHeuristic_html_a669a1245ede0ba06a1891e33bb620ba9"><div class="ttname"><a href="classtacos_1_1search_1_1NumCanonicalWordsHeuristic.html#a669a1245ede0ba06a1891e33bb620ba9">tacos::search::NumCanonicalWordsHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *node) override</div><div class="ttdef"><b>Definition:</b> heuristics.h:167</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1PreferEnvironmentActionHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1PreferEnvironmentActionHeuristic.html">tacos::search::PreferEnvironmentActionHeuristic</a></div><div class="ttdoc">Prefer environment actions over controller actions.</div><div class="ttdef"><b>Definition:</b> heuristics.h:125</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1PreferEnvironmentActionHeuristic_html_a0272c271bdc945eb045261abb5e67b46"><div class="ttname"><a href="classtacos_1_1search_1_1PreferEnvironmentActionHeuristic.html#a0272c271bdc945eb045261abb5e67b46">tacos::search::PreferEnvironmentActionHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *node) override</div><div class="ttdef"><b>Definition:</b> heuristics.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1PreferEnvironmentActionHeuristic_html_a21179c794b03ee909d19d14df5c90c49"><div class="ttname"><a href="classtacos_1_1search_1_1PreferEnvironmentActionHeuristic.html#a21179c794b03ee909d19d14df5c90c49">tacos::search::PreferEnvironmentActionHeuristic::PreferEnvironmentActionHeuristic</a></div><div class="ttdeci">PreferEnvironmentActionHeuristic(const std::set&lt; ActionT &gt; &amp;environment_actions)</div><div class="ttdef"><b>Definition:</b> heuristics.h:130</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1RandomHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1RandomHeuristic.html">tacos::search::RandomHeuristic</a></div><div class="ttdoc">Random heuristic that assigns random costs to nodes.</div><div class="ttdef"><b>Definition:</b> heuristics.h:212</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1RandomHeuristic_html_a1f80fe010b9fe54da93f9ec15c345bf3"><div class="ttname"><a href="classtacos_1_1search_1_1RandomHeuristic.html#a1f80fe010b9fe54da93f9ec15c345bf3">tacos::search::RandomHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *) override</div><div class="ttdoc">Compute the cost of the given node.</div><div class="ttdef"><b>Definition:</b> heuristics.h:226</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1RandomHeuristic_html_a2fb90a98817ee84e8f0c458e7b06c0e1"><div class="ttname"><a href="classtacos_1_1search_1_1RandomHeuristic.html#a2fb90a98817ee84e8f0c458e7b06c0e1">tacos::search::RandomHeuristic::RandomHeuristic</a></div><div class="ttdeci">RandomHeuristic(int seed)</div><div class="ttdef"><b>Definition:</b> heuristics.h:217</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1RandomHeuristic_html_aeec3720a899febb5186b757613fb4e85"><div class="ttname"><a href="classtacos_1_1search_1_1RandomHeuristic.html#aeec3720a899febb5186b757613fb4e85">tacos::search::RandomHeuristic::get_seed</a></div><div class="ttdeci">int get_seed() const</div><div class="ttdef"><b>Definition:</b> heuristics.h:233</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TimeHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1TimeHeuristic.html">tacos::search::TimeHeuristic</a></div><div class="ttdoc">The Time heuristic, which prefers early actions.</div><div class="ttdef"><b>Definition:</b> heuristics.h:103</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TimeHeuristic_html_a2ef32a2b09a1879183668861c3ca5f29"><div class="ttname"><a href="classtacos_1_1search_1_1TimeHeuristic.html#a2ef32a2b09a1879183668861c3ca5f29">tacos::search::TimeHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *node) override</div><div class="ttdoc">Compute the cost of the given node.</div><div class="ttdef"><b>Definition:</b> heuristics.h:112</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1Heuristic_html_a32ec271f1f293da7ec4de00267e9f32d"><div class="ttname"><a href="classtacos_1_1search_1_1Heuristic.html#a32ec271f1f293da7ec4de00267e9f32d">tacos::search::Heuristic::~Heuristic</a></div><div class="ttdeci">virtual ~Heuristic()</div><div class="ttdef"><b>Definition</b> heuristics.h:39</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1NumCanonicalWordsHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1NumCanonicalWordsHeuristic.html">tacos::search::NumCanonicalWordsHeuristic</a></div><div class="ttdoc">Prefer nodes with a low number of canonical words.</div><div class="ttdef"><b>Definition</b> heuristics.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1NumCanonicalWordsHeuristic_html_a669a1245ede0ba06a1891e33bb620ba9"><div class="ttname"><a href="classtacos_1_1search_1_1NumCanonicalWordsHeuristic.html#a669a1245ede0ba06a1891e33bb620ba9">tacos::search::NumCanonicalWordsHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *node) override</div><div class="ttdef"><b>Definition</b> heuristics.h:167</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1PreferEnvironmentActionHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1PreferEnvironmentActionHeuristic.html">tacos::search::PreferEnvironmentActionHeuristic</a></div><div class="ttdoc">Prefer environment actions over controller actions.</div><div class="ttdef"><b>Definition</b> heuristics.h:125</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1PreferEnvironmentActionHeuristic_html_a0272c271bdc945eb045261abb5e67b46"><div class="ttname"><a href="classtacos_1_1search_1_1PreferEnvironmentActionHeuristic.html#a0272c271bdc945eb045261abb5e67b46">tacos::search::PreferEnvironmentActionHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *node) override</div><div class="ttdef"><b>Definition</b> heuristics.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1PreferEnvironmentActionHeuristic_html_a21179c794b03ee909d19d14df5c90c49"><div class="ttname"><a href="classtacos_1_1search_1_1PreferEnvironmentActionHeuristic.html#a21179c794b03ee909d19d14df5c90c49">tacos::search::PreferEnvironmentActionHeuristic::PreferEnvironmentActionHeuristic</a></div><div class="ttdeci">PreferEnvironmentActionHeuristic(const std::set&lt; ActionT &gt; &amp;environment_actions)</div><div class="ttdef"><b>Definition</b> heuristics.h:130</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1RandomHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1RandomHeuristic.html">tacos::search::RandomHeuristic</a></div><div class="ttdoc">Random heuristic that assigns random costs to nodes.</div><div class="ttdef"><b>Definition</b> heuristics.h:212</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1RandomHeuristic_html_a1f80fe010b9fe54da93f9ec15c345bf3"><div class="ttname"><a href="classtacos_1_1search_1_1RandomHeuristic.html#a1f80fe010b9fe54da93f9ec15c345bf3">tacos::search::RandomHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *) override</div><div class="ttdoc">Compute the cost of the given node.</div><div class="ttdef"><b>Definition</b> heuristics.h:226</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1RandomHeuristic_html_a2fb90a98817ee84e8f0c458e7b06c0e1"><div class="ttname"><a href="classtacos_1_1search_1_1RandomHeuristic.html#a2fb90a98817ee84e8f0c458e7b06c0e1">tacos::search::RandomHeuristic::RandomHeuristic</a></div><div class="ttdeci">RandomHeuristic(int seed)</div><div class="ttdef"><b>Definition</b> heuristics.h:217</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1RandomHeuristic_html_aeec3720a899febb5186b757613fb4e85"><div class="ttname"><a href="classtacos_1_1search_1_1RandomHeuristic.html#aeec3720a899febb5186b757613fb4e85">tacos::search::RandomHeuristic::get_seed</a></div><div class="ttdeci">int get_seed() const</div><div class="ttdef"><b>Definition</b> heuristics.h:233</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TimeHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1TimeHeuristic.html">tacos::search::TimeHeuristic</a></div><div class="ttdoc">The Time heuristic, which prefers early actions.</div><div class="ttdef"><b>Definition</b> heuristics.h:103</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TimeHeuristic_html_a2ef32a2b09a1879183668861c3ca5f29"><div class="ttname"><a href="classtacos_1_1search_1_1TimeHeuristic.html#a2ef32a2b09a1879183668861c3ca5f29">tacos::search::TimeHeuristic::compute_cost</a></div><div class="ttdeci">ValueT compute_cost(NodeT *node) override</div><div class="ttdoc">Compute the cost of the given node.</div><div class="ttdef"><b>Definition</b> heuristics.h:112</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
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   <div class="headertitle"><div class="title">TACoS: A Tool for MTL Controller Synthesis </div></div>
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 <div class="contents">
-<div class="textblock"><p ><a class="anchor" id="md_README"></a> <a href="https://circleci.com/gh/morxa/tacos"><img src="https://circleci.com/gh/morxa/tacos.svg?style=shield" alt="CircleCI" style="pointer-events: none;" class="inline"/></a> <a href="https://codecov.io/gh/morxa/tacos"><img src="https://codecov.io/gh/morxa/tacos/branch/master/graph/badge.svg?token=6TOV7K7YS7" alt="codecov" style="pointer-events: none;" class="inline"/></a> <a href="https://www.codacy.com/gh/morxa/tacos/dashboard?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=morxa/tacos&amp;utm_campaign=Badge_Grade"><img src="https://app.codacy.com/project/badge/Grade/6372f01df5ac4d8790b5ef885f72ed39" alt="Codacy Badge" class="inline"/></a> <a href="https://quay.io/repository/morxa/tacos">![Docker Repository on Quay](https://quay.io/repository/morxa/tacos/status "Docker Repository on Quay")</a> <a href="https://zenodo.org/badge/latestdoi/268736294"><img src="https://zenodo.org/badge/268736294.svg" alt="DOI" style="pointer-events: none;" class="inline"/></a></p>
-<p >TACoS is a TA Controller Synthesis tool for MTL specifications. Given a plant timed automaton, an MTL specification, and a partitioning of the actions into environment and controller actions, it synthesizes a controller such that the plant satisfies the specification.</p>
-<p >Please check out the <a href="https://github.com/morxa/tacos/wiki">Wiki</a> or the <a href="https://morxa.github.io/tacos/">Doxygen docs</a> for further information.</p>
-<p >Detailed benchmark results are available <a href="https://github.com/morxa/tacos/wiki/Benchmarks">here</a>. You can also test the code and run the benchmarks on <a href="https://codeocean.com/capsule/29cca1d1-f515-4389-a5dd-3cea7acbb925/">CodeOcean</a>.</p>
+<div class="textblock"><p><a class="anchor" id="md_README"></a> <a href="https://circleci.com/gh/morxa/tacos"><img src="https://circleci.com/gh/morxa/tacos.svg?style=shield" alt="CircleCI" style="pointer-events: none;" class="inline"/></a> <a href="https://codecov.io/gh/morxa/tacos"><img src="https://codecov.io/gh/morxa/tacos/branch/master/graph/badge.svg?token=6TOV7K7YS7" alt="codecov" style="pointer-events: none;" class="inline"/></a> <a href="https://www.codacy.com/gh/morxa/tacos/dashboard?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=morxa/tacos&amp;utm_campaign=Badge_Grade"><img src="https://app.codacy.com/project/badge/Grade/6372f01df5ac4d8790b5ef885f72ed39" alt="Codacy Badge" class="inline"/></a> <a href="https://quay.io/repository/morxa/tacos">![Docker Repository on Quay](https://quay.io/repository/morxa/tacos/status "Docker Repository on Quay")</a> <a href="https://zenodo.org/badge/latestdoi/268736294"><img src="https://zenodo.org/badge/268736294.svg" alt="DOI" style="pointer-events: none;" class="inline"/></a></p>
+<p>TACoS is a TA Controller Synthesis tool for MTL specifications. Given a plant timed automaton, an MTL specification, and a partitioning of the actions into environment and controller actions, it synthesizes a controller such that the plant satisfies the specification.</p>
+<p>Please check out the <a href="https://github.com/morxa/tacos/wiki">Wiki</a> or the <a href="https://morxa.github.io/tacos/">Doxygen docs</a> for further information.</p>
+<p>Detailed benchmark results are available <a href="https://github.com/morxa/tacos/wiki/Benchmarks">here</a>. You can also test the code and run the benchmarks on <a href="https://codeocean.com/capsule/29cca1d1-f515-4389-a5dd-3cea7acbb925/">CodeOcean</a>.</p>
 <h1><a class="anchor" id="autotoc_md1"></a>
 Publications</h1>
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@@ -223,20 +223,20 @@
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-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html">tacos::search::SearchTreeNode</a></div><div class="ttdoc">A node in the search tree.</div><div class="ttdef"><b>Definition:</b> search_tree.h:61</div></div>
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+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html">tacos::search::SearchTreeNode</a></div><div class="ttdoc">A node in the search tree.</div><div class="ttdef"><b>Definition</b> search_tree.h:61</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a4b86a20e3f829e7bfacfb3c59a26a232"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a4b86a20e3f829e7bfacfb3c59a26a232">tacos::utilities::graphviz::Graph::render_to_file</a></div><div class="ttdeci">void render_to_file(const std::filesystem::path &amp;output_path)</div><div class="ttdef"><b>Definition</b> graph.cpp:114</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html"><div class="ttname"><a href="namespacetacos_1_1visualization.html">tacos::visualization</a></div><div class="ttdoc">Visualization tools for automata and search trees.</div><div class="ttdef"><b>Definition</b> interactive_tree_to_graphviz.h:18</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html_a12971726e06b04b925a22b22d9e6c8d7"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a12971726e06b04b925a22b22d9e6c8d7">tacos::visualization::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const Mode &amp;mode)</div><div class="ttdoc">Print the mode to an ostream.</div><div class="ttdef"><b>Definition</b> visualization.cpp:30</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html_a1344d2d09ef6e8e236f2ed30d476e750"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a1344d2d09ef6e8e236f2ed30d476e750">tacos::visualization::Mode</a></div><div class="ttdeci">Mode</div><div class="ttdoc">Possible modes of the interactive debugger.</div><div class="ttdef"><b>Definition</b> interactive_tree_to_graphviz.h:24</div></div>
 <div class="ttc" id="anamespacetacos_1_1visualization_html_a1344d2d09ef6e8e236f2ed30d476e750a61ee777e7f71dc466c3b2c685d8d313b"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a1344d2d09ef6e8e236f2ed30d476e750a61ee777e7f71dc466c3b2c685d8d313b">tacos::visualization::Mode::INSERT</a></div><div class="ttdeci">@ INSERT</div><div class="ttdoc">Move around in the search tree.</div></div>
 <div class="ttc" id="anamespacetacos_1_1visualization_html_a1344d2d09ef6e8e236f2ed30d476e750aa9d2a3c8f365a3154c0abc85af779a33"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a1344d2d09ef6e8e236f2ed30d476e750aa9d2a3c8f365a3154c0abc85af779a33">tacos::visualization::Mode::INSERT_AND_FOLLOW</a></div><div class="ttdeci">@ INSERT_AND_FOLLOW</div><div class="ttdoc">Insert a child node but do not change the selected node.</div></div>
-<div class="ttc" id="anamespacetacos_1_1visualization_html_a6e9e04cc9e23f8f4afbab7093baea99b"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a6e9e04cc9e23f8f4afbab7093baea99b">tacos::visualization::search_tree_to_graphviz_interactive</a></div><div class="ttdeci">void search_tree_to_graphviz_interactive(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; *search_node, const std::filesystem::path &amp;output_path, std::istream &amp;is=std::cin)</div><div class="ttdoc">Interactively visualize a search tree.</div><div class="ttdef"><b>Definition:</b> interactive_tree_to_graphviz.h:71</div></div>
-<div class="ttc" id="anamespacetacos_1_1visualization_html_a94537c3591c665d8b3935cdddfa5b9d8"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a94537c3591c665d8b3935cdddfa5b9d8">tacos::visualization::print_interactive_help</a></div><div class="ttdeci">void print_interactive_help()</div><div class="ttdoc">Print a help message to the logger.</div><div class="ttdef"><b>Definition:</b> visualization.cpp:15</div></div>
-<div class="ttc" id="anamespacetacos_1_1visualization_html_ac996a6ab71cc96b8e51ed6c09b028f0d"><div class="ttname"><a href="namespacetacos_1_1visualization.html#ac996a6ab71cc96b8e51ed6c09b028f0d">tacos::visualization::search_tree_to_graphviz</a></div><div class="ttdeci">utilities::graphviz::Graph search_tree_to_graphviz(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;search_node, std::function&lt; bool(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;)&gt; node_selector)</div><div class="ttdoc">Generate a graphviz graph visualizing the search tree.</div><div class="ttdef"><b>Definition:</b> tree_to_graphviz.h:120</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html_a6e9e04cc9e23f8f4afbab7093baea99b"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a6e9e04cc9e23f8f4afbab7093baea99b">tacos::visualization::search_tree_to_graphviz_interactive</a></div><div class="ttdeci">void search_tree_to_graphviz_interactive(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; *search_node, const std::filesystem::path &amp;output_path, std::istream &amp;is=std::cin)</div><div class="ttdoc">Interactively visualize a search tree.</div><div class="ttdef"><b>Definition</b> interactive_tree_to_graphviz.h:71</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html_a94537c3591c665d8b3935cdddfa5b9d8"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a94537c3591c665d8b3935cdddfa5b9d8">tacos::visualization::print_interactive_help</a></div><div class="ttdeci">void print_interactive_help()</div><div class="ttdoc">Print a help message to the logger.</div><div class="ttdef"><b>Definition</b> visualization.cpp:15</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html_ac996a6ab71cc96b8e51ed6c09b028f0d"><div class="ttname"><a href="namespacetacos_1_1visualization.html#ac996a6ab71cc96b8e51ed6c09b028f0d">tacos::visualization::search_tree_to_graphviz</a></div><div class="ttdeci">utilities::graphviz::Graph search_tree_to_graphviz(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;search_node, std::function&lt; bool(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;)&gt; node_selector)</div><div class="ttdoc">Generate a graphviz graph visualizing the search tree.</div><div class="ttdef"><b>Definition</b> tree_to_graphviz.h:120</div></div>
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-<tr class="memdesc:adf0bb6a35a3047956dab9ff72f58d440"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a conjunction of two formulas. If possible, the formula will be immediately simplified.  <a href="namespacetacos_1_1automata_1_1ata.html#adf0bb6a35a3047956dab9ff72f58d440">More...</a><br /></td></tr>
+<tr class="memdesc:adf0bb6a35a3047956dab9ff72f58d440"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a conjunction of two formulas. If possible, the formula will be immediately simplified.  <br /></td></tr>
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-<tr class="memdesc:a3111562fa8dd443ad45e5fcddd306dfa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a disjunction of two formulas. If possible, the formula will be immediately simplified.  <a href="namespacetacos_1_1automata_1_1ata.html#a3111562fa8dd443ad45e5fcddd306dfa">More...</a><br /></td></tr>
+<tr class="memdesc:a3111562fa8dd443ad45e5fcddd306dfa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a disjunction of two formulas. If possible, the formula will be immediately simplified.  <br /></td></tr>
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-<p >An ATA configuration is a set of ATA states.</p>
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-<p >Print a <a class="el" href="classtacos_1_1automata_1_1ata_1_1Transition.html" title="A transition of an alternating timed automaton.">Transition</a> to an ostream </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Print a <a class="el" href="classtacos_1_1automata_1_1ata_1_1Transition.html" title="A transition of an alternating timed automaton.">Transition</a> to an ostream </p><dl class="params"><dt>Parameters</dt><dd>
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diff --git a/docs/namespacetacos_1_1automata_1_1ta.html b/docs/namespacetacos_1_1automata_1_1ta.html
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+<tr class="memdesc:a453ccaa072659fffe497d59ff8b221b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two transitions.  <br /></td></tr>
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+<tr class="memdesc:afd62c46941998ad376640e5c12e40fd0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks which automata may synchronize on which label by comparing the set of synchronizing labels and the individual alphabets.  <br /></td></tr>
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-<tr class="memdesc:a0165f060fde2946cc77f6ce4a12fab6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximal region index from a given timed automaton.  <a href="namespacetacos_1_1automata_1_1ta.html#a0165f060fde2946cc77f6ce4a12fab6b">More...</a><br /></td></tr>
+<tr class="memdesc:a0165f060fde2946cc77f6ce4a12fab6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximal region index from a given timed automaton.  <br /></td></tr>
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 <tr class="memitem:af8b145c53e039ee314d28ba7cd5f8e4d"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">ClockConstraint</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1automata_1_1ta.html#af8b145c53e039ee314d28ba7cd5f8e4d">get_clock_constraints_from_region_index</a> (RegionIndex region_index, RegionIndex max_region_index, <a class="el" href="namespacetacos_1_1automata_1_1ta.html#ad9b5756f12395e07248b04e4a5e92edc">ConstraintBoundType</a> bound_type=ConstraintBoundType::BOTH)</td></tr>
-<tr class="memdesc:af8b145c53e039ee314d28ba7cd5f8e4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a region index, compute a set of clock constraints that restrict a clock to that region.  <a href="namespacetacos_1_1automata_1_1ta.html#af8b145c53e039ee314d28ba7cd5f8e4d">More...</a><br /></td></tr>
+<tr class="memdesc:af8b145c53e039ee314d28ba7cd5f8e4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a region index, compute a set of clock constraints that restrict a clock to that region.  <br /></td></tr>
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 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p >Timed Automata. </p>
-<p >This namespace contains classes and functions for working with timed automata. </p>
+<div class="textblock"><p>Timed Automata. </p>
+<p>This namespace contains classes and functions for working with timed automata. </p>
 </div><h2 class="groupheader">Typedef Documentation</h2>
 <a id="a291a802b4e7f0923b47414d72b1aec93" name="a291a802b4e7f0923b47414d72b1aec93"></a>
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         </tr>
       </table>
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-<p >Strongly typed type for locations. </p>
+<p>Strongly typed type for locations. </p>
 
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         </tr>
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-<p >A regionalized configuration of a timed automaton. </p>
+<p>A regionalized configuration of a timed automaton. </p>
 
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         </tr>
       </table>
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-<p >A regionalized clock valuation.</p>
-<p >This maps each clock name to a region index, which is the regionalized clock valuation of the clock. </p>
+<p>A regionalized clock valuation.</p>
+<p>This maps each clock name to a region index, which is the regionalized clock valuation of the clock. </p>
 
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         </tr>
       </table>
 </div><div class="memdoc">
-<p >A TA configuration consists of a location and a clock valuation. </p>
+<p>A TA configuration consists of a location and a clock valuation. </p>
 
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   </tr>
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-<p >Bound types for translating regions back to clock constraints. </p>
+<p>Bound types for translating regions back to clock constraints. </p>
 
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         </tr>
       </table>
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-<p >Compute the product automaton of a vector of timed automata. The resulting automaton's location set is the cartesian product of the input automata's locations. The product automaton either takes a single transition in either one of the automata for a non-synchronized action, or it simultaneously takes a transition in both automata for a synchronized action:</p><ol type="1">
+<p>Compute the product automaton of a vector of timed automata. The resulting automaton's location set is the cartesian product of the input automata's locations. The product automaton either takes a single transition in either one of the automata for a non-synchronized action, or it simultaneously takes a transition in both automata for a synchronized action:</p><ol type="1">
 <li>For every action a in H, (l1, l2) &ndash; (a, G1 U G2, Y1 U G2) --&gt; (l1', l2') if a. l1 &ndash; (a, G1, Y1) -&gt; l1' b. l2 &ndash; (a, G2, Y2) -&gt; l2'</li>
 <li>For every action a not in H (l1, l2) &ndash; (a, G1 U G2, Y1 U G2) --&gt; (l1', l2') if either a. l1 &ndash; (a, G1, Y1) -&gt; l1' and l2' = l2, or b. l2 &ndash; (a, G2, Y2) -&gt; l2' and l1' = l1</li>
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         </tr>
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-<p >Compare two TA transitions. </p>
+<p>Compare two TA transitions. </p>
 
 </div>
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         </tr>
       </table>
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-<p >Print a timed automaton by printing its components. </p>
+<p>Print a timed automaton by printing its components. </p>
 
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         </tr>
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-<p >Print a transition </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Print a transition </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">os</td><td>The ostream to print to </td></tr>
     <tr><td class="paramname">transition</td><td>The transition to print </td></tr>
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         </tr>
       </table>
 </div><div class="memdoc">
-<p >Print a product location. </p>
+<p>Print a product location. </p>
 
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-<p >Print a multimap of transitions. </p>
+<p>Print a multimap of transitions. </p>
 
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         </tr>
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-<p >Print a multimap of transitions. </p>
+<p>Print a multimap of transitions. </p>
 
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         </tr>
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-<p >Print a set of strings. This is useful, e.g., to print the set of clock resets. </p>
+<p>Print a set of strings. This is useful, e.g., to print the set of clock resets. </p>
 
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 </div><div class="memdoc">
 
 <p>Compare two transitions. </p>
-<p >Two transitions are equal if they use the same source, target, read the same symbol, have the same clock constraints, and reset the same clocks. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Two transitions are equal if they use the same source, target, read the same symbol, have the same clock constraints, and reset the same clocks. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">lhs</td><td>The left-hand side <a class="el" href="classtacos_1_1automata_1_1ta_1_1Transition.html" title="A transition in a timed automaton.">Transition</a> </td></tr>
     <tr><td class="paramname">rhs</td><td>The right-hand side <a class="el" href="classtacos_1_1automata_1_1ta_1_1Transition.html" title="A transition in a timed automaton.">Transition</a> </td></tr>
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         </tr>
       </table>
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-<p >Compare two TA transitions. </p>
+<p>Compare two TA transitions. </p>
 
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         </tr>
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-<p >Parse a proto of a product TA. </p>
+<p>Parse a proto of a product TA. </p>
 
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         </tr>
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-<p >Parse a proto of a simple TA. </p>
+<p>Parse a proto of a simple TA. </p>
 
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       </table>
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-<p >Convert a TA to a proto. </p>
+<p>Convert a TA to a proto. </p>
 
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
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diff --git a/docs/namespacetacos_1_1logic.html b/docs/namespacetacos_1_1logic.html
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 Functions</h2></td></tr>
 <tr class="memitem:ac1ee8eb3c92c08c9c4d2cb7c100920a9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classtacos_1_1logic_1_1MTLFormula.html">MTLFormula</a>&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1logic.html#ac1ee8eb3c92c08c9c4d2cb7c100920a9">parse_proto</a> (const proto::MTLFormula &amp;mtl_formula)</td></tr>
-<tr class="memdesc:ac1ee8eb3c92c08c9c4d2cb7c100920a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parse an <a class="el" href="classtacos_1_1logic_1_1MTLFormula.html" title="Class representing an MTL-formula with the usual operators.">MTLFormula</a> from a proto.  <a href="namespacetacos_1_1logic.html#ac1ee8eb3c92c08c9c4d2cb7c100920a9">More...</a><br /></td></tr>
+<tr class="memdesc:ac1ee8eb3c92c08c9c4d2cb7c100920a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parse an <a class="el" href="classtacos_1_1logic_1_1MTLFormula.html" title="Class representing an MTL-formula with the usual operators.">MTLFormula</a> from a proto.  <br /></td></tr>
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 <a class="el" href="namespacetacos_1_1logic.html#aa7732d54191ff35a21b5ec0a6f0be389">LOP</a>&#160;</td><td class="memItemRight" valign="bottom"><b>dual</b> (<a class="el" href="namespacetacos_1_1logic.html#aa7732d54191ff35a21b5ec0a6f0be389">LOP</a> in)</td></tr>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p >MTLFormulas and types related to MTL. </p>
+<div class="textblock"><p>MTLFormulas and types related to MTL. </p>
 </div><h2 class="groupheader">Function Documentation</h2>
 <a id="a90b39a047b2026f65cbdd2dd91c65d3b" name="a90b39a047b2026f65cbdd2dd91c65d3b"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a90b39a047b2026f65cbdd2dd91c65d3b">&#9670;&#160;</a></span>finally()</h2>
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         </tr>
       </table>
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-<p >Create a formula F_I phi, which is equivalent to True Until_I phi. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Create a formula F_I phi, which is equivalent to True Until_I phi. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">phi</td><td>The sub-formula phi that must eventually be satisfied. </td></tr>
     <tr><td class="paramname">duration</td><td>The time bound I for the finally operator (i.e., phi must be satisfied within this interval) </td></tr>
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         </tr>
       </table>
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-<p >Create a formula G_I phi, which is equivalent to not(F_I not phi) </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Create a formula G_I phi, which is equivalent to not(F_I not phi) </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">phi</td><td>The sub-formula phi that must always be satisfied. </td></tr>
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diff --git a/docs/namespacetacos_1_1mtl__ata__translation.html b/docs/namespacetacos_1_1mtl__ata__translation.html
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 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p >Translate an MTL formula into an ATA. </p>
+<div class="textblock"><p>Translate an MTL formula into an ATA. </p>
 </div><h2 class="groupheader">Typedef Documentation</h2>
 <a id="a70f800f4bbac7770e0058cb382516e7e" name="a70f800f4bbac7770e0058cb382516e7e"></a>
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         </tr>
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-<p >The resulting type is an ATA over MTLFormulas and AtomicPropositions. </p>
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 </div>
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-<p >Formulas are always ATA formulas over MTLFormulas. </p>
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-<p >Formulas are always ATA formulas over MTLFormulas. </p>
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-<p >Formulas are always ATA formulas over MTLFormulas. </p>
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         </tr>
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-<p >Formulas are always ATA formulas over MTLFormulas. </p>
+<p>Formulas are always ATA formulas over MTLFormulas. </p>
 
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         </tr>
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-<p >Formulas are always ATA formulas over MTLFormulas. </p>
+<p>Formulas are always ATA formulas over MTLFormulas. </p>
 
 </div>
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         </tr>
       </table>
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-<p >Formulas are always ATA formulas over MTLFormulas. </p>
+<p>Formulas are always ATA formulas over MTLFormulas. </p>
 
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         </tr>
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-<p >Formulas are always ATA formulas over MTLFormulas. </p>
+<p>Formulas are always ATA formulas over MTLFormulas. </p>
 
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-<p >The resulting type is an ATA over MTLFormulas and AtomicPropositions. </p>
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-<p >Formulas are always ATA formulas over MTLFormulas. </p>
+<p>Formulas are always ATA formulas over MTLFormulas. </p>
 
 </div>
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@@ -343,7 +343,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1d8a3683970d2141d83ac554
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       </table>
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-<p >Compute the ATA alphabet for the given input alphabet. Depending on whether we are using state-based or event-based constraints, the ATA alphabet is either the same as the input alphabet, or its powerset. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Compute the ATA alphabet for the given input alphabet. Depending on whether we are using state-based or event-based constraints, the ATA alphabet is either the same as the input alphabet, or its powerset. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">input_alphabet</td><td>The symbols used in the constraints </td></tr>
   </table>
@@ -370,7 +370,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3e2a544fc5928c04361a790a
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Compute the closure of a formula. A sub-formula is part of the closure if its operator type is until or dual until. </p>
+<p>Compute the closure of a formula. A sub-formula is part of the closure if its operator type is until or dual until. </p>
 
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@@ -390,7 +390,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a745fca06557c93be952a967f
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Get the initial location of the ATA. </p>
+<p>Get the initial location of the ATA. </p>
 
 </div>
 </div>
@@ -410,7 +410,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab126f219821b9cd069fb0943
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Get the sink location of the ATAs. </p>
+<p>Get the sink location of the ATAs. </p>
 
 </div>
 </div>
@@ -447,7 +447,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0955bb0ef252115f8c55f99b
         </tr>
       </table>
 </div><div class="memdoc">
-<p >The init function, as defined by Ouaknine and Worrell, 2005. </p>
+<p>The init function, as defined by Ouaknine and Worrell, 2005. </p>
 
 </div>
 </div>
@@ -478,7 +478,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6d618ca2aecd90f49f7f5385
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Translate an MTL formula into an ATA. Create the ATA closely following the construction by Ouaknine and Worrell, 2005. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Translate an MTL formula into an ATA. Create the ATA closely following the construction by Ouaknine and Worrell, 2005. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">input_formula</td><td>The formula to translate </td></tr>
     <tr><td class="paramname">input_alphabet</td><td>The alphabet that the ATA should read, defaults to the symbols of the formula. </td></tr>
@@ -516,7 +516,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a532a59100be1b4f35450c115
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Translate an MTL formula into an ATA. Create the ATA closely following the construction by Ouaknine and Worrell, 2005. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Translate an MTL formula into an ATA. Create the ATA closely following the construction by Ouaknine and Worrell, 2005. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">input_formula</td><td>The formula to translate </td></tr>
     <tr><td class="paramname">input_alphabet</td><td>The alphabet that the ATA should read, defaults to the symbols of the formula. </td></tr>
@@ -530,7 +530,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a532a59100be1b4f35450c115
 </div><!-- contents -->
 <!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/namespacetacos_1_1search.html b/docs/namespacetacos_1_1search.html
index c148ec9d..02e3db47 100644
--- a/docs/namespacetacos_1_1search.html
+++ b/docs/namespacetacos_1_1search.html
@@ -3,7 +3,7 @@
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 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
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@@ -30,7 +30,7 @@
 </table>
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-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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@@ -151,7 +151,7 @@
 <tr class="memitem:a7ced796f42ada87c6ca0983eeed5d900"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#a7ced796f42ada87c6ca0983eeed5d900">GologState</a> = <a class="el" href="structtacos_1_1search_1_1PlantState.html">PlantState</a>&lt; <a class="el" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a> &gt;</td></tr>
 <tr class="separator:a7ced796f42ada87c6ca0983eeed5d900"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aacb5e85ba2f250d528e06f4badd8411c"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c">GologConfiguration</a> = <a class="el" href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a>&lt; <a class="el" href="structtacos_1_1search_1_1GologLocation.html">GologLocation</a> &gt;</td></tr>
-<tr class="memdesc:aacb5e85ba2f250d528e06f4badd8411c"><td class="mdescLeft">&#160;</td><td class="mdescRight">A configuration of a Golog program.  <a href="namespacetacos_1_1search.html#aacb5e85ba2f250d528e06f4badd8411c">More...</a><br /></td></tr>
+<tr class="memdesc:aacb5e85ba2f250d528e06f4badd8411c"><td class="mdescLeft">&#160;</td><td class="mdescRight">A configuration of a Golog program.  <br /></td></tr>
 <tr class="separator:aacb5e85ba2f250d528e06f4badd8411c"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a308143750fcb4a93cb927bcb8b1fda94"><td class="memTemplParams" colspan="2">template&lt;typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:a308143750fcb4a93cb927bcb8b1fda94"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">ATAConfiguration</a> = <a class="el" href="namespacetacos_1_1automata_1_1ata.html#af24ea1d7940b3fa307d6c23b69088bfb">automata::ata::Configuration</a>&lt; <a class="el" href="classtacos_1_1logic_1_1MTLFormula.html">logic::MTLFormula</a>&lt; ConstraintSymbolType &gt; &gt;</td></tr>
@@ -273,15 +273,15 @@
 <tr class="separator:a1826c8c3b4a03ca585d4089a361efb6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:af6b7742989619f44e45a308b85c7e330"><td class="memTemplParams" colspan="2">template&lt;typename LocationT , typename ConstraintSymbolT &gt; </td></tr>
 <tr class="memitem:af6b7742989619f44e45a308b85c7e330"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#af6b7742989619f44e45a308b85c7e330">is_monotonically_dominated</a> (const <a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; LocationT, ConstraintSymbolT &gt; &amp;w1, const <a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; LocationT, ConstraintSymbolT &gt; &amp;w2)</td></tr>
-<tr class="memdesc:af6b7742989619f44e45a308b85c7e330"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if the word w1 is monotonically dominated by w2. The word w1 is monotonically dominated by w2 if each partition of w1 is a subset of a partition in w2, and those partitions in w2 are strictly monotonically increasing.  <a href="namespacetacos_1_1search.html#af6b7742989619f44e45a308b85c7e330">More...</a><br /></td></tr>
+<tr class="memdesc:af6b7742989619f44e45a308b85c7e330"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if the word w1 is monotonically dominated by w2. The word w1 is monotonically dominated by w2 if each partition of w1 is a subset of a partition in w2, and those partitions in w2 are strictly monotonically increasing.  <br /></td></tr>
 <tr class="separator:af6b7742989619f44e45a308b85c7e330"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a34a3edeba6a8e465bfc6d0f7a7f4911d"><td class="memTemplParams" colspan="2">template&lt;typename LocationT , typename ConstraintSymbolT &gt; </td></tr>
 <tr class="memitem:a34a3edeba6a8e465bfc6d0f7a7f4911d"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#a34a3edeba6a8e465bfc6d0f7a7f4911d">is_monotonically_dominated</a> (const std::set&lt; <a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; LocationT, ConstraintSymbolT &gt; &gt; &amp;set1, const std::set&lt; <a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; LocationT, ConstraintSymbolT &gt; &gt; &amp;set2)</td></tr>
-<tr class="memdesc:a34a3edeba6a8e465bfc6d0f7a7f4911d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check the powerset order induced by monotonic domination. Checks if each word of the second set monotonically dominates a word from the first set.  <a href="namespacetacos_1_1search.html#a34a3edeba6a8e465bfc6d0f7a7f4911d">More...</a><br /></td></tr>
+<tr class="memdesc:a34a3edeba6a8e465bfc6d0f7a7f4911d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check the powerset order induced by monotonic domination. Checks if each word of the second set monotonically dominates a word from the first set.  <br /></td></tr>
 <tr class="separator:a34a3edeba6a8e465bfc6d0f7a7f4911d"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a09625b031515d259482789703d06c50e"><td class="memTemplParams" colspan="2">template&lt;typename LocationT , typename ActionT , typename ConstraintSymbolT &gt; </td></tr>
 <tr class="memitem:a09625b031515d259482789703d06c50e"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#a09625b031515d259482789703d06c50e">ancestor_is_monotonically_dominated</a> (const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">SearchTreeNode</a>&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;node, const std::set&lt; <a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; LocationT, ConstraintSymbolT &gt; &gt; &amp;words, std::vector&lt; const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">SearchTreeNode</a>&lt; LocationT, ActionT, ConstraintSymbolT &gt; * &gt; &amp;seen_nodes)</td></tr>
-<tr class="memdesc:a09625b031515d259482789703d06c50e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check monotonic domination for a node and its ancestors.  <a href="namespacetacos_1_1search.html#a09625b031515d259482789703d06c50e">More...</a><br /></td></tr>
+<tr class="memdesc:a09625b031515d259482789703d06c50e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check monotonic domination for a node and its ancestors.  <br /></td></tr>
 <tr class="separator:a09625b031515d259482789703d06c50e"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aed3f58c10ce65ea39b4c0a1394f946ae"><td class="memTemplParams" colspan="2">template&lt;typename LocationT , typename ActionT , typename ConstraintSymbolT &gt; </td></tr>
 <tr class="memitem:aed3f58c10ce65ea39b4c0a1394f946ae"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#aed3f58c10ce65ea39b4c0a1394f946ae">dominates_ancestor</a> (<a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">SearchTreeNode</a>&lt; LocationT, ActionT, ConstraintSymbolT &gt; *node)</td></tr>
@@ -291,7 +291,7 @@
 <tr class="separator:a0723d87047871ff1a7b253a5ad4fb75a"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a437a459d0802794356fd661fdfcb1beb"><td class="memTemplParams" colspan="2">template&lt;typename Location , typename ActionType , typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:a437a459d0802794356fd661fdfcb1beb"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#a437a459d0802794356fd661fdfcb1beb">has_satisfiable_ata_configuration</a> (const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">SearchTreeNode</a>&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node)</td></tr>
-<tr class="memdesc:a437a459d0802794356fd661fdfcb1beb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the node has a satisfiable ATA configuration.  <a href="namespacetacos_1_1search.html#a437a459d0802794356fd661fdfcb1beb">More...</a><br /></td></tr>
+<tr class="memdesc:a437a459d0802794356fd661fdfcb1beb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the node has a satisfiable ATA configuration.  <br /></td></tr>
 <tr class="separator:a437a459d0802794356fd661fdfcb1beb"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:af2945606aeb002b8ca1b6aac1fca5cf4"><td class="memTemplParams" colspan="2">template&lt;typename Location , typename ActionType , typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:af2945606aeb002b8ca1b6aac1fca5cf4"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#af2945606aeb002b8ca1b6aac1fca5cf4">label_graph</a> (<a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">SearchTreeNode</a>&lt; Location, ActionType, ConstraintSymbolType &gt; *node, const std::set&lt; ActionType &gt; &amp;controller_actions, const std::set&lt; ActionType &gt; &amp;environment_actions)</td></tr>
@@ -304,7 +304,7 @@
 <tr class="separator:ab348ee8f9b6f12cc57f698def49abcdc"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a7e8076dcf52da5688898df56869e0ccb"><td class="memTemplParams" colspan="2">template&lt;typename Location , typename ActionType , typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:a7e8076dcf52da5688898df56869e0ccb"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#a7e8076dcf52da5688898df56869e0ccb">print_to_ostream</a> (std::ostream &amp;os, const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">search::SearchTreeNode</a>&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node, __attribute__((unused)) bool print_children=false, __attribute__((unused)) unsigned int indent=0)</td></tr>
-<tr class="memdesc:a7e8076dcf52da5688898df56869e0ccb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print a <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html" title="A node in the search tree.">SearchTreeNode</a>, optionally the whole tree. By default, just print information about the node itself on a single line. Optionally, also print all its children, effectively printing the whole sub-tree.  <a href="namespacetacos_1_1search.html#a7e8076dcf52da5688898df56869e0ccb">More...</a><br /></td></tr>
+<tr class="memdesc:a7e8076dcf52da5688898df56869e0ccb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print a <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html" title="A node in the search tree.">SearchTreeNode</a>, optionally the whole tree. By default, just print information about the node itself on a single line. Optionally, also print all its children, effectively printing the whole sub-tree.  <br /></td></tr>
 <tr class="separator:a7e8076dcf52da5688898df56869e0ccb"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a43707bd41be28c4b40e1a8d66d10aae7"><td class="memTemplParams" colspan="2">template&lt;typename Location , typename ActionType , typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:a43707bd41be28c4b40e1a8d66d10aae7"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#a43707bd41be28c4b40e1a8d66d10aae7">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">search::SearchTreeNode</a>&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node)</td></tr>
@@ -317,14 +317,14 @@
 <tr class="separator:a21244a020f54413d994c9dcfb2c86868"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:af4d85f6ab5f80896f5b3533748f03aad"><td class="memTemplParams" colspan="2">template&lt;typename Location , typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:af4d85f6ab5f80896f5b3533748f03aad"><td class="memTemplItemLeft" align="right" valign="top">std::set&lt; <a class="el" href="namespacetacos_1_1search.html#ab705e3bb9ef2fa79c731170e72cee5ce">ABRegionSymbol</a>&lt; Location, ConstraintSymbolType &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#af4d85f6ab5f80896f5b3533748f03aad">increment_region_indexes</a> (const std::set&lt; <a class="el" href="namespacetacos_1_1search.html#ab705e3bb9ef2fa79c731170e72cee5ce">ABRegionSymbol</a>&lt; Location, ConstraintSymbolType &gt; &gt; &amp;configurations, RegionIndex max_region_index)</td></tr>
-<tr class="memdesc:af4d85f6ab5f80896f5b3533748f03aad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Increment the region indexes in the configurations of the given ABRegionSymbol.  <a href="namespacetacos_1_1search.html#af4d85f6ab5f80896f5b3533748f03aad">More...</a><br /></td></tr>
+<tr class="memdesc:af4d85f6ab5f80896f5b3533748f03aad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Increment the region indexes in the configurations of the given ABRegionSymbol.  <br /></td></tr>
 <tr class="separator:af4d85f6ab5f80896f5b3533748f03aad"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a85ea22a4da780105894eaf450fc8bc43"><td class="memTemplParams" colspan="2">template&lt;typename Location , typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:a85ea22a4da780105894eaf450fc8bc43"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; Location, ConstraintSymbolType &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#a85ea22a4da780105894eaf450fc8bc43">get_time_successor</a> (const <a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; Location, ConstraintSymbolType &gt; &amp;word, RegionIndex K)</td></tr>
 <tr class="separator:a85ea22a4da780105894eaf450fc8bc43"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aaf0d1607619d3109d9e2fc170060f438"><td class="memTemplParams" colspan="2">template&lt;typename Location , typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:aaf0d1607619d3109d9e2fc170060f438"><td class="memTemplItemLeft" align="right" valign="top">std::pair&lt; <a class="el" href="structtacos_1_1PlantConfiguration.html">PlantConfiguration</a>&lt; Location &gt;, <a class="el" href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">ATAConfiguration</a>&lt; ConstraintSymbolType &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#aaf0d1607619d3109d9e2fc170060f438">get_candidate</a> (const <a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; Location, ConstraintSymbolType &gt; &amp;word)</td></tr>
-<tr class="memdesc:aaf0d1607619d3109d9e2fc170060f438"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a concrete candidate-state for a given valid canonical word. The candidate consists of a concrete TA-state and a concrete ATA-state.  <a href="namespacetacos_1_1search.html#aaf0d1607619d3109d9e2fc170060f438">More...</a><br /></td></tr>
+<tr class="memdesc:aaf0d1607619d3109d9e2fc170060f438"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a concrete candidate-state for a given valid canonical word. The candidate consists of a concrete TA-state and a concrete ATA-state.  <br /></td></tr>
 <tr class="separator:aaf0d1607619d3109d9e2fc170060f438"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:abb30a4e7245b001bcb73528a8465a393"><td class="memTemplParams" colspan="2">template&lt;typename Location , typename ConstraintSymbolType &gt; </td></tr>
 <tr class="memitem:abb30a4e7245b001bcb73528a8465a393"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; Location, ConstraintSymbolType &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1search.html#abb30a4e7245b001bcb73528a8465a393">get_nth_time_successor</a> (const <a class="el" href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">CanonicalABWord</a>&lt; Location, ConstraintSymbolType &gt; &amp;word, RegionIndex n, RegionIndex K)</td></tr>
@@ -340,9 +340,9 @@
 <tr class="separator:adda42db964f83020d7318083eb58935e"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p >The search algorithm. </p>
-<p >Get the regionalized synchronous product of a TA and an ATA.</p>
-<p >This namespace contains the search algorithm that searches for a controller. </p>
+<div class="textblock"><p>The search algorithm. </p>
+<p>Get the regionalized synchronous product of a TA and an ATA.</p>
+<p>This namespace contains the search algorithm that searches for a controller. </p>
 </div><h2 class="groupheader">Typedef Documentation</h2>
 <a id="ab705e3bb9ef2fa79c731170e72cee5ce" name="ab705e3bb9ef2fa79c731170e72cee5ce"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#ab705e3bb9ef2fa79c731170e72cee5ce">&#9670;&#160;</a></span>ABRegionSymbol</h2>
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         </tr>
       </table>
 </div><div class="memdoc">
-<p >An ABRegionSymbol is either a TARegionState or an <a class="el" href="structtacos_1_1search_1_1ATARegionState.html" title="A regionalized ATA state.">ATARegionState</a> </p>
+<p>An ABRegionSymbol is either a TARegionState or an <a class="el" href="structtacos_1_1search_1_1ATARegionState.html" title="A regionalized ATA state.">ATARegionState</a> </p>
 
 </div>
 </div>
@@ -374,7 +374,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#af6a60514f433e080f772c65a
         </tr>
       </table>
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-<p >An ABSymbol is either a <a class="el" href="structtacos_1_1search_1_1PlantState.html" title="The state of a plant.">PlantState</a> or an ATAState </p>
+<p>An ABSymbol is either a <a class="el" href="structtacos_1_1search_1_1PlantState.html" title="The state of a plant.">PlantState</a> or an ATAState </p>
 
 </div>
 </div>
@@ -391,7 +391,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a308143750fcb4a93cb927bcb
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Always use ATA configurations over MTLFormulas </p>
+<p>Always use ATA configurations over MTLFormulas </p>
 
 </div>
 </div>
@@ -408,7 +408,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1e708fc21b10a16ce4dad5a4
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Always use ATA states over MTLFormulas </p>
+<p>Always use ATA states over MTLFormulas </p>
 
 </div>
 </div>
@@ -425,7 +425,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a30908a2fd33b56099708770d
         </tr>
       </table>
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-<p >A canonical word H(s) for a regionalized A/B configuration </p>
+<p>A canonical word H(s) for a regionalized A/B configuration </p>
 
 </div>
 </div>
@@ -442,7 +442,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aacb5e85ba2f250d528e06f4b
 </div><div class="memdoc">
 
 <p>A configuration of a Golog program. </p>
-<p >Similar to TAs, a configuration is a program location with a set of clock valuations. </p>
+<p>Similar to TAs, a configuration is a program location with a set of clock valuations. </p>
 
 </div>
 </div>
@@ -457,7 +457,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7ced796f42ada87c6ca0983e
         </tr>
       </table>
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-<p >An expanded state (location, clock_name, clock_valuation) of a Golog program. </p>
+<p>An expanded state (location, clock_name, clock_valuation) of a Golog program. </p>
 
 </div>
 </div>
@@ -474,7 +474,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2ea39fde43a448903e2ceec2
         </tr>
       </table>
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-<p >Short-hand type alias for a configuration of a TA </p>
+<p>Short-hand type alias for a configuration of a TA </p>
 
 </div>
 </div>
@@ -491,7 +491,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8ac41fde720730d6bd5cf7e1
         </tr>
       </table>
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-<p >An expanded state (location, clock_name, clock_valuation) of a TA. </p>
+<p>An expanded state (location, clock_name, clock_valuation) of a TA. </p>
 
 </div>
 </div>
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   </tr>
 </table>
 </div><div class="memdoc">
-<p >The reason for the current label, used for more detailed output </p>
+<p>The reason for the current label, used for more detailed output </p>
 
 </div>
 </div>
@@ -538,7 +538,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a962d4903e2fc203c29d1e701
   </tr>
 </table>
 </div><div class="memdoc">
-<p >The label of the search node </p>
+<p>The label of the search node </p>
 
 </div>
 </div>
@@ -561,15 +561,15 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac622d9cfbc0f14a177f812b3
   </tr>
 </table>
 </div><div class="memdoc">
-<p >The state of the search node </p>
+<p>The state of the search node </p>
 <table class="fieldtable">
-<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ac622d9cfbc0f14a177f812b39c3f9302a696b031073e74bf2cb98e5ef201d4aa3" name="ac622d9cfbc0f14a177f812b39c3f9302a696b031073e74bf2cb98e5ef201d4aa3"></a>UNKNOWN&#160;</td><td class="fielddoc"><p >The node is not explored yet </p>
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ac622d9cfbc0f14a177f812b39c3f9302a696b031073e74bf2cb98e5ef201d4aa3" name="ac622d9cfbc0f14a177f812b39c3f9302a696b031073e74bf2cb98e5ef201d4aa3"></a>UNKNOWN&#160;</td><td class="fielddoc"><p>The node is not explored yet </p>
 </td></tr>
-<tr><td class="fieldname"><a id="ac622d9cfbc0f14a177f812b39c3f9302a45802158e78dd9584161629098018fe8" name="ac622d9cfbc0f14a177f812b39c3f9302a45802158e78dd9584161629098018fe8"></a>GOOD&#160;</td><td class="fielddoc"><p >No undesired behavior is possible </p>
+<tr><td class="fieldname"><a id="ac622d9cfbc0f14a177f812b39c3f9302a45802158e78dd9584161629098018fe8" name="ac622d9cfbc0f14a177f812b39c3f9302a45802158e78dd9584161629098018fe8"></a>GOOD&#160;</td><td class="fielddoc"><p>No undesired behavior is possible </p>
 </td></tr>
-<tr><td class="fieldname"><a id="ac622d9cfbc0f14a177f812b39c3f9302af1b68d66337a81cfa0d2076171cba2a8" name="ac622d9cfbc0f14a177f812b39c3f9302af1b68d66337a81cfa0d2076171cba2a8"></a>BAD&#160;</td><td class="fielddoc"><p >Undesired behavior, i.e., the specification is violated </p>
+<tr><td class="fieldname"><a id="ac622d9cfbc0f14a177f812b39c3f9302af1b68d66337a81cfa0d2076171cba2a8" name="ac622d9cfbc0f14a177f812b39c3f9302af1b68d66337a81cfa0d2076171cba2a8"></a>BAD&#160;</td><td class="fielddoc"><p>Undesired behavior, i.e., the specification is violated </p>
 </td></tr>
-<tr><td class="fieldname"><a id="ac622d9cfbc0f14a177f812b39c3f9302abb4784231ff45108ee20bad16e4a2e8c" name="ac622d9cfbc0f14a177f812b39c3f9302abb4784231ff45108ee20bad16e4a2e8c"></a>DEAD&#160;</td><td class="fielddoc"><p >The node does not have any successors </p>
+<tr><td class="fieldname"><a id="ac622d9cfbc0f14a177f812b39c3f9302abb4784231ff45108ee20bad16e4a2e8c" name="ac622d9cfbc0f14a177f812b39c3f9302abb4784231ff45108ee20bad16e4a2e8c"></a>DEAD&#160;</td><td class="fielddoc"><p>The node does not have any successors </p>
 </td></tr>
 </table>
 
@@ -611,7 +611,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a09625b031515d25948278970
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 <p>Check monotonic domination for a node and its ancestors. </p>
-<p >Check if the given words monotonically dominate the given node or one of its ancestors. Note that the recursion relies on the fact that there are no loops in the ancestors. This is guaranteed if a node that monotonically dominates some ancestor is never expanded. If this is not the case, this function may overflow the stack by infinite recursion.</p>
+<p>Check if the given words monotonically dominate the given node or one of its ancestors. Note that the recursion relies on the fact that there are no loops in the ancestors. This is guaranteed if a node that monotonically dominates some ancestor is never expanded. If this is not the case, this function may overflow the stack by infinite recursion.</p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">node</td><td>Check this node and its ancestors whether its words is monotonically dominated </td></tr>
@@ -641,7 +641,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aed3f58c10ce65ea39b4c0a13
         </tr>
       </table>
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-<p >Check if there is an ancestor that monotonally dominates the given node </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Check if there is an ancestor that monotonally dominates the given node </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">node</td><td>The node to check </td></tr>
   </table>
@@ -719,7 +719,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a17413bc3a5f5b9753f43b7a1
         </tr>
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-<p >Get the canonical word H(s) for the given A/B configuration s, closely following Bouyer et al., 2006. The TAStates of s are first expanded into triples (location, clock, valuation) (one for each clock), and then merged with the pairs from the ATAConfiguration. The resulting set is then partitioned according to the fractional part of the clock valuations. Then, each tuple is regionalized by replacing the clock valuation with the respective region index. The resulting word is a sequence of sets, each set containing regionalized tuples that describe a TAState or ATAState. The sequence is sorted by the fractional part of the original clock valuations. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Get the canonical word H(s) for the given A/B configuration s, closely following Bouyer et al., 2006. The TAStates of s are first expanded into triples (location, clock, valuation) (one for each clock), and then merged with the pairs from the ATAConfiguration. The resulting set is then partitioned according to the fractional part of the clock valuations. Then, each tuple is regionalized by replacing the clock valuation with the respective region index. The resulting word is a sequence of sets, each set containing regionalized tuples that describe a TAState or ATAState. The sequence is sorted by the fractional part of the original clock valuations. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">plant_configuration</td><td>The configuration of the plant A (e.g., a TA configuration) </td></tr>
     <tr><td class="paramname">ata_configuration</td><td>The configuration of the alternating timed automaton B </td></tr>
@@ -758,7 +758,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac503b716d693708b81e71892
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Compute the direct time successors which introduce an increment in the ATA configuration for each of the passed words. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Compute the direct time successors which introduce an increment in the ATA configuration for each of the passed words. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">canonical_words</td><td>The set of canonical words to compute time successors of </td></tr>
     <tr><td class="paramname">K</td><td>The maximal constant </td></tr>
@@ -802,7 +802,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#abb30a4e7245b001bcb73528a
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       </table>
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-<p >Get the nth time successor. </p>
+<p>Get the nth time successor. </p>
 
 </div>
 </div>
@@ -823,7 +823,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9370aca19be81e7b4076c52b
         </tr>
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-<p >Get the clock valuation for an ABRegionSymbol, which is either a TARegionState or an <a class="el" href="structtacos_1_1search_1_1ATARegionState.html" title="A regionalized ATA state.">ATARegionState</a>. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Get the clock valuation for an ABRegionSymbol, which is either a TARegionState or an <a class="el" href="structtacos_1_1search_1_1ATARegionState.html" title="A regionalized ATA state.">ATARegionState</a>. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">w</td><td>The symbol to read the time from </td></tr>
   </table>
@@ -850,7 +850,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac41d394d31bc0308509b84c5
         </tr>
       </table>
 </div><div class="memdoc">
-<p >Get the clock valuation for an ABSymbol, which is either a TA state or an ATA state. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Get the clock valuation for an ABSymbol, which is either a TA state or an ATA state. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">w</td><td>The symbol to read the time from </td></tr>
   </table>
@@ -887,7 +887,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a85ea22a4da780105894eaf45
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-<p >Get the CanonicalABWord that directly follows the given word. The next word is the word Abs where the Abs_i with the maximal fractional part is incremented such that it goes into the next region. This corresponds to increasing the clock value with the maximal fractional part such that it reaches the next region. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Get the CanonicalABWord that directly follows the given word. The next word is the word Abs where the Abs_i with the maximal fractional part is incremented such that it goes into the next region. This corresponds to increasing the clock value with the maximal fractional part such that it reaches the next region. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">word</td><td>The word for which to compute the time successor </td></tr>
     <tr><td class="paramname">K</td><td>The upper bound for all constants appearing in clock constraints </td></tr>
@@ -925,7 +925,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a84ab5d46d8080710d76fb0e2
         </tr>
       </table>
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-<p >Compute all time successors of a canonical word. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Compute all time successors of a canonical word. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">canonical_word</td><td>The canonical word to compute the time successors of </td></tr>
     <tr><td class="paramname">K</td><td>The maximal constant </td></tr>
@@ -963,7 +963,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#adda42db964f83020d7318083
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-<p >Compute all time successors of a set of canonical words (i.e., of a node in the search tree). </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Compute all time successors of a set of canonical words (i.e., of a node in the search tree). </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">canonical_words</td><td>A set of canonical words to compute the time successors of </td></tr>
     <tr><td class="paramname">K</td><td>The maximal constant </td></tr>
@@ -993,7 +993,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a437a459d0802794356fd661f
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 <p>Check if the node has a satisfiable ATA configuration. </p>
-<p >If every word in the node contains an ATA sink location, than none of those configurations is satisfiable. </p><dl class="section return"><dt>Returns</dt><dd>false if every word contains an ATA sink location </dd></dl>
+<p>If every word in the node contains an ATA sink location, than none of those configurations is satisfiable. </p><dl class="section return"><dt>Returns</dt><dd>false if every word contains an ATA sink location </dd></dl>
 
 </div>
 </div>
@@ -1026,7 +1026,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#af4d85f6ab5f80896f5b35337
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 <p>Increment the region indexes in the configurations of the given ABRegionSymbol. </p>
-<p >This is a helper function to increase the region index so we reach the next region set. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>This is a helper function to increase the region index so we reach the next region set. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">configurations</td><td>The set of configurations to increment the region indexes in </td></tr>
     <tr><td class="paramname">max_region_index</td><td>The maximal region index that may never be passed </td></tr>
@@ -1148,7 +1148,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab8e378b2721c0631f6e84124
         </tr>
       </table>
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-<p >Validate a canonical word. Check a word whether it is a valid canonical word. Throws an exception if this is not the case. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Validate a canonical word. Check a word whether it is a valid canonical word. Throws an exception if this is not the case. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">word</td><td>The word to check </td></tr>
     <tr><td class="paramname">max_region</td><td>The maximal region index that may occur in the canonical word </td></tr>
@@ -1192,8 +1192,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#af2945606aeb002b8ca1b6aac
         </tr>
       </table>
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-<p >Label the search graph.</p>
-<p >Traverse the search graph and label it bottom-up. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Label the search graph.</p>
+<p>Traverse the search graph and label it bottom-up. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">node</td><td>The node to start the traversal from, usually the root of the search graph. </td></tr>
     <tr><td class="paramname">controller_actions</td><td>The set of actions that the controller can select. </td></tr>
@@ -1231,7 +1231,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#af95a379f61b86201bdbcac73
         </tr>
       </table>
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-<p >Print a node to a string. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Print a node to a string. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">node</td><td>The node to print </td></tr>
     <tr><td class="paramname">print_children</td><td>If true, also print the node's children </td></tr>
@@ -1269,7 +1269,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9c54f3474032e62a3438a4fd
         </tr>
       </table>
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-<p >Compare two ATA region states. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Compare two ATA region states. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">s1</td><td>The first state </td></tr>
     <tr><td class="paramname">s2</td><td>The second state </td></tr>
@@ -1305,7 +1305,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac29b6bff518862f2a6d00beb
         </tr>
       </table>
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-<p >Compare two Golog locations. </p>
+<p>Compare two Golog locations. </p>
 
 </div>
 </div>
@@ -1336,7 +1336,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72562689a671c2ede8d32b9d
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       </table>
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-<p >Compare two plant region states. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Compare two plant region states. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">s1</td><td>The first state </td></tr>
     <tr><td class="paramname">s2</td><td>The second state </td></tr>
@@ -1374,7 +1374,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a50b0b23b5e5d398a079b2442
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-<tr class="memdesc:a6e9e04cc9e23f8f4afbab7093baea99b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interactively visualize a search tree.  <a href="namespacetacos_1_1visualization.html#a6e9e04cc9e23f8f4afbab7093baea99b">More...</a><br /></td></tr>
+<tr class="memdesc:a6e9e04cc9e23f8f4afbab7093baea99b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interactively visualize a search tree.  <br /></td></tr>
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 <tr class="memitem:af729ac71fe561aeab298df257f92c226"><td class="memTemplParams" colspan="2">template&lt;typename LocationT , typename ActionT &gt; </td></tr>
 <tr class="memitem:af729ac71fe561aeab298df257f92c226"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html">utilities::graphviz::Graph</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1visualization.html#af729ac71fe561aeab298df257f92c226">ta_to_graphviz</a> (const <a class="el" href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">automata::ta::TimedAutomaton</a>&lt; LocationT, ActionT &gt; &amp;ta, bool show_node_labels=true)</td></tr>
-<tr class="memdesc:af729ac71fe561aeab298df257f92c226"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a dot graph from a timed automaton.  <a href="namespacetacos_1_1visualization.html#af729ac71fe561aeab298df257f92c226">More...</a><br /></td></tr>
+<tr class="memdesc:af729ac71fe561aeab298df257f92c226"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a dot graph from a timed automaton.  <br /></td></tr>
 <tr class="separator:af729ac71fe561aeab298df257f92c226"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a7881b55db24f3ae949b6526a5b1f5b10"><td class="memTemplParams" colspan="2">template&lt;typename LocationT , typename ActionT , typename ConstraintSymbolT &gt; </td></tr>
 <tr class="memitem:a7881b55db24f3ae949b6526a5b1f5b10"><td class="memTemplItemLeft" align="right" valign="top">std::optional&lt; <a class="el" href="classtacos_1_1utilities_1_1graphviz_1_1Node.html">utilities::graphviz::Node</a> &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1visualization.html#a7881b55db24f3ae949b6526a5b1f5b10">add_search_node_to_graph</a> (const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">search::SearchTreeNode</a>&lt; LocationT, ActionT, ConstraintSymbolT &gt; *search_node, <a class="el" href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html">utilities::graphviz::Graph</a> *graph, std::function&lt; bool(const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">search::SearchTreeNode</a>&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;)&gt; node_selector)</td></tr>
-<tr class="memdesc:a7881b55db24f3ae949b6526a5b1f5b10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a search tree node to a dot graph visualization of the search tree.  <a href="namespacetacos_1_1visualization.html#a7881b55db24f3ae949b6526a5b1f5b10">More...</a><br /></td></tr>
+<tr class="memdesc:a7881b55db24f3ae949b6526a5b1f5b10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a search tree node to a dot graph visualization of the search tree.  <br /></td></tr>
 <tr class="separator:a7881b55db24f3ae949b6526a5b1f5b10"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:ac996a6ab71cc96b8e51ed6c09b028f0d"><td class="memTemplParams" colspan="2">template&lt;typename LocationT , typename ActionT , typename ConstraintSymbolT &gt; </td></tr>
 <tr class="memitem:ac996a6ab71cc96b8e51ed6c09b028f0d"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html">utilities::graphviz::Graph</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1visualization.html#ac996a6ab71cc96b8e51ed6c09b028f0d">search_tree_to_graphviz</a> (const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">search::SearchTreeNode</a>&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;search_node, std::function&lt; bool(const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">search::SearchTreeNode</a>&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;)&gt; node_selector)</td></tr>
-<tr class="memdesc:ac996a6ab71cc96b8e51ed6c09b028f0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a graphviz graph visualizing the search tree.  <a href="namespacetacos_1_1visualization.html#ac996a6ab71cc96b8e51ed6c09b028f0d">More...</a><br /></td></tr>
+<tr class="memdesc:ac996a6ab71cc96b8e51ed6c09b028f0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a graphviz graph visualizing the search tree.  <br /></td></tr>
 <tr class="separator:ac996a6ab71cc96b8e51ed6c09b028f0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aeaf3f43512153fbd3a093a7ca5f744ce"><td class="memTemplParams" colspan="2">template&lt;typename LocationT , typename ActionT , typename ConstraintSymbolT &gt; </td></tr>
 <tr class="memitem:aeaf3f43512153fbd3a093a7ca5f744ce"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html">utilities::graphviz::Graph</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacetacos_1_1visualization.html#aeaf3f43512153fbd3a093a7ca5f744ce">search_tree_to_graphviz</a> (const <a class="el" href="classtacos_1_1search_1_1SearchTreeNode.html">search::SearchTreeNode</a>&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;search_node, bool skip_canceled=false)</td></tr>
-<tr class="memdesc:aeaf3f43512153fbd3a093a7ca5f744ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a graphviz graph visualizing the search tree.  <a href="namespacetacos_1_1visualization.html#aeaf3f43512153fbd3a093a7ca5f744ce">More...</a><br /></td></tr>
+<tr class="memdesc:aeaf3f43512153fbd3a093a7ca5f744ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a graphviz graph visualizing the search tree.  <br /></td></tr>
 <tr class="separator:aeaf3f43512153fbd3a093a7ca5f744ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p >Visualization tools for automata and search trees. </p>
+<div class="textblock"><p>Visualization tools for automata and search trees. </p>
 </div><h2 class="groupheader">Enumeration Type Documentation</h2>
 <a id="a1344d2d09ef6e8e236f2ed30d476e750" name="a1344d2d09ef6e8e236f2ed30d476e750"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a1344d2d09ef6e8e236f2ed30d476e750">&#9670;&#160;</a></span>Mode</h2>
@@ -149,9 +149,9 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1344d2d09ef6e8e236f2ed30
 
 <p>Possible modes of the interactive debugger. </p>
 <table class="fieldtable">
-<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a1344d2d09ef6e8e236f2ed30d476e750a61ee777e7f71dc466c3b2c685d8d313b" name="a1344d2d09ef6e8e236f2ed30d476e750a61ee777e7f71dc466c3b2c685d8d313b"></a>INSERT&#160;</td><td class="fielddoc"><p >Move around in the search tree. </p>
+<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a1344d2d09ef6e8e236f2ed30d476e750a61ee777e7f71dc466c3b2c685d8d313b" name="a1344d2d09ef6e8e236f2ed30d476e750a61ee777e7f71dc466c3b2c685d8d313b"></a>INSERT&#160;</td><td class="fielddoc"><p>Move around in the search tree. </p>
 </td></tr>
-<tr><td class="fieldname"><a id="a1344d2d09ef6e8e236f2ed30d476e750aa9d2a3c8f365a3154c0abc85af779a33" name="a1344d2d09ef6e8e236f2ed30d476e750aa9d2a3c8f365a3154c0abc85af779a33"></a>INSERT_AND_FOLLOW&#160;</td><td class="fielddoc"><p >Insert a child node but do not change the selected node. </p>
+<tr><td class="fieldname"><a id="a1344d2d09ef6e8e236f2ed30d476e750aa9d2a3c8f365a3154c0abc85af779a33" name="a1344d2d09ef6e8e236f2ed30d476e750aa9d2a3c8f365a3154c0abc85af779a33"></a>INSERT_AND_FOLLOW&#160;</td><td class="fielddoc"><p>Insert a child node but do not change the selected node. </p>
 </td></tr>
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@@ -193,7 +193,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7881b55db24f3ae949b6526a
 </div><div class="memdoc">
 
 <p>Add a search tree node to a dot graph visualization of the search tree. </p>
-<p >Add node as dot node to the graph. Additionally, add all its children along with edges from the given node to its children. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>Add node as dot node to the graph. Additionally, add all its children along with edges from the given node to its children. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">search_node</td><td>The node to add to the graph </td></tr>
     <tr><td class="paramname">graph</td><td>The graph to add the node to </td></tr>
@@ -320,7 +320,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6e9e04cc9e23f8f4afbab709
 </div><div class="memdoc">
 
 <p>Interactively visualize a search tree. </p>
-<p >This allows selecting and unselecting nodes to visualize one-by-one. This is helpful, e.g., to debug a particular controller path. </p><dl class="params"><dt>Parameters</dt><dd>
+<p>This allows selecting and unselecting nodes to visualize one-by-one. This is helpful, e.g., to debug a particular controller path. </p><dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramname">search_node</td><td>The search node to start with (usually the root of the search tree) </td></tr>
     <tr><td class="paramname">output_path</td><td>The path of the output file to write after each iteration. </td></tr>
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/numbers_8h_source.html b/docs/numbers_8h_source.html
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+<meta name="generator" content="Doxygen 1.9.7"/>
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-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_aa2ada33ae68e18ef41f8df5f5d8f4c78"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#aa2ada33ae68e18ef41f8df5f5d8f4c78">tacos::automata::ta::Integer</a></div><div class="ttdeci">unsigned Integer</div><div class="ttdoc">fix integer type</div><div class="ttdef"><b>Definition:</b> ta_regions.h:30</div></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1ApproxFloatComparator_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1ApproxFloatComparator.html">tacos::utilities::ApproxFloatComparator</a></div><div class="ttdoc">Sort into partitions by the fractional parts.</div><div class="ttdef"><b>Definition:</b> numbers.h:59</div></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1ApproxFloatComparator_html_adf06831d4c2c480934c6dd741cb99fda"><div class="ttname"><a href="structtacos_1_1utilities_1_1ApproxFloatComparator.html#adf06831d4c2c480934c6dd741cb99fda">tacos::utilities::ApproxFloatComparator::operator()</a></div><div class="ttdeci">bool operator()(const Float &amp;v1, const Float &amp;v2) const</div><div class="ttdoc">Compare two floats with approximate comparison.</div><div class="ttdef"><b>Definition:</b> numbers.h:66</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_aa2ada33ae68e18ef41f8df5f5d8f4c78"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#aa2ada33ae68e18ef41f8df5f5d8f4c78">tacos::automata::ta::Integer</a></div><div class="ttdeci">unsigned Integer</div><div class="ttdoc">fix integer type</div><div class="ttdef"><b>Definition</b> ta_regions.h:30</div></div>
+<div class="ttc" id="astructtacos_1_1utilities_1_1ApproxFloatComparator_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1ApproxFloatComparator.html">tacos::utilities::ApproxFloatComparator</a></div><div class="ttdoc">Sort into partitions by the fractional parts.</div><div class="ttdef"><b>Definition</b> numbers.h:59</div></div>
+<div class="ttc" id="astructtacos_1_1utilities_1_1ApproxFloatComparator_html_adf06831d4c2c480934c6dd741cb99fda"><div class="ttname"><a href="structtacos_1_1utilities_1_1ApproxFloatComparator.html#adf06831d4c2c480934c6dd741cb99fda">tacos::utilities::ApproxFloatComparator::operator()</a></div><div class="ttdeci">bool operator()(const Float &amp;v1, const Float &amp;v2) const</div><div class="ttdoc">Compare two floats with approximate comparison.</div><div class="ttdef"><b>Definition</b> numbers.h:66</div></div>
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 <!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/operators_8h_source.html b/docs/operators_8h_source.html
index b5bfb80e..bf9ceede 100644
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+<meta name="generator" content="Doxygen 1.9.7"/>
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af9eff25f9f3b07fa699d7e741ae62cb9"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af9eff25f9f3b07fa699d7e741ae62cb9">tacos::search::SearchTreeNode::words</a></div><div class="ttdeci">std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; words</div><div class="ttdef"><b>Definition:</b> search_tree.h:292</div></div>
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+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html">tacos::search::SearchTreeNode</a></div><div class="ttdoc">A node in the search tree.</div><div class="ttdef"><b>Definition</b> search_tree.h:61</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aa4ec4a4f9e183e6f9a0974e4376610d0"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aa4ec4a4f9e183e6f9a0974e4376610d0">tacos::search::SearchTreeNode::parents</a></div><div class="ttdeci">std::set&lt; SearchTreeNode * &gt; parents</div><div class="ttdef"><b>Definition</b> search_tree.h:298</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af9eff25f9f3b07fa699d7e741ae62cb9"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af9eff25f9f3b07fa699d7e741ae62cb9">tacos::search::SearchTreeNode::words</a></div><div class="ttdeci">std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; words</div><div class="ttdef"><b>Definition</b> search_tree.h:292</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a09625b031515d259482789703d06c50e"><div class="ttname"><a href="namespacetacos_1_1search.html#a09625b031515d259482789703d06c50e">tacos::search::ancestor_is_monotonically_dominated</a></div><div class="ttdeci">bool ancestor_is_monotonically_dominated(const SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;node, const std::set&lt; CanonicalABWord&lt; LocationT, ConstraintSymbolT &gt; &gt; &amp;words, std::vector&lt; const SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; * &gt; &amp;seen_nodes)</div><div class="ttdoc">Check monotonic domination for a node and its ancestors.</div><div class="ttdef"><b>Definition</b> operators.h:90</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition</b> canonical_word.h:148</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_aed3f58c10ce65ea39b4c0a1394f946ae"><div class="ttname"><a href="namespacetacos_1_1search.html#aed3f58c10ce65ea39b4c0a1394f946ae">tacos::search::dominates_ancestor</a></div><div class="ttdeci">bool dominates_ancestor(SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; *node)</div><div class="ttdef"><b>Definition</b> operators.h:113</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_af6b7742989619f44e45a308b85c7e330"><div class="ttname"><a href="namespacetacos_1_1search.html#af6b7742989619f44e45a308b85c7e330">tacos::search::is_monotonically_dominated</a></div><div class="ttdeci">bool is_monotonically_dominated(const CanonicalABWord&lt; LocationT, ConstraintSymbolT &gt; &amp;w1, const CanonicalABWord&lt; LocationT, ConstraintSymbolT &gt; &amp;w2)</div><div class="ttdoc">Checks if the word w1 is monotonically dominated by w2. The word w1 is monotonically dominated by w2 ...</div><div class="ttdef"><b>Definition</b> operators.h:33</div></div>
 </div><!-- fragment --></div><!-- contents -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/powerset_8h_source.html b/docs/powerset_8h_source.html
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+<meta name="generator" content="Doxygen 1.9.7"/>
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 <title>tacos: src/utilities/include/utilities/powerset.h Source File</title>
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/priority__thread__pool_8h_source.html b/docs/priority__thread__pool_8h_source.html
index cd3f4b38..3d3504f5 100644
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+<meta name="generator" content="Doxygen 1.9.7"/>
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@@ -30,7 +30,7 @@
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@@ -169,26 +169,26 @@
 <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span><span class="preprocessor">#include &quot;priority_thread_pool.hpp&quot;</span></div>
 <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
 <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_UTILITIES_INCLUDE_UTILITIES_PRIORITY_THREAD_POOL_H */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html">tacos::utilities::QueueAccess</a></div><div class="ttdoc">Get direct access to the job of a thread pool.</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.h:120</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a5bc76c0c05f4522a88fdbe74547109c3"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a5bc76c0c05f4522a88fdbe74547109c3">tacos::utilities::QueueAccess::top</a></div><div class="ttdeci">const std::pair&lt; Priority, T &gt; &amp; top() const</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:159</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a6b48c0aefd4cb08a8b882cdba3c5a6f1"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a6b48c0aefd4cb08a8b882cdba3c5a6f1">tacos::utilities::QueueAccess::pop</a></div><div class="ttdeci">void pop()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:169</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_aab1311028cf3646e6527e0b1695342b1"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#aab1311028cf3646e6527e0b1695342b1">tacos::utilities::QueueAccess::empty</a></div><div class="ttdeci">bool empty() const</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:179</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_acb9f54142043b666eaf361fa7b846205"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#acb9f54142043b666eaf361fa7b846205">tacos::utilities::QueueAccess::get_size</a></div><div class="ttdeci">std::size_t get_size() const</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:189</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html">tacos::utilities::ThreadPool</a></div><div class="ttdoc">A multi-threaded priority queue with a fixed number of workers.</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.h:55</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a46f26ed27c571f4c87239a987be98252"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">tacos::utilities::ThreadPool::cancel</a></div><div class="ttdeci">void cancel()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:146</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a572b3d7a8825aa7633bc0add619fe715"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">tacos::utilities::ThreadPool::close_queue</a></div><div class="ttdeci">void close_queue()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:108</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a6289b1fb761dc08ef36e9075062e6123"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">tacos::utilities::ThreadPool::add_job</a></div><div class="ttdeci">void add_job(std::pair&lt; Priority, T &gt; &amp;&amp;job)</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:89</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a68c3c8fd8d5d0f8fc418c07d24b0a811"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a68c3c8fd8d5d0f8fc418c07d24b0a811">tacos::utilities::ThreadPool::StartOnInit</a></div><div class="ttdeci">StartOnInit</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.h:60</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_aab20e780a5aa123bbbb859bf4f58255e"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">tacos::utilities::ThreadPool::finish</a></div><div class="ttdeci">void finish()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:130</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_ab1122d5e6b687b5941d6c8e08934cbd0"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">tacos::utilities::ThreadPool::~ThreadPool</a></div><div class="ttdeci">virtual ~ThreadPool()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:82</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_ab77ac8136ca7a405f1025f888f01507e"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">tacos::utilities::ThreadPool::wait</a></div><div class="ttdeci">void wait()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:115</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_aba8393d9c4c9b213d9998361235b758d"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">tacos::utilities::ThreadPool::start</a></div><div class="ttdeci">void start()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:41</div></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1CompareFirstOfPair_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1CompareFirstOfPair.html">tacos::utilities::CompareFirstOfPair</a></div><div class="ttdoc">Compare a generic pair by only comparing the first element of the pair.</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.h:31</div></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1CompareFirstOfPair_html_aada78fc460179866ff4e4b4afc36ff3e"><div class="ttname"><a href="structtacos_1_1utilities_1_1CompareFirstOfPair.html#aada78fc460179866ff4e4b4afc36ff3e">tacos::utilities::CompareFirstOfPair::operator()</a></div><div class="ttdeci">bool operator()(const std::pair&lt; T1, T2 &gt; &amp;pair1, const std::pair&lt; T1, T2 &gt; &amp;pair2) const</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.h:39</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html">tacos::utilities::QueueAccess</a></div><div class="ttdoc">Get direct access to the job of a thread pool.</div><div class="ttdef"><b>Definition</b> priority_thread_pool.h:120</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a5bc76c0c05f4522a88fdbe74547109c3"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a5bc76c0c05f4522a88fdbe74547109c3">tacos::utilities::QueueAccess::top</a></div><div class="ttdeci">const std::pair&lt; Priority, T &gt; &amp; top() const</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:160</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a6b48c0aefd4cb08a8b882cdba3c5a6f1"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a6b48c0aefd4cb08a8b882cdba3c5a6f1">tacos::utilities::QueueAccess::pop</a></div><div class="ttdeci">void pop()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:170</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_aab1311028cf3646e6527e0b1695342b1"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#aab1311028cf3646e6527e0b1695342b1">tacos::utilities::QueueAccess::empty</a></div><div class="ttdeci">bool empty() const</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:180</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_acb9f54142043b666eaf361fa7b846205"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#acb9f54142043b666eaf361fa7b846205">tacos::utilities::QueueAccess::get_size</a></div><div class="ttdeci">std::size_t get_size() const</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:190</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html">tacos::utilities::ThreadPool</a></div><div class="ttdoc">A multi-threaded priority queue with a fixed number of workers.</div><div class="ttdef"><b>Definition</b> priority_thread_pool.h:55</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a46f26ed27c571f4c87239a987be98252"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">tacos::utilities::ThreadPool::cancel</a></div><div class="ttdeci">void cancel()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:147</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a572b3d7a8825aa7633bc0add619fe715"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">tacos::utilities::ThreadPool::close_queue</a></div><div class="ttdeci">void close_queue()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:109</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a6289b1fb761dc08ef36e9075062e6123"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">tacos::utilities::ThreadPool::add_job</a></div><div class="ttdeci">void add_job(std::pair&lt; Priority, T &gt; &amp;&amp;job)</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:90</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a68c3c8fd8d5d0f8fc418c07d24b0a811"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a68c3c8fd8d5d0f8fc418c07d24b0a811">tacos::utilities::ThreadPool::StartOnInit</a></div><div class="ttdeci">StartOnInit</div><div class="ttdef"><b>Definition</b> priority_thread_pool.h:60</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_aab20e780a5aa123bbbb859bf4f58255e"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">tacos::utilities::ThreadPool::finish</a></div><div class="ttdeci">void finish()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:131</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_ab1122d5e6b687b5941d6c8e08934cbd0"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">tacos::utilities::ThreadPool::~ThreadPool</a></div><div class="ttdeci">virtual ~ThreadPool()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:83</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_ab77ac8136ca7a405f1025f888f01507e"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">tacos::utilities::ThreadPool::wait</a></div><div class="ttdeci">void wait()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:116</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_aba8393d9c4c9b213d9998361235b758d"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">tacos::utilities::ThreadPool::start</a></div><div class="ttdeci">void start()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:42</div></div>
+<div class="ttc" id="astructtacos_1_1utilities_1_1CompareFirstOfPair_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1CompareFirstOfPair.html">tacos::utilities::CompareFirstOfPair</a></div><div class="ttdoc">Compare a generic pair by only comparing the first element of the pair.</div><div class="ttdef"><b>Definition</b> priority_thread_pool.h:31</div></div>
+<div class="ttc" id="astructtacos_1_1utilities_1_1CompareFirstOfPair_html_aada78fc460179866ff4e4b4afc36ff3e"><div class="ttname"><a href="structtacos_1_1utilities_1_1CompareFirstOfPair.html#aada78fc460179866ff4e4b4afc36ff3e">tacos::utilities::CompareFirstOfPair::operator()</a></div><div class="ttdeci">bool operator()(const std::pair&lt; T1, T2 &gt; &amp;pair1, const std::pair&lt; T1, T2 &gt; &amp;pair2) const</div><div class="ttdef"><b>Definition</b> priority_thread_pool.h:39</div></div>
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diff --git a/docs/priority__thread__pool_8hpp_source.html b/docs/priority__thread__pool_8hpp_source.html
index cdf1119f..e6e7a08f 100644
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@@ -3,7 +3,7 @@
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@@ -30,7 +30,7 @@
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@@ -90,209 +90,210 @@
 <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;priority_thread_pool.h&quot;</span></div>
 <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
 <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;mutex&gt;</span></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">namespace </span>tacos::utilities {</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueClosedException.html">   18</a></span><span class="keyword">class </span><a class="code hl_class" href="classtacos_1_1utilities_1_1QueueClosedException.html">QueueClosedException</a> : <span class="keyword">public</span> std::logic_error</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <span class="comment">// Use base class constructors.</span></div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="keyword">using </span>std::logic_error::logic_error;</div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>};</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueStartedException.html">   25</a></span><span class="keyword">class </span><a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a> : <span class="keyword">public</span> std::logic_error</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="comment">// Use base class constructors.</span></div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keyword">using </span>std::logic_error::logic_error;</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>};</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a2a134eb3e02082b2329495de936cd2a3">   32</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a2a134eb3e02082b2329495de936cd2a3">ThreadPool&lt;Priority, T&gt;::ThreadPool</a>(<a class="code hl_enumeration" href="classtacos_1_1utilities_1_1ThreadPool.html#a68c3c8fd8d5d0f8fc418c07d24b0a811">StartOnInit</a> start_on_init, std::size_t size) : size(size)</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>{</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keywordflow">if</span> (start_on_init == StartOnInit::YES) {</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">start</a>();</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    }</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>}</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="keywordtype">void</span></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">   41</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">ThreadPool&lt;Priority, T&gt;::start</a>()</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>{</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordflow">if</span> (started) {</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    }</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    worker_idle = std::vector(size, <span class="keyword">false</span>);</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; size; ++i) {</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        workers.push_back(std::thread{[<span class="keyword">this</span>, i]() {</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            <span class="keywordflow">while</span> (!stopping) {</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                {</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>                    std::lock_guard idle_guard{worker_idle_mutex};</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>                    worker_idle[i] = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>                }</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                std::unique_lock lock{queue_mutex};</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>                <span class="keywordflow">while</span> (!queue.empty()) {</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                    <span class="keyword">auto</span> job = std::get&lt;1&gt;(queue.top());</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>                    queue.pop();</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>                    lock.unlock();</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>                    job();</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>                    lock.lock();</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>                    <span class="keywordflow">if</span> (stopping) {</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>                        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>                    }</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>                }</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>                {</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                    std::lock_guard done_guard{worker_idle_mutex};</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                    worker_idle[i] = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a2a134eb3e02082b2329495de936cd2a3">   68</a></span>                    worker_idle_cond.notify_all();</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                }</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                <span class="keywordflow">if</span> (!queue_open) {</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">   71</a></span>                    <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                }</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                <span class="comment">// Wait for the stop signal or a new job.</span></div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                queue_cond.wait(lock, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> stopping || !queue.empty() || !queue_open; });</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">   75</a></span>            }</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        }});</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    }</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    started = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>}</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a3b2b4be0714524724080100c1ff0786b">   80</a></span> </div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">   82</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">ThreadPool&lt;Priority, T&gt;::~ThreadPool</a>()</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>{</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    cancel();</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">   85</a></span>}</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">   87</a></span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span><span class="keywordtype">void</span></div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">   89</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">ThreadPool&lt;Priority, T&gt;::add_job</a>(std::pair&lt;Priority, T&gt; &amp;&amp;job)</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>{</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">   91</a></span>    <span class="keywordflow">if</span> (!queue_open) {</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueClosedException.html">QueueClosedException</a>(<span class="stringliteral">&quot;Queue is closed!&quot;</span>);</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    }</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    std::lock_guard guard{queue_mutex};</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    queue.push(job);</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    queue_cond.notify_one();</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>}</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span><span class="keywordtype">void</span></div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a3b2b4be0714524724080100c1ff0786b">  101</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">ThreadPool&lt;Priority, T&gt;::add_job</a>(T &amp;&amp;job, <span class="keyword">const</span> Priority &amp;priority)</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>{</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    add_job(std::make_pair(priority, job));</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>}</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span><span class="keywordtype">void</span></div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">  108</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">ThreadPool&lt;Priority, T&gt;::close_queue</a>()</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>{</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    queue_open = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>}</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span><span class="keywordtype">void</span></div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">  115</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">ThreadPool&lt;Priority, T&gt;::wait</a>()</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>{</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    std::unique_lock lock{worker_idle_mutex};</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordflow">while</span> (<span class="keyword">true</span>) {</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        <span class="keywordflow">if</span> (std::all_of(begin(worker_idle), end(worker_idle), [](<span class="keyword">const</span> <span class="keyword">auto</span> &amp;worker_idle) {</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>                <span class="keywordflow">return</span> worker_idle;</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>            })) {</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>            <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        }</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        worker_idle_cond.wait(lock);</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    }</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>}</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span><span class="keywordtype">void</span></div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">  130</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">ThreadPool&lt;Priority, T&gt;::finish</a>()</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>{</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    close_queue();</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    {</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        std::lock_guard guard{queue_mutex};</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        queue_cond.notify_all();</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    }</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;worker : workers) {</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        <span class="keywordflow">if</span> (worker.joinable()) {</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>            worker.join();</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>        }</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    }</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>}</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span><span class="keywordtype">void</span></div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">  146</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">ThreadPool&lt;Priority, T&gt;::cancel</a>()</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>{</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    stopping = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    finish();</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>}</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#a4530c7423f4133abc1f5b59aed565011">  153</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#a4530c7423f4133abc1f5b59aed565011">QueueAccess&lt;Priority, T&gt;::QueueAccess</a>(<a class="code hl_class" href="classtacos_1_1utilities_1_1ThreadPool.html">ThreadPool&lt;Priority, T&gt;</a> *pool) : pool(pool)</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>{</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>}</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span><span class="keyword">const</span> std::pair&lt;Priority, T&gt; &amp;</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#a5bc76c0c05f4522a88fdbe74547109c3">  159</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#a5bc76c0c05f4522a88fdbe74547109c3">QueueAccess&lt;Priority, T&gt;::top</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span><span class="keyword"></span>{</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keywordflow">if</span> (pool-&gt;started) {</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    }</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <span class="keywordflow">return</span> pool-&gt;queue.top();</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>}</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span> </div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span><span class="keywordtype">void</span></div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#a6b48c0aefd4cb08a8b882cdba3c5a6f1">  169</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#a6b48c0aefd4cb08a8b882cdba3c5a6f1">QueueAccess&lt;Priority, T&gt;::pop</a>()</div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>{</div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <span class="keywordflow">if</span> (pool-&gt;started) {</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    }</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <span class="keywordflow">return</span> pool-&gt;queue.pop();</div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>}</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span> </div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><span class="keywordtype">bool</span></div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#aab1311028cf3646e6527e0b1695342b1">  179</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#aab1311028cf3646e6527e0b1695342b1">QueueAccess&lt;Priority, T&gt;::empty</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span><span class="keyword"></span>{</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <span class="keywordflow">if</span> (pool-&gt;started) {</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    }</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    <span class="keywordflow">return</span> pool-&gt;queue.empty();</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>}</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>std::size_t</div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#acb9f54142043b666eaf361fa7b846205">  189</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#acb9f54142043b666eaf361fa7b846205">QueueAccess&lt;Priority, T&gt;::get_size</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span><span class="keyword"></span>{</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    <span class="keywordflow">if</span> (pool-&gt;started) {</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    }</div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    <span class="keywordflow">return</span> pool-&gt;queue.size();</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>}</div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span> </div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>} <span class="comment">// namespace tacos::utilities</span></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a4530c7423f4133abc1f5b59aed565011"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a4530c7423f4133abc1f5b59aed565011">tacos::utilities::QueueAccess::QueueAccess</a></div><div class="ttdeci">QueueAccess(ThreadPool&lt; Priority, T &gt; *pool)</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:153</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a5bc76c0c05f4522a88fdbe74547109c3"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a5bc76c0c05f4522a88fdbe74547109c3">tacos::utilities::QueueAccess::top</a></div><div class="ttdeci">const std::pair&lt; Priority, T &gt; &amp; top() const</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:159</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a6b48c0aefd4cb08a8b882cdba3c5a6f1"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a6b48c0aefd4cb08a8b882cdba3c5a6f1">tacos::utilities::QueueAccess::pop</a></div><div class="ttdeci">void pop()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:169</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_aab1311028cf3646e6527e0b1695342b1"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#aab1311028cf3646e6527e0b1695342b1">tacos::utilities::QueueAccess::empty</a></div><div class="ttdeci">bool empty() const</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:179</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_acb9f54142043b666eaf361fa7b846205"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#acb9f54142043b666eaf361fa7b846205">tacos::utilities::QueueAccess::get_size</a></div><div class="ttdeci">std::size_t get_size() const</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:189</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueClosedException_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueClosedException.html">tacos::utilities::QueueClosedException</a></div><div class="ttdoc">Exception thrown if the pool's queue is already closed.</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:19</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueStartedException_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueStartedException.html">tacos::utilities::QueueStartedException</a></div><div class="ttdoc">Exception thrown if the pool's queue is already started.</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:26</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html">tacos::utilities::ThreadPool</a></div><div class="ttdoc">A multi-threaded priority queue with a fixed number of workers.</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.h:55</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a2a134eb3e02082b2329495de936cd2a3"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a2a134eb3e02082b2329495de936cd2a3">tacos::utilities::ThreadPool::ThreadPool</a></div><div class="ttdeci">ThreadPool(StartOnInit start=StartOnInit::YES, std::size_t num_threads=std::thread::hardware_concurrency())</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:32</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a46f26ed27c571f4c87239a987be98252"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">tacos::utilities::ThreadPool::cancel</a></div><div class="ttdeci">void cancel()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:146</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a572b3d7a8825aa7633bc0add619fe715"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">tacos::utilities::ThreadPool::close_queue</a></div><div class="ttdeci">void close_queue()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:108</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a6289b1fb761dc08ef36e9075062e6123"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">tacos::utilities::ThreadPool::add_job</a></div><div class="ttdeci">void add_job(std::pair&lt; Priority, T &gt; &amp;&amp;job)</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:89</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a68c3c8fd8d5d0f8fc418c07d24b0a811"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a68c3c8fd8d5d0f8fc418c07d24b0a811">tacos::utilities::ThreadPool::StartOnInit</a></div><div class="ttdeci">StartOnInit</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.h:60</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_aab20e780a5aa123bbbb859bf4f58255e"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">tacos::utilities::ThreadPool::finish</a></div><div class="ttdeci">void finish()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:130</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_ab1122d5e6b687b5941d6c8e08934cbd0"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">tacos::utilities::ThreadPool::~ThreadPool</a></div><div class="ttdeci">virtual ~ThreadPool()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:82</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_ab77ac8136ca7a405f1025f888f01507e"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">tacos::utilities::ThreadPool::wait</a></div><div class="ttdeci">void wait()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:115</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_aba8393d9c4c9b213d9998361235b758d"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">tacos::utilities::ThreadPool::start</a></div><div class="ttdeci">void start()</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.hpp:41</div></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;stdexcept&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="keyword">namespace </span>tacos::utilities {</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueClosedException.html">   19</a></span><span class="keyword">class </span><a class="code hl_class" href="classtacos_1_1utilities_1_1QueueClosedException.html">QueueClosedException</a> : <span class="keyword">public</span> std::logic_error</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>{</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="comment">// Use base class constructors.</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keyword">using </span>std::logic_error::logic_error;</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>};</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueStartedException.html">   26</a></span><span class="keyword">class </span><a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a> : <span class="keyword">public</span> std::logic_error</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>{</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="comment">// Use base class constructors.</span></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keyword">using </span>std::logic_error::logic_error;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>};</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a2a134eb3e02082b2329495de936cd2a3">   33</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a2a134eb3e02082b2329495de936cd2a3">ThreadPool&lt;Priority, T&gt;::ThreadPool</a>(<a class="code hl_enumeration" href="classtacos_1_1utilities_1_1ThreadPool.html#a68c3c8fd8d5d0f8fc418c07d24b0a811">StartOnInit</a> start_on_init, std::size_t size) : size(size)</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>{</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="keywordflow">if</span> (start_on_init == StartOnInit::YES) {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">start</a>();</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    }</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>}</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="keywordtype">void</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">   42</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">ThreadPool&lt;Priority, T&gt;::start</a>()</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>{</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordflow">if</span> (started) {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    worker_idle = std::vector(size, <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; size; ++i) {</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        workers.push_back(std::thread{[<span class="keyword">this</span>, i]() {</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            <span class="keywordflow">while</span> (!stopping) {</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>                {</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>                    std::lock_guard idle_guard{worker_idle_mutex};</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>                    worker_idle[i] = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                }</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>                std::unique_lock lock{queue_mutex};</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                <span class="keywordflow">while</span> (!queue.empty()) {</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>                    <span class="keyword">auto</span> job = std::get&lt;1&gt;(queue.top());</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>                    queue.pop();</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>                    lock.unlock();</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>                    job();</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>                    lock.lock();</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>                    <span class="keywordflow">if</span> (stopping) {</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>                        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>                    }</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>                }</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                {</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                    std::lock_guard done_guard{worker_idle_mutex};</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a2a134eb3e02082b2329495de936cd2a3">   68</a></span>                    worker_idle[i] = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                    worker_idle_cond.notify_all();</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                }</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">   71</a></span>                <span class="keywordflow">if</span> (!queue_open) {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                    <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                }</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                <span class="comment">// Wait for the stop signal or a new job.</span></div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">   75</a></span>                queue_cond.wait(lock, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> stopping || !queue.empty() || !queue_open; });</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>            }</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        }});</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    }</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    started = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a3b2b4be0714524724080100c1ff0786b">   80</a></span>}</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">   82</a></span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">   83</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">ThreadPool&lt;Priority, T&gt;::~ThreadPool</a>()</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>{</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">   85</a></span>    <a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">cancel</a>();</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>}</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">   87</a></span> </div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">   89</a></span><span class="keywordtype">void</span></div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">   90</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">ThreadPool&lt;Priority, T&gt;::add_job</a>(std::pair&lt;Priority, T&gt; &amp;&amp;job)</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">   91</a></span>{</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keywordflow">if</span> (!queue_open) {</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueClosedException.html">QueueClosedException</a>(<span class="stringliteral">&quot;Queue is closed!&quot;</span>);</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    }</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    std::lock_guard guard{queue_mutex};</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    queue.push(job);</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    queue_cond.notify_one();</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>}</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span> </div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span><span class="keywordtype">void</span></div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a3b2b4be0714524724080100c1ff0786b">  102</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">ThreadPool&lt;Priority, T&gt;::add_job</a>(T &amp;&amp;job, <span class="keyword">const</span> Priority &amp;priority)</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>{</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    add_job(std::make_pair(priority, job));</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>}</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span><span class="keywordtype">void</span></div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">  109</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">ThreadPool&lt;Priority, T&gt;::close_queue</a>()</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>{</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    queue_open = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>}</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span><span class="keywordtype">void</span></div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">  116</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">ThreadPool&lt;Priority, T&gt;::wait</a>()</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>{</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    std::unique_lock lock{worker_idle_mutex};</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keywordflow">while</span> (<span class="keyword">true</span>) {</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>        <span class="keywordflow">if</span> (std::all_of(begin(worker_idle), end(worker_idle), [](<span class="keyword">const</span> <span class="keyword">auto</span> &amp;worker_idle) {</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>                <span class="keywordflow">return</span> worker_idle;</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>            })) {</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>            <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        }</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        worker_idle_cond.wait(lock);</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    }</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>}</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span><span class="keywordtype">void</span></div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">  131</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">ThreadPool&lt;Priority, T&gt;::finish</a>()</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>{</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    close_queue();</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    {</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        std::lock_guard guard{queue_mutex};</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        queue_cond.notify_all();</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    }</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;worker : workers) {</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        <span class="keywordflow">if</span> (worker.joinable()) {</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>            worker.join();</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        }</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    }</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>}</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span> </div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span><span class="keywordtype">void</span></div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">  147</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">ThreadPool&lt;Priority, T&gt;::cancel</a>()</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>{</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    stopping = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    finish();</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>}</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#a4530c7423f4133abc1f5b59aed565011">  154</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#a4530c7423f4133abc1f5b59aed565011">QueueAccess&lt;Priority, T&gt;::QueueAccess</a>(<a class="code hl_class" href="classtacos_1_1utilities_1_1ThreadPool.html">ThreadPool&lt;Priority, T&gt;</a> *pool) : pool(pool)</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>{</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>}</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span><span class="keyword">const</span> std::pair&lt;Priority, T&gt; &amp;</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#a5bc76c0c05f4522a88fdbe74547109c3">  160</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#a5bc76c0c05f4522a88fdbe74547109c3">QueueAccess&lt;Priority, T&gt;::top</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span><span class="keyword"></span>{</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="keywordflow">if</span> (pool-&gt;started) {</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    }</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <span class="keywordflow">return</span> pool-&gt;queue.top();</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>}</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span> </div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span><span class="keywordtype">void</span></div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#a6b48c0aefd4cb08a8b882cdba3c5a6f1">  170</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#a6b48c0aefd4cb08a8b882cdba3c5a6f1">QueueAccess&lt;Priority, T&gt;::pop</a>()</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>{</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <span class="keywordflow">if</span> (pool-&gt;started) {</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    }</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="keywordflow">return</span> pool-&gt;queue.pop();</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>}</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span><span class="keywordtype">bool</span></div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#aab1311028cf3646e6527e0b1695342b1">  180</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#aab1311028cf3646e6527e0b1695342b1">QueueAccess&lt;Priority, T&gt;::empty</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="keyword"></span>{</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="keywordflow">if</span> (pool-&gt;started) {</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    }</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    <span class="keywordflow">return</span> pool-&gt;queue.empty();</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>}</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span><span class="keyword">template</span> &lt;<span class="keyword">class</span> Priority, <span class="keyword">class</span> T&gt;</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>std::size_t</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="classtacos_1_1utilities_1_1QueueAccess.html#acb9f54142043b666eaf361fa7b846205">  190</a></span><a class="code hl_function" href="classtacos_1_1utilities_1_1QueueAccess.html#acb9f54142043b666eaf361fa7b846205">QueueAccess&lt;Priority, T&gt;::get_size</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span><span class="keyword"></span>{</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <span class="keywordflow">if</span> (pool-&gt;started) {</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>        <span class="keywordflow">throw</span> <a class="code hl_class" href="classtacos_1_1utilities_1_1QueueStartedException.html">QueueStartedException</a>(<span class="stringliteral">&quot;Pool already started&quot;</span>);</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    }</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordflow">return</span> pool-&gt;queue.size();</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>}</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>} <span class="comment">// namespace tacos::utilities</span></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a4530c7423f4133abc1f5b59aed565011"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a4530c7423f4133abc1f5b59aed565011">tacos::utilities::QueueAccess::QueueAccess</a></div><div class="ttdeci">QueueAccess(ThreadPool&lt; Priority, T &gt; *pool)</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:154</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a5bc76c0c05f4522a88fdbe74547109c3"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a5bc76c0c05f4522a88fdbe74547109c3">tacos::utilities::QueueAccess::top</a></div><div class="ttdeci">const std::pair&lt; Priority, T &gt; &amp; top() const</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:160</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_a6b48c0aefd4cb08a8b882cdba3c5a6f1"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#a6b48c0aefd4cb08a8b882cdba3c5a6f1">tacos::utilities::QueueAccess::pop</a></div><div class="ttdeci">void pop()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:170</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_aab1311028cf3646e6527e0b1695342b1"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#aab1311028cf3646e6527e0b1695342b1">tacos::utilities::QueueAccess::empty</a></div><div class="ttdeci">bool empty() const</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:180</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html_acb9f54142043b666eaf361fa7b846205"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html#acb9f54142043b666eaf361fa7b846205">tacos::utilities::QueueAccess::get_size</a></div><div class="ttdeci">std::size_t get_size() const</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:190</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueClosedException_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueClosedException.html">tacos::utilities::QueueClosedException</a></div><div class="ttdoc">Exception thrown if the pool's queue is already closed.</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:20</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueStartedException_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueStartedException.html">tacos::utilities::QueueStartedException</a></div><div class="ttdoc">Exception thrown if the pool's queue is already started.</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:27</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html">tacos::utilities::ThreadPool</a></div><div class="ttdoc">A multi-threaded priority queue with a fixed number of workers.</div><div class="ttdef"><b>Definition</b> priority_thread_pool.h:55</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a2a134eb3e02082b2329495de936cd2a3"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a2a134eb3e02082b2329495de936cd2a3">tacos::utilities::ThreadPool::ThreadPool</a></div><div class="ttdeci">ThreadPool(StartOnInit start=StartOnInit::YES, std::size_t num_threads=std::thread::hardware_concurrency())</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:33</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a46f26ed27c571f4c87239a987be98252"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a46f26ed27c571f4c87239a987be98252">tacos::utilities::ThreadPool::cancel</a></div><div class="ttdeci">void cancel()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:147</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a572b3d7a8825aa7633bc0add619fe715"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a572b3d7a8825aa7633bc0add619fe715">tacos::utilities::ThreadPool::close_queue</a></div><div class="ttdeci">void close_queue()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:109</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a6289b1fb761dc08ef36e9075062e6123"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a6289b1fb761dc08ef36e9075062e6123">tacos::utilities::ThreadPool::add_job</a></div><div class="ttdeci">void add_job(std::pair&lt; Priority, T &gt; &amp;&amp;job)</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:90</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_a68c3c8fd8d5d0f8fc418c07d24b0a811"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#a68c3c8fd8d5d0f8fc418c07d24b0a811">tacos::utilities::ThreadPool::StartOnInit</a></div><div class="ttdeci">StartOnInit</div><div class="ttdef"><b>Definition</b> priority_thread_pool.h:60</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_aab20e780a5aa123bbbb859bf4f58255e"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#aab20e780a5aa123bbbb859bf4f58255e">tacos::utilities::ThreadPool::finish</a></div><div class="ttdeci">void finish()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:131</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_ab1122d5e6b687b5941d6c8e08934cbd0"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#ab1122d5e6b687b5941d6c8e08934cbd0">tacos::utilities::ThreadPool::~ThreadPool</a></div><div class="ttdeci">virtual ~ThreadPool()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:83</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_ab77ac8136ca7a405f1025f888f01507e"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#ab77ac8136ca7a405f1025f888f01507e">tacos::utilities::ThreadPool::wait</a></div><div class="ttdeci">void wait()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:116</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1ThreadPool_html_aba8393d9c4c9b213d9998361235b758d"><div class="ttname"><a href="classtacos_1_1utilities_1_1ThreadPool.html#aba8393d9c4c9b213d9998361235b758d">tacos::utilities::ThreadPool::start</a></div><div class="ttdeci">void start()</div><div class="ttdef"><b>Definition</b> priority_thread_pool.hpp:42</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/reg__a_8h_source.html b/docs/reg__a_8h_source.html
index 1265ba8a..a41b5142 100644
--- a/docs/reg__a_8h_source.html
+++ b/docs/reg__a_8h_source.html
@@ -3,7 +3,7 @@
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/search/include/search/reg_a.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -115,14 +115,14 @@
 <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>}</div>
 <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
 <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>} <span class="comment">// namespace tacos::search</span></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a0723d87047871ff1a7b253a5ad4fb75a"><div class="ttname"><a href="namespacetacos_1_1search.html#a0723d87047871ff1a7b253a5ad4fb75a">tacos::search::reg_a</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; reg_a(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word)</div><div class="ttdef"><b>Definition:</b> reg_a.h:26</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition:</b> canonical_word.h:148</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html">tacos::search::PlantRegionState</a></div><div class="ttdoc">A regionalized plant state.</div><div class="ttdef"><b>Definition:</b> canonical_word.h:67</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a0723d87047871ff1a7b253a5ad4fb75a"><div class="ttname"><a href="namespacetacos_1_1search.html#a0723d87047871ff1a7b253a5ad4fb75a">tacos::search::reg_a</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; reg_a(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word)</div><div class="ttdef"><b>Definition</b> reg_a.h:26</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition</b> canonical_word.h:148</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html">tacos::search::PlantRegionState</a></div><div class="ttdoc">A regionalized plant state.</div><div class="ttdef"><b>Definition</b> canonical_word.h:67</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
 </small></address>
 </body>
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diff --git a/docs/search/all_0.js b/docs/search/all_0.js
index 42b5b9da..dc1249de 100644
--- a/docs/search/all_0.js
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   ['ataconfiguration_21',['ATAConfiguration',['../namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94',1,'tacos::search']]],
-  ['atainputtype_22',['ATAInputType',['../classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html#a684d6891e43b92d6f65e57392c58fe43',1,'tacos::search::get_next_canonical_words&lt; GologProgram, std::string, std::string, use_location_constraints, use_set_semantics &gt;::ATAInputType()'],['../classtacos_1_1search_1_1TreeSearch.html#ab6e33256975f4b398fb085f353c94ebe',1,'tacos::search::TreeSearch::ATAInputType()']]],
+  ['atainputtype_22',['ATAInputType',['../classtacos_1_1search_1_1get__next__canonical__words_3_01GologProgram_00_01std_1_1string_00_01std677052931eb97df2bfa7095cb0eaea18.html#a684d6891e43b92d6f65e57392c58fe43',1,'tacos::search::get_next_canonical_words&lt; GologProgram, std::string, std::string, use_location_constraints, use_set_semantics &gt;::ATAInputType'],['../classtacos_1_1search_1_1TreeSearch.html#ab6e33256975f4b398fb085f353c94ebe',1,'tacos::search::TreeSearch::ATAInputType']]],
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   ['atastate_24',['ATAState',['../namespacetacos_1_1search.html#a1e708fc21b10a16ce4dad5a4bf959e69',1,'tacos::search']]],
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diff --git a/docs/search/all_10.js b/docs/search/all_10.js
index ca587ce1..96213cdc 100644
--- a/docs/search/all_10.js
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index 9f46b301..ffb6cf0d 100644
--- a/docs/search/mag.svg
+++ b/docs/search/mag.svg
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 <svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
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-   xmlns:svg="http://www.w3.org/2000/svg"
    xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
    viewBox="0 0 20 19"
    height="19"
    width="20"
    id="svg2"
    version="1.1">
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index b9a814c7..4122773f 100644
--- a/docs/search/mag_d.svg
+++ b/docs/search/mag_d.svg
@@ -1,27 +1,14 @@
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-   xmlns:svg="http://www.w3.org/2000/svg"
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+   xmlns:xlink="http://www.w3.org/1999/xlink"
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index 03626f64..553dba87 100644
--- a/docs/search/mag_sel.svg
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@@ -1,59 +1,17 @@
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+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
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-   xmlns:cc="http://creativecommons.org/ns#"
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+  >
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diff --git a/docs/search/related_0.js b/docs/search/related_0.js
index f0711612..e8c78ce3 100644
--- a/docs/search/related_0.js
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index e103a262..9b7a52a1 100644
--- a/docs/search/search.js
+++ b/docs/search/search.js
@@ -156,7 +156,7 @@ function SearchBox(name, resultsPath, extension)
 
   this.OnSearchSelectHide = function()
   {
-    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+    this.hideTimeout = setTimeout(this.CloseSelectionWindow.bind(this),
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@@ -211,7 +211,7 @@ function SearchBox(name, resultsPath, extension)
       if (searchValue != "") // non-empty search
       {
         // set timer for search update
-        this.keyTimeout = setTimeout(this.name + '.Search()',
+        this.keyTimeout = setTimeout(this.Search.bind(this),
                                      this.keyTimeoutLength);
       }
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@@ -356,7 +356,11 @@ function SearchBox(name, resultsPath, extension)
         document.getElementById("NoMatches").style.display="none";
       }
  
-      searchResults.Search(searchValue);
+      if (idx!=-1) {
+        searchResults.Search(searchValue);
+      } else { // no file with search results => force empty search results
+        searchResults.Search('====');
+      }
 
       if (domPopupSearchResultsWindow.style.display!='block')
       {
diff --git a/docs/search/typedefs_0.js b/docs/search/typedefs_0.js
index 1d8ae892..993cc604 100644
--- a/docs/search/typedefs_0.js
+++ b/docs/search/typedefs_0.js
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index f7e84a30..403308a7 100644
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-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_a7db9a9ef6d5f3e477994ecb823ebf4de"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#a7db9a9ef6d5f3e477994ecb823ebf4de">tacos::search::TreeSearch::get_root</a></div><div class="ttdeci">Node * get_root() const</div><div class="ttdef"><b>Definition:</b> search.h:269</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_aa5573218a77abe9b53ce0de4aa285af8"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#aa5573218a77abe9b53ce0de4aa285af8">tacos::search::TreeSearch::step</a></div><div class="ttdeci">bool step()</div><div class="ttdef"><b>Definition:</b> search.h:315</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ab6e33256975f4b398fb085f353c94ebe"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ab6e33256975f4b398fb085f353c94ebe">tacos::search::TreeSearch::ATAInputType</a></div><div class="ttdeci">typename std::disjunction&lt; utilities::values_equal&lt; use_set_semantics, false, ConstraintSymbolType &gt;, utilities::values_equal&lt; use_set_semantics, true, std::set&lt; ConstraintSymbolType &gt; &gt;, std::void_t&lt; void &gt; &gt;::type ATAInputType</div><div class="ttdef"><b>Definition:</b> search.h:195</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ab70137037a9834827bd30515783e8a17"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ab70137037a9834827bd30515783e8a17">tacos::search::TreeSearch::build_tree</a></div><div class="ttdeci">void build_tree(bool multi_threaded=true)</div><div class="ttdef"><b>Definition:</b> search.h:301</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_abc86a348d392cc2e1fbbdb337e3c5115"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#abc86a348d392cc2e1fbbdb337e3c5115">tacos::search::TreeSearch::TreeSearch</a></div><div class="ttdeci">TreeSearch(const Plant *ta, automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ATAInputType &gt; &gt; *ata, std::set&lt; ActionType &gt; controller_actions, std::set&lt; ActionType &gt; environment_actions, RegionIndex K, bool incremental_labeling=false, bool terminate_early=false, std::unique_ptr&lt; Heuristic&lt; long, Node &gt; &gt; search_heuristic=std::make_unique&lt; BfsHeuristic&lt; long, Node &gt; &gt;())</div><div class="ttdef"><b>Definition:</b> search.h:209</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ac8cb16dcd267d2d3b33979b6e4a9cba1"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ac8cb16dcd267d2d3b33979b6e4a9cba1">tacos::search::TreeSearch::get_size</a></div><div class="ttdeci">size_t get_size() const</div><div class="ttdef"><b>Definition:</b> search.h:436</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_acd034e7cc02a7953c5837cd1f4ea357f"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#acd034e7cc02a7953c5837cd1f4ea357f">tacos::search::TreeSearch::add_node_to_queue</a></div><div class="ttdeci">void add_node_to_queue(Node *node)</div><div class="ttdef"><b>Definition:</b> search.h:292</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_acf9f26c899b7a225442b9f9648df94e3"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#acf9f26c899b7a225442b9f9648df94e3">tacos::search::TreeSearch::get_nodes</a></div><div class="ttdeci">const std::map&lt; std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt;, std::shared_ptr&lt; Node &gt; &gt; &amp; get_nodes()</div><div class="ttdef"><b>Definition:</b> search.h:444</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ad8a3b5832cf4b5edb31fcefa3fdda5d6"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ad8a3b5832cf4b5edb31fcefa3fdda5d6">tacos::search::TreeSearch::is_bad_node</a></div><div class="ttdeci">bool is_bad_node(Node *node) const</div><div class="ttdef"><b>Definition:</b> search.h:279</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ad92ea2861a8a9ef6e705b4be9f80a56d"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ad92ea2861a8a9ef6e705b4be9f80a56d">tacos::search::TreeSearch::expand_node</a></div><div class="ttdeci">void expand_node(Node *node)</div><div class="ttdef"><b>Definition:</b> search.h:330</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html">tacos::utilities::QueueAccess</a></div><div class="ttdoc">Get direct access to the job of a thread pool.</div><div class="ttdef"><b>Definition:</b> priority_thread_pool.h:120</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a17413bc3a5f5b9753f43b7a1f1500d57"><div class="ttname"><a href="namespacetacos_1_1search.html#a17413bc3a5f5b9753f43b7a1f1500d57">tacos::search::get_canonical_word</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_canonical_word(const PlantConfiguration&lt; Location &gt; &amp;plant_configuration, const ATAConfiguration&lt; ConstraintSymbolType &gt; &amp;ata_configuration, const unsigned int K)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:302</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition:</b> canonical_word.h:148</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a437a459d0802794356fd661fdfcb1beb"><div class="ttname"><a href="namespacetacos_1_1search.html#a437a459d0802794356fd661fdfcb1beb">tacos::search::has_satisfiable_ata_configuration</a></div><div class="ttdeci">bool has_satisfiable_ata_configuration(const SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node)</div><div class="ttdoc">Check if the node has a satisfiable ATA configuration.</div><div class="ttdef"><b>Definition:</b> search.h:50</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_aed3f58c10ce65ea39b4c0a1394f946ae"><div class="ttname"><a href="namespacetacos_1_1search.html#aed3f58c10ce65ea39b4c0a1394f946ae">tacos::search::dominates_ancestor</a></div><div class="ttdeci">bool dominates_ancestor(SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; *node)</div><div class="ttdef"><b>Definition:</b> operators.h:113</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_af95a379f61b86201bdbcac73f35d4328"><div class="ttname"><a href="namespacetacos_1_1search.html#af95a379f61b86201bdbcac73f35d4328">tacos::search::node_to_string</a></div><div class="ttdeci">std::string node_to_string(const search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node, bool print_children=false)</div><div class="ttdef"><b>Definition:</b> search_tree.h:362</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1values__equal_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1values__equal.html">tacos::utilities::values_equal</a></div><div class="ttdoc">Check if two types are the same.</div><div class="ttdef"><b>Definition:</b> type_traits.h:20</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1BfsHeuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1BfsHeuristic.html">tacos::search::BfsHeuristic</a></div><div class="ttdoc">Breadth-first search heuristic.</div><div class="ttdef"><b>Definition</b> heuristics.h:54</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1Heuristic_html"><div class="ttname"><a href="classtacos_1_1search_1_1Heuristic.html">tacos::search::Heuristic</a></div><div class="ttdoc">The heuristics interface.</div><div class="ttdef"><b>Definition</b> heuristics.h:29</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html">tacos::search::SearchTreeNode</a></div><div class="ttdoc">A node in the search tree.</div><div class="ttdef"><b>Definition</b> search_tree.h:61</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a420d4cd13e387bff9a439679e2119d4a"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a420d4cd13e387bff9a439679e2119d4a">tacos::search::SearchTreeNode::label_propagate</a></div><div class="ttdeci">void label_propagate(const std::set&lt; ActionType &gt; &amp;controller_actions, const std::set&lt; ActionType &gt; &amp;environment_actions, bool cancel_children=false)</div><div class="ttdoc">Implements incremental labeling during search, bottom up. Nodes are labelled as soon as their label s...</div><div class="ttdef"><b>Definition</b> search_tree.h:141</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a6f5890e553ceb56ef11bc9c130b7ff72"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a6f5890e553ceb56ef11bc9c130b7ff72">tacos::search::SearchTreeNode::label</a></div><div class="ttdeci">std::atomic&lt; NodeLabel &gt; label</div><div class="ttdef"><b>Definition</b> search_tree.h:296</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a76da522bfbca4563a940a9eaf78478da"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a76da522bfbca4563a940a9eaf78478da">tacos::search::SearchTreeNode::is_expanding</a></div><div class="ttdeci">std::atomic_bool is_expanding</div><div class="ttdef"><b>Definition</b> search_tree.h:303</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a7f643f185bcf9aceb46f342f6ca1fdd0"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a7f643f185bcf9aceb46f342f6ca1fdd0">tacos::search::SearchTreeNode::label_reason</a></div><div class="ttdeci">LabelReason label_reason</div><div class="ttdef"><b>Definition</b> search_tree.h:305</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a8611845dbecf0ae4022ffaff37073d01"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a8611845dbecf0ae4022ffaff37073d01">tacos::search::SearchTreeNode::is_expanded</a></div><div class="ttdeci">std::atomic_bool is_expanded</div><div class="ttdef"><b>Definition</b> search_tree.h:301</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aad2b382a7f8e93a0ba9ff8cf60d11bef"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aad2b382a7f8e93a0ba9ff8cf60d11bef">tacos::search::SearchTreeNode::get_children</a></div><div class="ttdeci">const auto &amp; get_children() const</div><div class="ttdef"><b>Definition</b> search_tree.h:265</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_ae79546d7547364f0051350283866961c"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#ae79546d7547364f0051350283866961c">tacos::search::SearchTreeNode::state</a></div><div class="ttdeci">std::atomic&lt; NodeState &gt; state</div><div class="ttdef"><b>Definition</b> search_tree.h:294</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aec31e8f9bf4ca5769713e8445f344dce"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aec31e8f9bf4ca5769713e8445f344dce">tacos::search::SearchTreeNode::set_label</a></div><div class="ttdeci">void set_label(NodeLabel new_label, bool cancel_children=false)</div><div class="ttdoc">Set the node label and optionally cancel the children.</div><div class="ttdef"><b>Definition</b> search_tree.h:83</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af9eff25f9f3b07fa699d7e741ae62cb9"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af9eff25f9f3b07fa699d7e741ae62cb9">tacos::search::SearchTreeNode::words</a></div><div class="ttdeci">std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; words</div><div class="ttdef"><b>Definition</b> search_tree.h:292</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html">tacos::search::TreeSearch</a></div><div class="ttdoc">Search the configuration tree for a valid controller.</div><div class="ttdef"><b>Definition</b> search.h:186</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_a509f50e94394250ec3e93ff7ad3baac1"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#a509f50e94394250ec3e93ff7ad3baac1">tacos::search::TreeSearch::label</a></div><div class="ttdeci">void label(Node *node=nullptr)</div><div class="ttdef"><b>Definition</b> search.h:424</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_a7db9a9ef6d5f3e477994ecb823ebf4de"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#a7db9a9ef6d5f3e477994ecb823ebf4de">tacos::search::TreeSearch::get_root</a></div><div class="ttdeci">Node * get_root() const</div><div class="ttdef"><b>Definition</b> search.h:269</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_aa5573218a77abe9b53ce0de4aa285af8"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#aa5573218a77abe9b53ce0de4aa285af8">tacos::search::TreeSearch::step</a></div><div class="ttdeci">bool step()</div><div class="ttdef"><b>Definition</b> search.h:315</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ab6e33256975f4b398fb085f353c94ebe"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ab6e33256975f4b398fb085f353c94ebe">tacos::search::TreeSearch::ATAInputType</a></div><div class="ttdeci">typename std::disjunction&lt; utilities::values_equal&lt; use_set_semantics, false, ConstraintSymbolType &gt;, utilities::values_equal&lt; use_set_semantics, true, std::set&lt; ConstraintSymbolType &gt; &gt;, std::void_t&lt; void &gt; &gt;::type ATAInputType</div><div class="ttdef"><b>Definition</b> search.h:195</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ab70137037a9834827bd30515783e8a17"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ab70137037a9834827bd30515783e8a17">tacos::search::TreeSearch::build_tree</a></div><div class="ttdeci">void build_tree(bool multi_threaded=true)</div><div class="ttdef"><b>Definition</b> search.h:301</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_abc86a348d392cc2e1fbbdb337e3c5115"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#abc86a348d392cc2e1fbbdb337e3c5115">tacos::search::TreeSearch::TreeSearch</a></div><div class="ttdeci">TreeSearch(const Plant *ta, automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ATAInputType &gt; &gt; *ata, std::set&lt; ActionType &gt; controller_actions, std::set&lt; ActionType &gt; environment_actions, RegionIndex K, bool incremental_labeling=false, bool terminate_early=false, std::unique_ptr&lt; Heuristic&lt; long, Node &gt; &gt; search_heuristic=std::make_unique&lt; BfsHeuristic&lt; long, Node &gt; &gt;())</div><div class="ttdef"><b>Definition</b> search.h:209</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ac8cb16dcd267d2d3b33979b6e4a9cba1"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ac8cb16dcd267d2d3b33979b6e4a9cba1">tacos::search::TreeSearch::get_size</a></div><div class="ttdeci">size_t get_size() const</div><div class="ttdef"><b>Definition</b> search.h:436</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_acd034e7cc02a7953c5837cd1f4ea357f"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#acd034e7cc02a7953c5837cd1f4ea357f">tacos::search::TreeSearch::add_node_to_queue</a></div><div class="ttdeci">void add_node_to_queue(Node *node)</div><div class="ttdef"><b>Definition</b> search.h:292</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_acf9f26c899b7a225442b9f9648df94e3"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#acf9f26c899b7a225442b9f9648df94e3">tacos::search::TreeSearch::get_nodes</a></div><div class="ttdeci">const std::map&lt; std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt;, std::shared_ptr&lt; Node &gt; &gt; &amp; get_nodes()</div><div class="ttdef"><b>Definition</b> search.h:444</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ad8a3b5832cf4b5edb31fcefa3fdda5d6"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ad8a3b5832cf4b5edb31fcefa3fdda5d6">tacos::search::TreeSearch::is_bad_node</a></div><div class="ttdeci">bool is_bad_node(Node *node) const</div><div class="ttdef"><b>Definition</b> search.h:279</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1TreeSearch_html_ad92ea2861a8a9ef6e705b4be9f80a56d"><div class="ttname"><a href="classtacos_1_1search_1_1TreeSearch.html#ad92ea2861a8a9ef6e705b4be9f80a56d">tacos::search::TreeSearch::expand_node</a></div><div class="ttdeci">void expand_node(Node *node)</div><div class="ttdef"><b>Definition</b> search.h:330</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1QueueAccess_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1QueueAccess.html">tacos::utilities::QueueAccess</a></div><div class="ttdoc">Get direct access to the job of a thread pool.</div><div class="ttdef"><b>Definition</b> priority_thread_pool.h:120</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a17413bc3a5f5b9753f43b7a1f1500d57"><div class="ttname"><a href="namespacetacos_1_1search.html#a17413bc3a5f5b9753f43b7a1f1500d57">tacos::search::get_canonical_word</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_canonical_word(const PlantConfiguration&lt; Location &gt; &amp;plant_configuration, const ATAConfiguration&lt; ConstraintSymbolType &gt; &amp;ata_configuration, const unsigned int K)</div><div class="ttdef"><b>Definition</b> canonical_word.h:302</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition</b> canonical_word.h:148</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a437a459d0802794356fd661fdfcb1beb"><div class="ttname"><a href="namespacetacos_1_1search.html#a437a459d0802794356fd661fdfcb1beb">tacos::search::has_satisfiable_ata_configuration</a></div><div class="ttdeci">bool has_satisfiable_ata_configuration(const SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node)</div><div class="ttdoc">Check if the node has a satisfiable ATA configuration.</div><div class="ttdef"><b>Definition</b> search.h:50</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_aed3f58c10ce65ea39b4c0a1394f946ae"><div class="ttname"><a href="namespacetacos_1_1search.html#aed3f58c10ce65ea39b4c0a1394f946ae">tacos::search::dominates_ancestor</a></div><div class="ttdeci">bool dominates_ancestor(SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; *node)</div><div class="ttdef"><b>Definition</b> operators.h:113</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_af95a379f61b86201bdbcac73f35d4328"><div class="ttname"><a href="namespacetacos_1_1search.html#af95a379f61b86201bdbcac73f35d4328">tacos::search::node_to_string</a></div><div class="ttdeci">std::string node_to_string(const search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node, bool print_children=false)</div><div class="ttdef"><b>Definition</b> search_tree.h:362</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="astructtacos_1_1utilities_1_1values__equal_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1values__equal.html">tacos::utilities::values_equal</a></div><div class="ttdoc">Check if two types are the same.</div><div class="ttdef"><b>Definition</b> type_traits.h:20</div></div>
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@@ -417,39 +417,39 @@
 <div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>};</div>
 <div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span> </div>
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-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html">tacos::search::SearchTreeNode</a></div><div class="ttdoc">A node in the search tree.</div><div class="ttdef"><b>Definition:</b> search_tree.h:61</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a0312db2e11fbf049ed65d88639db6aa3"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a0312db2e11fbf049ed65d88639db6aa3">tacos::search::SearchTreeNode::reset_label</a></div><div class="ttdeci">void reset_label()</div><div class="ttdef"><b>Definition:</b> search_tree.h:119</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a420d4cd13e387bff9a439679e2119d4a"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a420d4cd13e387bff9a439679e2119d4a">tacos::search::SearchTreeNode::label_propagate</a></div><div class="ttdeci">void label_propagate(const std::set&lt; ActionType &gt; &amp;controller_actions, const std::set&lt; ActionType &gt; &amp;environment_actions, bool cancel_children=false)</div><div class="ttdoc">Implements incremental labeling during search, bottom up. Nodes are labelled as soon as their label s...</div><div class="ttdef"><b>Definition:</b> search_tree.h:141</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a42510523fce56d3c6d2775a3f36da10f"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a42510523fce56d3c6d2775a3f36da10f">tacos::search::SearchTreeNode::add_child</a></div><div class="ttdeci">void add_child(const std::pair&lt; RegionIndex, ActionType &gt; &amp;action, std::shared_ptr&lt; SearchTreeNode &gt; node)</div><div class="ttdef"><b>Definition:</b> search_tree.h:275</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a482d226186ced65bfd4e789ea42e00b4"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a482d226186ced65bfd4e789ea42e00b4">tacos::search::SearchTreeNode::SearchTreeNode</a></div><div class="ttdeci">SearchTreeNode(const std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; &amp;words)</div><div class="ttdef"><b>Definition:</b> search_tree.h:66</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a6f5890e553ceb56ef11bc9c130b7ff72"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a6f5890e553ceb56ef11bc9c130b7ff72">tacos::search::SearchTreeNode::label</a></div><div class="ttdeci">std::atomic&lt; NodeLabel &gt; label</div><div class="ttdef"><b>Definition:</b> search_tree.h:296</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a76da522bfbca4563a940a9eaf78478da"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a76da522bfbca4563a940a9eaf78478da">tacos::search::SearchTreeNode::is_expanding</a></div><div class="ttdeci">std::atomic_bool is_expanding</div><div class="ttdef"><b>Definition:</b> search_tree.h:303</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a7f643f185bcf9aceb46f342f6ca1fdd0"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a7f643f185bcf9aceb46f342f6ca1fdd0">tacos::search::SearchTreeNode::label_reason</a></div><div class="ttdeci">LabelReason label_reason</div><div class="ttdef"><b>Definition:</b> search_tree.h:305</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a8611845dbecf0ae4022ffaff37073d01"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a8611845dbecf0ae4022ffaff37073d01">tacos::search::SearchTreeNode::is_expanded</a></div><div class="ttdeci">std::atomic_bool is_expanded</div><div class="ttdef"><b>Definition:</b> search_tree.h:301</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aa4ec4a4f9e183e6f9a0974e4376610d0"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aa4ec4a4f9e183e6f9a0974e4376610d0">tacos::search::SearchTreeNode::parents</a></div><div class="ttdeci">std::set&lt; SearchTreeNode * &gt; parents</div><div class="ttdef"><b>Definition:</b> search_tree.h:298</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aad2b382a7f8e93a0ba9ff8cf60d11bef"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aad2b382a7f8e93a0ba9ff8cf60d11bef">tacos::search::SearchTreeNode::get_children</a></div><div class="ttdeci">const auto &amp; get_children() const</div><div class="ttdef"><b>Definition:</b> search_tree.h:265</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_abcc7d2959b86ad681b51e14397e92da6"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#abcc7d2959b86ad681b51e14397e92da6">tacos::search::SearchTreeNode::min_total_region_increments</a></div><div class="ttdeci">RegionIndex min_total_region_increments</div><div class="ttdef"><b>Definition:</b> search_tree.h:307</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_ae79546d7547364f0051350283866961c"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#ae79546d7547364f0051350283866961c">tacos::search::SearchTreeNode::state</a></div><div class="ttdeci">std::atomic&lt; NodeState &gt; state</div><div class="ttdef"><b>Definition:</b> search_tree.h:294</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aec31e8f9bf4ca5769713e8445f344dce"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aec31e8f9bf4ca5769713e8445f344dce">tacos::search::SearchTreeNode::set_label</a></div><div class="ttdeci">void set_label(NodeLabel new_label, bool cancel_children=false)</div><div class="ttdoc">Set the node label and optionally cancel the children.</div><div class="ttdef"><b>Definition:</b> search_tree.h:83</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af0b7ddd64bc24c798309980647b952d5"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af0b7ddd64bc24c798309980647b952d5">tacos::search::SearchTreeNode::operator==</a></div><div class="ttdeci">bool operator==(const SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;other) const</div><div class="ttdoc">Compares two nodes for equality.</div><div class="ttdef"><b>Definition:</b> search_tree.h:254</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af9eff25f9f3b07fa699d7e741ae62cb9"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af9eff25f9f3b07fa699d7e741ae62cb9">tacos::search::SearchTreeNode::words</a></div><div class="ttdeci">std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; words</div><div class="ttdef"><b>Definition:</b> search_tree.h:292</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a0723d87047871ff1a7b253a5ad4fb75a"><div class="ttname"><a href="namespacetacos_1_1search.html#a0723d87047871ff1a7b253a5ad4fb75a">tacos::search::reg_a</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; reg_a(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word)</div><div class="ttdef"><b>Definition:</b> reg_a.h:26</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition:</b> canonical_word.h:148</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a4ba19ece9b658a5b1fb83a4575015162"><div class="ttname"><a href="namespacetacos_1_1search.html#a4ba19ece9b658a5b1fb83a4575015162">tacos::search::LabelReason</a></div><div class="ttdeci">LabelReason</div><div class="ttdef"><b>Definition:</b> search_tree.h:44</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a7cc43ed657355e7e21b4d70c443241e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a7cc43ed657355e7e21b4d70c443241e5">tacos::search::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const GologLocation &amp;location)</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:17</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a7e8076dcf52da5688898df56869e0ccb"><div class="ttname"><a href="namespacetacos_1_1search.html#a7e8076dcf52da5688898df56869e0ccb">tacos::search::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os, const search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node, __attribute__((unused)) bool print_children=false, __attribute__((unused)) unsigned int indent=0)</div><div class="ttdoc">Print a SearchTreeNode, optionally the whole tree. By default, just print information about the node ...</div><div class="ttdef"><b>Definition:</b> search_tree.h:333</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a962d4903e2fc203c29d1e701f647e1d3"><div class="ttname"><a href="namespacetacos_1_1search.html#a962d4903e2fc203c29d1e701f647e1d3">tacos::search::NodeLabel</a></div><div class="ttdeci">NodeLabel</div><div class="ttdef"><b>Definition:</b> search_tree.h:36</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_ac622d9cfbc0f14a177f812b39c3f9302"><div class="ttname"><a href="namespacetacos_1_1search.html#ac622d9cfbc0f14a177f812b39c3f9302">tacos::search::NodeState</a></div><div class="ttdeci">NodeState</div><div class="ttdef"><b>Definition:</b> search_tree.h:28</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html">tacos::search::SearchTreeNode</a></div><div class="ttdoc">A node in the search tree.</div><div class="ttdef"><b>Definition</b> search_tree.h:61</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a0312db2e11fbf049ed65d88639db6aa3"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a0312db2e11fbf049ed65d88639db6aa3">tacos::search::SearchTreeNode::reset_label</a></div><div class="ttdeci">void reset_label()</div><div class="ttdef"><b>Definition</b> search_tree.h:119</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a420d4cd13e387bff9a439679e2119d4a"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a420d4cd13e387bff9a439679e2119d4a">tacos::search::SearchTreeNode::label_propagate</a></div><div class="ttdeci">void label_propagate(const std::set&lt; ActionType &gt; &amp;controller_actions, const std::set&lt; ActionType &gt; &amp;environment_actions, bool cancel_children=false)</div><div class="ttdoc">Implements incremental labeling during search, bottom up. Nodes are labelled as soon as their label s...</div><div class="ttdef"><b>Definition</b> search_tree.h:141</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a42510523fce56d3c6d2775a3f36da10f"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a42510523fce56d3c6d2775a3f36da10f">tacos::search::SearchTreeNode::add_child</a></div><div class="ttdeci">void add_child(const std::pair&lt; RegionIndex, ActionType &gt; &amp;action, std::shared_ptr&lt; SearchTreeNode &gt; node)</div><div class="ttdef"><b>Definition</b> search_tree.h:275</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a482d226186ced65bfd4e789ea42e00b4"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a482d226186ced65bfd4e789ea42e00b4">tacos::search::SearchTreeNode::SearchTreeNode</a></div><div class="ttdeci">SearchTreeNode(const std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; &amp;words)</div><div class="ttdef"><b>Definition</b> search_tree.h:66</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a6f5890e553ceb56ef11bc9c130b7ff72"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a6f5890e553ceb56ef11bc9c130b7ff72">tacos::search::SearchTreeNode::label</a></div><div class="ttdeci">std::atomic&lt; NodeLabel &gt; label</div><div class="ttdef"><b>Definition</b> search_tree.h:296</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a76da522bfbca4563a940a9eaf78478da"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a76da522bfbca4563a940a9eaf78478da">tacos::search::SearchTreeNode::is_expanding</a></div><div class="ttdeci">std::atomic_bool is_expanding</div><div class="ttdef"><b>Definition</b> search_tree.h:303</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a7f643f185bcf9aceb46f342f6ca1fdd0"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a7f643f185bcf9aceb46f342f6ca1fdd0">tacos::search::SearchTreeNode::label_reason</a></div><div class="ttdeci">LabelReason label_reason</div><div class="ttdef"><b>Definition</b> search_tree.h:305</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a8611845dbecf0ae4022ffaff37073d01"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a8611845dbecf0ae4022ffaff37073d01">tacos::search::SearchTreeNode::is_expanded</a></div><div class="ttdeci">std::atomic_bool is_expanded</div><div class="ttdef"><b>Definition</b> search_tree.h:301</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aa4ec4a4f9e183e6f9a0974e4376610d0"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aa4ec4a4f9e183e6f9a0974e4376610d0">tacos::search::SearchTreeNode::parents</a></div><div class="ttdeci">std::set&lt; SearchTreeNode * &gt; parents</div><div class="ttdef"><b>Definition</b> search_tree.h:298</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aad2b382a7f8e93a0ba9ff8cf60d11bef"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aad2b382a7f8e93a0ba9ff8cf60d11bef">tacos::search::SearchTreeNode::get_children</a></div><div class="ttdeci">const auto &amp; get_children() const</div><div class="ttdef"><b>Definition</b> search_tree.h:265</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_abcc7d2959b86ad681b51e14397e92da6"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#abcc7d2959b86ad681b51e14397e92da6">tacos::search::SearchTreeNode::min_total_region_increments</a></div><div class="ttdeci">RegionIndex min_total_region_increments</div><div class="ttdef"><b>Definition</b> search_tree.h:307</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_ae79546d7547364f0051350283866961c"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#ae79546d7547364f0051350283866961c">tacos::search::SearchTreeNode::state</a></div><div class="ttdeci">std::atomic&lt; NodeState &gt; state</div><div class="ttdef"><b>Definition</b> search_tree.h:294</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aec31e8f9bf4ca5769713e8445f344dce"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aec31e8f9bf4ca5769713e8445f344dce">tacos::search::SearchTreeNode::set_label</a></div><div class="ttdeci">void set_label(NodeLabel new_label, bool cancel_children=false)</div><div class="ttdoc">Set the node label and optionally cancel the children.</div><div class="ttdef"><b>Definition</b> search_tree.h:83</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af0b7ddd64bc24c798309980647b952d5"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af0b7ddd64bc24c798309980647b952d5">tacos::search::SearchTreeNode::operator==</a></div><div class="ttdeci">bool operator==(const SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;other) const</div><div class="ttdoc">Compares two nodes for equality.</div><div class="ttdef"><b>Definition</b> search_tree.h:254</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af9eff25f9f3b07fa699d7e741ae62cb9"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af9eff25f9f3b07fa699d7e741ae62cb9">tacos::search::SearchTreeNode::words</a></div><div class="ttdeci">std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; words</div><div class="ttdef"><b>Definition</b> search_tree.h:292</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a0723d87047871ff1a7b253a5ad4fb75a"><div class="ttname"><a href="namespacetacos_1_1search.html#a0723d87047871ff1a7b253a5ad4fb75a">tacos::search::reg_a</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; reg_a(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word)</div><div class="ttdef"><b>Definition</b> reg_a.h:26</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition</b> canonical_word.h:148</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a4ba19ece9b658a5b1fb83a4575015162"><div class="ttname"><a href="namespacetacos_1_1search.html#a4ba19ece9b658a5b1fb83a4575015162">tacos::search::LabelReason</a></div><div class="ttdeci">LabelReason</div><div class="ttdef"><b>Definition</b> search_tree.h:44</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a7cc43ed657355e7e21b4d70c443241e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a7cc43ed657355e7e21b4d70c443241e5">tacos::search::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const GologLocation &amp;location)</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:17</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a7e8076dcf52da5688898df56869e0ccb"><div class="ttname"><a href="namespacetacos_1_1search.html#a7e8076dcf52da5688898df56869e0ccb">tacos::search::print_to_ostream</a></div><div class="ttdeci">void print_to_ostream(std::ostream &amp;os, const search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node, __attribute__((unused)) bool print_children=false, __attribute__((unused)) unsigned int indent=0)</div><div class="ttdoc">Print a SearchTreeNode, optionally the whole tree. By default, just print information about the node ...</div><div class="ttdef"><b>Definition</b> search_tree.h:333</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a962d4903e2fc203c29d1e701f647e1d3"><div class="ttname"><a href="namespacetacos_1_1search.html#a962d4903e2fc203c29d1e701f647e1d3">tacos::search::NodeLabel</a></div><div class="ttdeci">NodeLabel</div><div class="ttdef"><b>Definition</b> search_tree.h:36</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ac622d9cfbc0f14a177f812b39c3f9302"><div class="ttname"><a href="namespacetacos_1_1search.html#ac622d9cfbc0f14a177f812b39c3f9302">tacos::search::NodeState</a></div><div class="ttdeci">NodeState</div><div class="ttdef"><b>Definition</b> search_tree.h:28</div></div>
 <div class="ttc" id="anamespacetacos_1_1search_html_ac622d9cfbc0f14a177f812b39c3f9302a45802158e78dd9584161629098018fe8"><div class="ttname"><a href="namespacetacos_1_1search.html#ac622d9cfbc0f14a177f812b39c3f9302a45802158e78dd9584161629098018fe8">tacos::search::NodeState::GOOD</a></div><div class="ttdeci">@ GOOD</div></div>
 <div class="ttc" id="anamespacetacos_1_1search_html_ac622d9cfbc0f14a177f812b39c3f9302a696b031073e74bf2cb98e5ef201d4aa3"><div class="ttname"><a href="namespacetacos_1_1search.html#ac622d9cfbc0f14a177f812b39c3f9302a696b031073e74bf2cb98e5ef201d4aa3">tacos::search::NodeState::UNKNOWN</a></div><div class="ttdeci">@ UNKNOWN</div></div>
 <div class="ttc" id="anamespacetacos_1_1search_html_ac622d9cfbc0f14a177f812b39c3f9302abb4784231ff45108ee20bad16e4a2e8c"><div class="ttname"><a href="namespacetacos_1_1search.html#ac622d9cfbc0f14a177f812b39c3f9302abb4784231ff45108ee20bad16e4a2e8c">tacos::search::NodeState::DEAD</a></div><div class="ttdeci">@ DEAD</div></div>
 <div class="ttc" id="anamespacetacos_1_1search_html_ac622d9cfbc0f14a177f812b39c3f9302af1b68d66337a81cfa0d2076171cba2a8"><div class="ttname"><a href="namespacetacos_1_1search.html#ac622d9cfbc0f14a177f812b39c3f9302af1b68d66337a81cfa0d2076171cba2a8">tacos::search::NodeState::BAD</a></div><div class="ttdeci">@ BAD</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_af95a379f61b86201bdbcac73f35d4328"><div class="ttname"><a href="namespacetacos_1_1search.html#af95a379f61b86201bdbcac73f35d4328">tacos::search::node_to_string</a></div><div class="ttdeci">std::string node_to_string(const search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node, bool print_children=false)</div><div class="ttdef"><b>Definition:</b> search_tree.h:362</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_af95a379f61b86201bdbcac73f35d4328"><div class="ttname"><a href="namespacetacos_1_1search.html#af95a379f61b86201bdbcac73f35d4328">tacos::search::node_to_string</a></div><div class="ttdeci">std::string node_to_string(const search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &amp;node, bool print_children=false)</div><div class="ttdef"><b>Definition</b> search_tree.h:362</div></div>
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diff --git a/docs/structfmt_1_1formatter_3_01std_1_1multimap_3_01ActionT_00_01std_1_1multimap_3_01std_1_1string_005ed3073b2f2936258e8b6577b6a0ff73.map b/docs/structfmt_1_1formatter_3_01std_1_1multimap_3_01ActionT_00_01std_1_1multimap_3_01std_1_1string_005ed3073b2f2936258e8b6577b6a0ff73.map
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@@ -1,4 +1,5 @@
 <map id="fmt::formatter&lt; std::multimap&lt; ActionT, std::multimap&lt; std::string, tacos::automata::ClockConstraint &gt; &gt; &gt;" name="fmt::formatter&lt; std::multimap&lt; ActionT, std::multimap&lt; std::string, tacos::automata::ClockConstraint &gt; &gt; &gt;">
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diff --git a/docs/structfmt_1_1formatter_3_01std_1_1multimap_3_01ActionT_00_01std_1_1multimap_3_01std_1_1string_007be5c38df82f57218a3c6627a3b077f5.map b/docs/structfmt_1_1formatter_3_01std_1_1multimap_3_01ActionT_00_01std_1_1multimap_3_01std_1_1string_007be5c38df82f57218a3c6627a3b077f5.map
index 5c2e78e8..75cfabf9 100644
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+++ b/docs/structfmt_1_1formatter_3_01std_1_1multimap_3_01ActionT_00_01std_1_1multimap_3_01std_1_1string_007be5c38df82f57218a3c6627a3b077f5.map
@@ -1,4 +1,5 @@
 <map id="fmt::formatter&lt; std::multimap&lt; ActionT, std::multimap&lt; std::string, tacos::automata::ClockConstraint &gt; &gt; &gt;" name="fmt::formatter&lt; std::multimap&lt; ActionT, std::multimap&lt; std::string, tacos::automata::ClockConstraint &gt; &gt; &gt;">
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index 14883f7f..3485ea87 100644
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diff --git a/docs/structfmt_1_1formatter_3_01std_1_1multimap_3_01ActionT_00_01std_1_1multimap_3_01std_1_1string_00fd3dfe44de9dbd7fe02d1c2cf4d61988.html b/docs/structfmt_1_1formatter_3_01std_1_1multimap_3_01ActionT_00_01std_1_1multimap_3_01std_1_1string_00fd3dfe44de9dbd7fe02d1c2cf4d61988.html
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index ca8881ce..7fb7ce32 100644
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index ca8881ce..7fb7ce32 100644
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 <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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diff --git a/docs/structfmt_1_1formatter_3_01tacos_1_1automata_1_1ta_1_1Location_3_01LocationT_01_4_01_4__coll__graph.map b/docs/structfmt_1_1formatter_3_01tacos_1_1automata_1_1ta_1_1Location_3_01LocationT_01_4_01_4__coll__graph.map
index e986d66c..3cacbe4c 100644
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index 7309389a..95d77e48 100644
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index 7309389a..95d77e48 100644
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diff --git a/docs/structfmt_1_1formatter_3_01tacos_1_1search_1_1PlantRegionState_3_01LocationT_01_4_01_4__coll__graph.map b/docs/structfmt_1_1formatter_3_01tacos_1_1search_1_1PlantRegionState_3_01LocationT_01_4_01_4__coll__graph.map
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index 472bf742..ce68c4a6 100644
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 <map id="fmt::formatter&lt; tacos::search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &gt;" name="fmt::formatter&lt; tacos::search::SearchTreeNode&lt; Location, ActionType, ConstraintSymbolType &gt; &gt;">
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index 84dc9340..a5211a44 100644
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><div class="compoundTemplParams">template&lt;auto V1, decltype(V1) V2, typename T&gt;<br />
-struct tacos::utilities::values_equal&lt; V1, V2, T &gt;</div><p >Check if two types are the same. </p>
-<p >Taken from <a href="https://en.cppreference.com/w/cpp/types/disjunction">https://en.cppreference.com/w/cpp/types/disjunction</a>. values_equal&lt;a, b, T&gt;::value is true if and only if a == b. </p>
+struct tacos::utilities::values_equal&lt; V1, V2, T &gt;</div><p>Check if two types are the same. </p>
+<p>Taken from <a href="https://en.cppreference.com/w/cpp/types/disjunction">https://en.cppreference.com/w/cpp/types/disjunction</a>. values_equal&lt;a, b, T&gt;::value is true if and only if a == b. </p>
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-<p >Enforce type to be the same as T. </p>
+<p>Enforce type to be the same as T. </p>
 
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@@ -351,26 +351,26 @@
 <div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>}</div>
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-<div class="ttc" id="anamespacetacos_1_1search_html_a0723d87047871ff1a7b253a5ad4fb75a"><div class="ttname"><a href="namespacetacos_1_1search.html#a0723d87047871ff1a7b253a5ad4fb75a">tacos::search::reg_a</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; reg_a(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word)</div><div class="ttdef"><b>Definition:</b> reg_a.h:26</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition:</b> canonical_word.h:25</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition:</b> canonical_word.h:148</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a84ab5d46d8080710d76fb0e25180b031"><div class="ttname"><a href="namespacetacos_1_1search.html#a84ab5d46d8080710d76fb0e25180b031">tacos::search::get_time_successors</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; RegionIndex, CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; &gt; get_time_successors(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;canonical_word, RegionIndex K)</div><div class="ttdef"><b>Definition:</b> synchronous_product.h:233</div></div>
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-<div class="ttc" id="anamespacetacos_1_1search_html_ab705e3bb9ef2fa79c731170e72cee5ce"><div class="ttname"><a href="namespacetacos_1_1search.html#ab705e3bb9ef2fa79c731170e72cee5ce">tacos::search::ABRegionSymbol</a></div><div class="ttdeci">std::variant&lt; PlantRegionState&lt; LocationT &gt;, ATARegionState&lt; ConstraintSymbolType &gt; &gt; ABRegionSymbol</div><div class="ttdef"><b>Definition:</b> canonical_word.h:144</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_ab8e378b2721c0631f6e8412486e0a9b4"><div class="ttname"><a href="namespacetacos_1_1search.html#ab8e378b2721c0631f6e8412486e0a9b4">tacos::search::is_valid_canonical_word</a></div><div class="ttdeci">bool is_valid_canonical_word(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word, RegionIndex max_region=0)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:229</div></div>
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+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a0723d87047871ff1a7b253a5ad4fb75a"><div class="ttname"><a href="namespacetacos_1_1search.html#a0723d87047871ff1a7b253a5ad4fb75a">tacos::search::reg_a</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; reg_a(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word)</div><div class="ttdef"><b>Definition</b> reg_a.h:26</div></div>
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+<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition</b> canonical_word.h:148</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a84ab5d46d8080710d76fb0e25180b031"><div class="ttname"><a href="namespacetacos_1_1search.html#a84ab5d46d8080710d76fb0e25180b031">tacos::search::get_time_successors</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; RegionIndex, CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; &gt; get_time_successors(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;canonical_word, RegionIndex K)</div><div class="ttdef"><b>Definition</b> synchronous_product.h:233</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a85ea22a4da780105894eaf450fc8bc43"><div class="ttname"><a href="namespacetacos_1_1search.html#a85ea22a4da780105894eaf450fc8bc43">tacos::search::get_time_successor</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_time_successor(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word, RegionIndex K)</div><div class="ttdef"><b>Definition</b> synchronous_product.h:94</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a9370aca19be81e7b4076c52bd48f4ed4"><div class="ttname"><a href="namespacetacos_1_1search.html#a9370aca19be81e7b4076c52bd48f4ed4">tacos::search::get_region_index</a></div><div class="ttdeci">RegionIndex get_region_index(const ABRegionSymbol&lt; Location, ConstraintSymbolType &gt; &amp;w)</div><div class="ttdef"><b>Definition</b> canonical_word.h:172</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_aaf0d1607619d3109d9e2fc170060f438"><div class="ttname"><a href="namespacetacos_1_1search.html#aaf0d1607619d3109d9e2fc170060f438">tacos::search::get_candidate</a></div><div class="ttdeci">std::pair&lt; PlantConfiguration&lt; Location &gt;, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; get_candidate(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word)</div><div class="ttdoc">Get a concrete candidate-state for a given valid canonical word. The candidate consists of a concrete...</div><div class="ttdef"><b>Definition</b> synchronous_product.h:174</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ab705e3bb9ef2fa79c731170e72cee5ce"><div class="ttname"><a href="namespacetacos_1_1search.html#ab705e3bb9ef2fa79c731170e72cee5ce">tacos::search::ABRegionSymbol</a></div><div class="ttdeci">std::variant&lt; PlantRegionState&lt; LocationT &gt;, ATARegionState&lt; ConstraintSymbolType &gt; &gt; ABRegionSymbol</div><div class="ttdef"><b>Definition</b> canonical_word.h:144</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ab8e378b2721c0631f6e8412486e0a9b4"><div class="ttname"><a href="namespacetacos_1_1search.html#ab8e378b2721c0631f6e8412486e0a9b4">tacos::search::is_valid_canonical_word</a></div><div class="ttdeci">bool is_valid_canonical_word(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word, RegionIndex max_region=0)</div><div class="ttdef"><b>Definition</b> canonical_word.h:229</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_abb30a4e7245b001bcb73528a8465a393"><div class="ttname"><a href="namespacetacos_1_1search.html#abb30a4e7245b001bcb73528a8465a393">tacos::search::get_nth_time_successor</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_nth_time_successor(const CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &amp;word, RegionIndex n, RegionIndex K)</div><div class="ttdef"><b>Definition</b> synchronous_product.h:215</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_ac503b716d693708b81e71892f1f6b261"><div class="ttname"><a href="namespacetacos_1_1search.html#ac503b716d693708b81e71892f1f6b261">tacos::search::get_next_time_successors</a></div><div class="ttdeci">std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; get_next_time_successors(const std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; &amp;canonical_words, RegionIndex K)</div><div class="ttdef"><b>Definition</b> synchronous_product.h:255</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_af4d85f6ab5f80896f5b3533748f03aad"><div class="ttname"><a href="namespacetacos_1_1search.html#af4d85f6ab5f80896f5b3533748f03aad">tacos::search::increment_region_indexes</a></div><div class="ttdeci">std::set&lt; ABRegionSymbol&lt; Location, ConstraintSymbolType &gt; &gt; increment_region_indexes(const std::set&lt; ABRegionSymbol&lt; Location, ConstraintSymbolType &gt; &gt; &amp;configurations, RegionIndex max_region_index)</div><div class="ttdoc">Increment the region indexes in the configurations of the given ABRegionSymbol.</div><div class="ttdef"><b>Definition</b> synchronous_product.h:39</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ata_1_1State_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ata_1_1State.html">tacos::automata::ata::State</a></div><div class="ttdef"><b>Definition</b> ata_formula.h:30</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html">tacos::search::PlantRegionState</a></div><div class="ttdoc">A regionalized plant state.</div><div class="ttdef"><b>Definition</b> canonical_word.h:67</div></div>
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diff --git a/docs/ta_8h_source.html b/docs/ta_8h_source.html
index 3ee2c8cc..5424653c 100644
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 <title>tacos: src/automata/include/automata/ta.h Source File</title>
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@@ -30,7 +30,7 @@
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@@ -280,7 +280,7 @@
 <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>            <span class="keywordflow">throw</span> std::invalid_argument(<span class="stringliteral">&quot;Initial location is not a location of the TA&quot;</span>);</div>
 <div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>        }</div>
 <div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;transition : transitions) {</div>
-<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>            <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;[clock, constraint] : transition.<a class="code hl_variable" href="classtacos_1_1automata_1_1ta_1_1Transition.html#a943b665e8619ea76e2436ff1ca4b296c">clock_constraints_</a>) {</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>            <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;[clock, constraint] : transition.clock_constraints_) {</div>
 <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>                <span class="keywordflow">if</span> (clocks.find(clock) == end(clocks)) {</div>
 <div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>                    <span class="keywordflow">throw</span> std::invalid_argument(<span class="stringliteral">&quot;Clock constraint uses unknown clock&quot;</span>);</div>
 <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>                }</div>
@@ -426,59 +426,59 @@
 <div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span><span class="preprocessor">#include &quot;ta.hpp&quot;</span></div>
 <div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span> </div>
 <div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_AUTOMATA_INCLUDE_AUTOMATA_TA_H */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition:</b> automata.h:136</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1InvalidLocationException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1InvalidLocationException.html">tacos::automata::ta::InvalidLocationException</a></div><div class="ttdoc">Invalid location encountered.</div><div class="ttdef"><b>Definition:</b> ta.h:48</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1InvalidLocationException_html_a3dd234406c952b0e499f5e4cdb721935"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1InvalidLocationException.html#a3dd234406c952b0e499f5e4cdb721935">tacos::automata::ta::InvalidLocationException::InvalidLocationException</a></div><div class="ttdeci">InvalidLocationException(const automata::ta::Location&lt; LocationT &gt; &amp;)</div><div class="ttdef"><b>Definition:</b> ta.h:52</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html">tacos::automata::ta::Path</a></div><div class="ttdoc">One specific (finite) path in the timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:189</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html_aba9d5127c56e607a07693257c6098b8e"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html#aba9d5127c56e607a07693257c6098b8e">tacos::automata::ta::Path::get_current_configuration</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_current_configuration() const</div><div class="ttdef"><b>Definition:</b> ta.h:211</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html_add6b7f0b2a8933785e4929b5504bc762"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html#add6b7f0b2a8933785e4929b5504bc762">tacos::automata::ta::Path::operator&lt;</a></div><div class="ttdeci">friend bool operator&lt;(const Path&lt; LocationT, AP &gt; &amp;p1, const Path&lt; LocationT, AP &gt; &amp;p2)</div><div class="ttdoc">Compare two paths of a TA.</div><div class="ttdef"><b>Definition:</b> ta.h:194</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:240</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a0fa220852df2462af18ca7f3e7b01072"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a0fa220852df2462af18ca7f3e7b01072">tacos::automata::ta::TimedAutomaton::get_final_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_final_locations() const</div><div class="ttdef"><b>Definition:</b> ta.h:343</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a161d7c72cd9ea4ec65b848eb3468ca04"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a161d7c72cd9ea4ec65b848eb3468ca04">tacos::automata::ta::TimedAutomaton::add_location</a></div><div class="ttdeci">bool add_location(const Location &amp;location)</div><div class="ttdef"><b>Definition:</b> ta.h:371</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a1680a18e7b571b4ef04a1785185733ad"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a1680a18e7b571b4ef04a1785185733ad">tacos::automata::ta::TimedAutomaton::get_initial_configuration</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_initial_configuration() const</div><div class="ttdef"><b>Definition:</b> ta.hpp:291</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a1a3df59e323976009bfd80e064c895f4"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a1a3df59e323976009bfd80e064c895f4">tacos::automata::ta::TimedAutomaton::add_action</a></div><div class="ttdeci">void add_action(const AP &amp;action)</div><div class="ttdef"><b>Definition:</b> ta.h:390</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a33d0e246b751530f39027788a9be3f22"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a33d0e246b751530f39027788a9be3f22">tacos::automata::ta::TimedAutomaton::make_transition</a></div><div class="ttdeci">std::set&lt; Path&lt; LocationT, AP &gt; &gt; make_transition(Path&lt; LocationT, AP &gt; path, const AP &amp;symbol, const Time &amp;time) const</div><div class="ttdoc">Let the TA make a transition on the given symbol at the given time.</div><div class="ttdef"><b>Definition:</b> ta.hpp:208</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a48af8ee28bf6bd645567885f59d7050e"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a48af8ee28bf6bd645567885f59d7050e">tacos::automata::ta::TimedAutomaton::is_accepting_configuration</a></div><div class="ttdeci">bool is_accepting_configuration(const TAConfiguration&lt; LocationT &gt; &amp;configuration) const</div><div class="ttdef"><b>Definition:</b> ta.hpp:302</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a5cdf0d962163ead85338c976e75f33e4"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a5cdf0d962163ead85338c976e75f33e4">tacos::automata::ta::TimedAutomaton::add_clock</a></div><div class="ttdeci">void add_clock(const std::string &amp;name)</div><div class="ttdef"><b>Definition:</b> ta.h:398</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a626757da5a367094242b368cafcf5d29"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a626757da5a367094242b368cafcf5d29">tacos::automata::ta::TimedAutomaton::Location</a></div><div class="ttdeci">automata::ta::Location&lt; LocationT &gt; Location</div><div class="ttdef"><b>Definition:</b> ta.h:243</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a65b876f51412397d08ebe77279ef9435"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a65b876f51412397d08ebe77279ef9435">tacos::automata::ta::TimedAutomaton::get_clocks</a></div><div class="ttdeci">const std::set&lt; std::string &gt; &amp; get_clocks() const</div><div class="ttdef"><b>Definition:</b> ta.h:361</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a6f3404d9440c673b5d82c654c9ca2ddc"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a6f3404d9440c673b5d82c654c9ca2ddc">tacos::automata::ta::TimedAutomaton::get_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_locations() const</div><div class="ttdef"><b>Definition:</b> ta.h:325</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a79a8b5017f5fe0806e7db26f1b26d836"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a79a8b5017f5fe0806e7db26f1b26d836">tacos::automata::ta::TimedAutomaton::TimedAutomaton</a></div><div class="ttdeci">TimedAutomaton(const std::set&lt; Location &gt; &amp;locations, const std::set&lt; AP &gt; &amp;alphabet, const Location &amp;initial_location, const std::set&lt; Location &gt; final_locations, std::set&lt; std::string &gt; clocks, const std::vector&lt; Transition &gt; &amp;transitions)</div><div class="ttdef"><b>Definition:</b> ta.h:280</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a8a82d65d701a12c368c2e90acce57833"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a8a82d65d701a12c368c2e90acce57833">tacos::automata::ta::TimedAutomaton::add_transition</a></div><div class="ttdeci">void add_transition(const Transition &amp;transition)</div><div class="ttdef"><b>Definition:</b> ta.hpp:156</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a9b5a0206988119598e3d6ae859b0c1b8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a9b5a0206988119598e3d6ae859b0c1b8">tacos::automata::ta::TimedAutomaton::get_transitions</a></div><div class="ttdeci">const std::multimap&lt; Location, Transition &gt; &amp; get_transitions() const</div><div class="ttdef"><b>Definition:</b> ta.h:352</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aafe51eacc2fd85a3d974e2c71e0ef390"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aafe51eacc2fd85a3d974e2c71e0ef390">tacos::automata::ta::TimedAutomaton::get_enabled_transitions</a></div><div class="ttdeci">std::vector&lt; Transition &gt; get_enabled_transitions(const TAConfiguration&lt; LocationT &gt; &amp;configuration)</div><div class="ttdoc">Get the enabled transitions in a given configuration.</div><div class="ttdef"><b>Definition:</b> ta.hpp:257</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ab3981c911b04d0398d49b87008ada54a"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ab3981c911b04d0398d49b87008ada54a">tacos::automata::ta::TimedAutomaton::get_alphabet</a></div><div class="ttdeci">const std::set&lt; AP &gt; &amp; get_alphabet() const</div><div class="ttdef"><b>Definition:</b> ta.h:316</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ab897af9d33ca4e59eb3816b746ffc7f3"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ab897af9d33ca4e59eb3816b746ffc7f3">tacos::automata::ta::TimedAutomaton::add_locations</a></div><div class="ttdeci">void add_locations(const std::set&lt; Location &gt; &amp;locations)</div><div class="ttdef"><b>Definition:</b> ta.h:406</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ac66706f557bb3b10f12b3b213138f907"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ac66706f557bb3b10f12b3b213138f907">tacos::automata::ta::TimedAutomaton::accepts_word</a></div><div class="ttdeci">bool accepts_word(const TimedWord &amp;word) const</div><div class="ttdoc">Check if the TA accepts the given timed word.</div><div class="ttdef"><b>Definition:</b> ta.hpp:233</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ad0ca6e7e44a4941caeeaa4cb0c99b2b6"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ad0ca6e7e44a4941caeeaa4cb0c99b2b6">tacos::automata::ta::TimedAutomaton::TimedAutomaton</a></div><div class="ttdeci">TimedAutomaton(const std::set&lt; AP &gt; &amp;alphabet, const Location &amp;initial_location, const std::set&lt; Location &gt; &amp;final_locations)</div><div class="ttdef"><b>Definition:</b> ta.h:262</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_adb8df50daa801583a37a43a818afdf69"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#adb8df50daa801583a37a43a818afdf69">tacos::automata::ta::TimedAutomaton::add_final_location</a></div><div class="ttdeci">void add_final_location(const Location &amp;location)</div><div class="ttdef"><b>Definition:</b> ta.h:380</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aecef4290752fd8615a0900b03d5bf051"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aecef4290752fd8615a0900b03d5bf051">tacos::automata::ta::TimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; TAConfiguration&lt; LocationT &gt; &gt; make_symbol_step(const TAConfiguration&lt; LocationT &gt; &amp;configuration, const AP &amp;symbol) const</div><div class="ttdef"><b>Definition:</b> ta.hpp:182</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aeebfd644cc0e52ac39ef1fe8b09e9c82"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aeebfd644cc0e52ac39ef1fe8b09e9c82">tacos::automata::ta::TimedAutomaton::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdoc">Get the largest constant any clock is compared to.</div><div class="ttdef"><b>Definition:</b> ta.hpp:274</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_affcbb0c8e6a7e798ab0a46a984b14655"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#affcbb0c8e6a7e798ab0a46a984b14655">tacos::automata::ta::TimedAutomaton::get_initial_location</a></div><div class="ttdeci">const Location &amp; get_initial_location() const</div><div class="ttdef"><b>Definition:</b> ta.h:334</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html">tacos::automata::ta::Transition</a></div><div class="ttdoc">A transition in a timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:95</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a165b9c9421c2e1b8fcea995c0998b7c8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a165b9c9421c2e1b8fcea995c0998b7c8">tacos::automata::ta::Transition::target_</a></div><div class="ttdeci">Location&lt; LocationT &gt; target_</div><div class="ttdoc">target location</div><div class="ttdef"><b>Definition:</b> ta.h:176</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a3bc4e616cda2f8feffb08700ac958f59"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a3bc4e616cda2f8feffb08700ac958f59">tacos::automata::ta::Transition::is_enabled</a></div><div class="ttdeci">bool is_enabled(const AP &amp;symbol, const ClockSetValuation &amp;clock_vals) const</div><div class="ttdef"><b>Definition:</b> ta.hpp:74</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a5088f34512f951b35189b4e722916078"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a5088f34512f951b35189b4e722916078">tacos::automata::ta::Transition::get_target</a></div><div class="ttdeci">const Location&lt; LocationT &gt; &amp; get_target() const</div><div class="ttdoc">getter for the target location</div><div class="ttdef"><b>Definition:</b> ta.h:158</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a5f32c46d75c4e3a24c36c3f08f5c6bf8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a5f32c46d75c4e3a24c36c3f08f5c6bf8">tacos::automata::ta::Transition::symbol_</a></div><div class="ttdeci">AP symbol_</div><div class="ttdoc">transition label</div><div class="ttdef"><b>Definition:</b> ta.h:177</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a77d4f3a18ab34ffde2c791c634d19ea1"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a77d4f3a18ab34ffde2c791c634d19ea1">tacos::automata::ta::Transition::get_guards</a></div><div class="ttdeci">const std::multimap&lt; std::string, ClockConstraint &gt; &amp; get_guards() const</div><div class="ttdoc">Get the clock constraints defining the guard conditions.</div><div class="ttdef"><b>Definition:</b> ta.h:146</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a8517cccdc95c581d953aff236ba65283"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a8517cccdc95c581d953aff236ba65283">tacos::automata::ta::Transition::source_</a></div><div class="ttdeci">Location&lt; LocationT &gt; source_</div><div class="ttdoc">source location</div><div class="ttdef"><b>Definition:</b> ta.h:175</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a943b665e8619ea76e2436ff1ca4b296c"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a943b665e8619ea76e2436ff1ca4b296c">tacos::automata::ta::Transition::clock_constraints_</a></div><div class="ttdeci">std::multimap&lt; std::string, ClockConstraint &gt; clock_constraints_</div><div class="ttdoc">guards</div><div class="ttdef"><b>Definition:</b> ta.h:178</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a9b8a3c11b0544f054814b5135fd10fee"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a9b8a3c11b0544f054814b5135fd10fee">tacos::automata::ta::Transition::get_source</a></div><div class="ttdeci">const Location&lt; LocationT &gt; &amp; get_source() const</div><div class="ttdoc">getter for the source location</div><div class="ttdef"><b>Definition:</b> ta.h:152</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a9eb9e5a8d8ab4ec5f0c1cce49836ce46"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a9eb9e5a8d8ab4ec5f0c1cce49836ce46">tacos::automata::ta::Transition::clock_resets_</a></div><div class="ttdeci">std::set&lt; std::string &gt; clock_resets_</div><div class="ttdoc">resets</div><div class="ttdef"><b>Definition:</b> ta.h:179</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_ae7cb1fdd05e2d117058dc375ca4efea5"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#ae7cb1fdd05e2d117058dc375ca4efea5">tacos::automata::ta::Transition::Transition</a></div><div class="ttdeci">Transition(const Location&lt; LocationT &gt; &amp;source, const AP &amp;symbol, const Location&lt; LocationT &gt; &amp;target, const std::multimap&lt; std::string, ClockConstraint &gt; &amp;clock_constraints={}, const std::set&lt; std::string &gt; &amp;clock_resets={})</div><div class="ttdef"><b>Definition:</b> ta.h:118</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_af713a921b0d677230d94b3223b852928"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#af713a921b0d677230d94b3223b852928">tacos::automata::ta::Transition::get_reset</a></div><div class="ttdeci">const std::set&lt; std::string &gt; &amp; get_reset() const</div><div class="ttdoc">getter for the set of clocks that get reset</div><div class="ttdef"><b>Definition:</b> ta.h:170</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_af82933e4a099bb8800267d12428048ad"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#af82933e4a099bb8800267d12428048ad">tacos::automata::ta::Transition::get_label</a></div><div class="ttdeci">AP get_label() const</div><div class="ttdoc">getter for the synchronization label</div><div class="ttdef"><b>Definition:</b> ta.h:164</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition:</b> ta.h:31</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a291a802b4e7f0923b47414d72b1aec93"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">tacos::automata::ta::Location</a></div><div class="ttdeci">fluent::NamedType&lt; T, struct LocationTypeTag, fluent::Comparable, fluent::Callable, fluent::Printable, fluent::Hashable &gt; Location</div><div class="ttdef"><b>Definition:</b> ta.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a453ccaa072659fffe497d59ff8b221b5"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a453ccaa072659fffe497d59ff8b221b5">tacos::automata::ta::operator==</a></div><div class="ttdeci">bool operator==(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdoc">Compare two transitions.</div><div class="ttdef"><b>Definition:</b> ta.hpp:88</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a64f2a212d6f6a1566670ba012cb80f18"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a64f2a212d6f6a1566670ba012cb80f18">tacos::automata::ta::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdef"><b>Definition:</b> ta.hpp:97</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ab888c09c43c85a709af0334eadda84c6"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ab888c09c43c85a709af0334eadda84c6">tacos::automata::ta::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ta::Transition&lt; LocationT, AP &gt; &amp;transition)</div><div class="ttdef"><b>Definition:</b> ta.hpp:54</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_a21b5af8bd4cf7fe1cfb1fd806fa2dc12"><div class="ttname"><a href="namespacetacos_1_1automata.html#a21b5af8bd4cf7fe1cfb1fd806fa2dc12">tacos::automata::TimedWord</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; Symbol, Time &gt; &gt; TimedWord</div><div class="ttdef"><b>Definition:</b> automata.h:38</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition</b> automata.h:136</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1InvalidLocationException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1InvalidLocationException.html">tacos::automata::ta::InvalidLocationException</a></div><div class="ttdoc">Invalid location encountered.</div><div class="ttdef"><b>Definition</b> ta.h:48</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1InvalidLocationException_html_a3dd234406c952b0e499f5e4cdb721935"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1InvalidLocationException.html#a3dd234406c952b0e499f5e4cdb721935">tacos::automata::ta::InvalidLocationException::InvalidLocationException</a></div><div class="ttdeci">InvalidLocationException(const automata::ta::Location&lt; LocationT &gt; &amp;)</div><div class="ttdef"><b>Definition</b> ta.h:52</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html">tacos::automata::ta::Path</a></div><div class="ttdoc">One specific (finite) path in the timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:189</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html_aba9d5127c56e607a07693257c6098b8e"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html#aba9d5127c56e607a07693257c6098b8e">tacos::automata::ta::Path::get_current_configuration</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_current_configuration() const</div><div class="ttdef"><b>Definition</b> ta.h:211</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html_add6b7f0b2a8933785e4929b5504bc762"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html#add6b7f0b2a8933785e4929b5504bc762">tacos::automata::ta::Path::operator&lt;</a></div><div class="ttdeci">friend bool operator&lt;(const Path&lt; LocationT, AP &gt; &amp;p1, const Path&lt; LocationT, AP &gt; &amp;p2)</div><div class="ttdoc">Compare two paths of a TA.</div><div class="ttdef"><b>Definition</b> ta.h:194</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a0fa220852df2462af18ca7f3e7b01072"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a0fa220852df2462af18ca7f3e7b01072">tacos::automata::ta::TimedAutomaton::get_final_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_final_locations() const</div><div class="ttdef"><b>Definition</b> ta.h:343</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a161d7c72cd9ea4ec65b848eb3468ca04"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a161d7c72cd9ea4ec65b848eb3468ca04">tacos::automata::ta::TimedAutomaton::add_location</a></div><div class="ttdeci">bool add_location(const Location &amp;location)</div><div class="ttdef"><b>Definition</b> ta.h:371</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a1680a18e7b571b4ef04a1785185733ad"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a1680a18e7b571b4ef04a1785185733ad">tacos::automata::ta::TimedAutomaton::get_initial_configuration</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_initial_configuration() const</div><div class="ttdef"><b>Definition</b> ta.hpp:291</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a1a3df59e323976009bfd80e064c895f4"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a1a3df59e323976009bfd80e064c895f4">tacos::automata::ta::TimedAutomaton::add_action</a></div><div class="ttdeci">void add_action(const AP &amp;action)</div><div class="ttdef"><b>Definition</b> ta.h:390</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a33d0e246b751530f39027788a9be3f22"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a33d0e246b751530f39027788a9be3f22">tacos::automata::ta::TimedAutomaton::make_transition</a></div><div class="ttdeci">std::set&lt; Path&lt; LocationT, AP &gt; &gt; make_transition(Path&lt; LocationT, AP &gt; path, const AP &amp;symbol, const Time &amp;time) const</div><div class="ttdoc">Let the TA make a transition on the given symbol at the given time.</div><div class="ttdef"><b>Definition</b> ta.hpp:208</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a48af8ee28bf6bd645567885f59d7050e"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a48af8ee28bf6bd645567885f59d7050e">tacos::automata::ta::TimedAutomaton::is_accepting_configuration</a></div><div class="ttdeci">bool is_accepting_configuration(const TAConfiguration&lt; LocationT &gt; &amp;configuration) const</div><div class="ttdef"><b>Definition</b> ta.hpp:302</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a5cdf0d962163ead85338c976e75f33e4"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a5cdf0d962163ead85338c976e75f33e4">tacos::automata::ta::TimedAutomaton::add_clock</a></div><div class="ttdeci">void add_clock(const std::string &amp;name)</div><div class="ttdef"><b>Definition</b> ta.h:398</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a626757da5a367094242b368cafcf5d29"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a626757da5a367094242b368cafcf5d29">tacos::automata::ta::TimedAutomaton::Location</a></div><div class="ttdeci">automata::ta::Location&lt; LocationT &gt; Location</div><div class="ttdef"><b>Definition</b> ta.h:243</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a65b876f51412397d08ebe77279ef9435"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a65b876f51412397d08ebe77279ef9435">tacos::automata::ta::TimedAutomaton::get_clocks</a></div><div class="ttdeci">const std::set&lt; std::string &gt; &amp; get_clocks() const</div><div class="ttdef"><b>Definition</b> ta.h:361</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a6f3404d9440c673b5d82c654c9ca2ddc"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a6f3404d9440c673b5d82c654c9ca2ddc">tacos::automata::ta::TimedAutomaton::get_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_locations() const</div><div class="ttdef"><b>Definition</b> ta.h:325</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a79a8b5017f5fe0806e7db26f1b26d836"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a79a8b5017f5fe0806e7db26f1b26d836">tacos::automata::ta::TimedAutomaton::TimedAutomaton</a></div><div class="ttdeci">TimedAutomaton(const std::set&lt; Location &gt; &amp;locations, const std::set&lt; AP &gt; &amp;alphabet, const Location &amp;initial_location, const std::set&lt; Location &gt; final_locations, std::set&lt; std::string &gt; clocks, const std::vector&lt; Transition &gt; &amp;transitions)</div><div class="ttdef"><b>Definition</b> ta.h:280</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a8a82d65d701a12c368c2e90acce57833"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a8a82d65d701a12c368c2e90acce57833">tacos::automata::ta::TimedAutomaton::add_transition</a></div><div class="ttdeci">void add_transition(const Transition &amp;transition)</div><div class="ttdef"><b>Definition</b> ta.hpp:156</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a9b5a0206988119598e3d6ae859b0c1b8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a9b5a0206988119598e3d6ae859b0c1b8">tacos::automata::ta::TimedAutomaton::get_transitions</a></div><div class="ttdeci">const std::multimap&lt; Location, Transition &gt; &amp; get_transitions() const</div><div class="ttdef"><b>Definition</b> ta.h:352</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aafe51eacc2fd85a3d974e2c71e0ef390"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aafe51eacc2fd85a3d974e2c71e0ef390">tacos::automata::ta::TimedAutomaton::get_enabled_transitions</a></div><div class="ttdeci">std::vector&lt; Transition &gt; get_enabled_transitions(const TAConfiguration&lt; LocationT &gt; &amp;configuration)</div><div class="ttdoc">Get the enabled transitions in a given configuration.</div><div class="ttdef"><b>Definition</b> ta.hpp:257</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ab3981c911b04d0398d49b87008ada54a"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ab3981c911b04d0398d49b87008ada54a">tacos::automata::ta::TimedAutomaton::get_alphabet</a></div><div class="ttdeci">const std::set&lt; AP &gt; &amp; get_alphabet() const</div><div class="ttdef"><b>Definition</b> ta.h:316</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ab897af9d33ca4e59eb3816b746ffc7f3"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ab897af9d33ca4e59eb3816b746ffc7f3">tacos::automata::ta::TimedAutomaton::add_locations</a></div><div class="ttdeci">void add_locations(const std::set&lt; Location &gt; &amp;locations)</div><div class="ttdef"><b>Definition</b> ta.h:406</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ac66706f557bb3b10f12b3b213138f907"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ac66706f557bb3b10f12b3b213138f907">tacos::automata::ta::TimedAutomaton::accepts_word</a></div><div class="ttdeci">bool accepts_word(const TimedWord &amp;word) const</div><div class="ttdoc">Check if the TA accepts the given timed word.</div><div class="ttdef"><b>Definition</b> ta.hpp:233</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ad0ca6e7e44a4941caeeaa4cb0c99b2b6"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ad0ca6e7e44a4941caeeaa4cb0c99b2b6">tacos::automata::ta::TimedAutomaton::TimedAutomaton</a></div><div class="ttdeci">TimedAutomaton(const std::set&lt; AP &gt; &amp;alphabet, const Location &amp;initial_location, const std::set&lt; Location &gt; &amp;final_locations)</div><div class="ttdef"><b>Definition</b> ta.h:262</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_adb8df50daa801583a37a43a818afdf69"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#adb8df50daa801583a37a43a818afdf69">tacos::automata::ta::TimedAutomaton::add_final_location</a></div><div class="ttdeci">void add_final_location(const Location &amp;location)</div><div class="ttdef"><b>Definition</b> ta.h:380</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aecef4290752fd8615a0900b03d5bf051"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aecef4290752fd8615a0900b03d5bf051">tacos::automata::ta::TimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; TAConfiguration&lt; LocationT &gt; &gt; make_symbol_step(const TAConfiguration&lt; LocationT &gt; &amp;configuration, const AP &amp;symbol) const</div><div class="ttdef"><b>Definition</b> ta.hpp:182</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aeebfd644cc0e52ac39ef1fe8b09e9c82"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aeebfd644cc0e52ac39ef1fe8b09e9c82">tacos::automata::ta::TimedAutomaton::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdoc">Get the largest constant any clock is compared to.</div><div class="ttdef"><b>Definition</b> ta.hpp:274</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_affcbb0c8e6a7e798ab0a46a984b14655"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#affcbb0c8e6a7e798ab0a46a984b14655">tacos::automata::ta::TimedAutomaton::get_initial_location</a></div><div class="ttdeci">const Location &amp; get_initial_location() const</div><div class="ttdef"><b>Definition</b> ta.h:334</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html">tacos::automata::ta::Transition</a></div><div class="ttdoc">A transition in a timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:95</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a165b9c9421c2e1b8fcea995c0998b7c8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a165b9c9421c2e1b8fcea995c0998b7c8">tacos::automata::ta::Transition::target_</a></div><div class="ttdeci">Location&lt; LocationT &gt; target_</div><div class="ttdoc">target location</div><div class="ttdef"><b>Definition</b> ta.h:176</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a3bc4e616cda2f8feffb08700ac958f59"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a3bc4e616cda2f8feffb08700ac958f59">tacos::automata::ta::Transition::is_enabled</a></div><div class="ttdeci">bool is_enabled(const AP &amp;symbol, const ClockSetValuation &amp;clock_vals) const</div><div class="ttdef"><b>Definition</b> ta.hpp:74</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a5088f34512f951b35189b4e722916078"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a5088f34512f951b35189b4e722916078">tacos::automata::ta::Transition::get_target</a></div><div class="ttdeci">const Location&lt; LocationT &gt; &amp; get_target() const</div><div class="ttdoc">getter for the target location</div><div class="ttdef"><b>Definition</b> ta.h:158</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a5f32c46d75c4e3a24c36c3f08f5c6bf8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a5f32c46d75c4e3a24c36c3f08f5c6bf8">tacos::automata::ta::Transition::symbol_</a></div><div class="ttdeci">AP symbol_</div><div class="ttdoc">transition label</div><div class="ttdef"><b>Definition</b> ta.h:177</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a77d4f3a18ab34ffde2c791c634d19ea1"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a77d4f3a18ab34ffde2c791c634d19ea1">tacos::automata::ta::Transition::get_guards</a></div><div class="ttdeci">const std::multimap&lt; std::string, ClockConstraint &gt; &amp; get_guards() const</div><div class="ttdoc">Get the clock constraints defining the guard conditions.</div><div class="ttdef"><b>Definition</b> ta.h:146</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a8517cccdc95c581d953aff236ba65283"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a8517cccdc95c581d953aff236ba65283">tacos::automata::ta::Transition::source_</a></div><div class="ttdeci">Location&lt; LocationT &gt; source_</div><div class="ttdoc">source location</div><div class="ttdef"><b>Definition</b> ta.h:175</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a943b665e8619ea76e2436ff1ca4b296c"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a943b665e8619ea76e2436ff1ca4b296c">tacos::automata::ta::Transition::clock_constraints_</a></div><div class="ttdeci">std::multimap&lt; std::string, ClockConstraint &gt; clock_constraints_</div><div class="ttdoc">guards</div><div class="ttdef"><b>Definition</b> ta.h:178</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a9b8a3c11b0544f054814b5135fd10fee"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a9b8a3c11b0544f054814b5135fd10fee">tacos::automata::ta::Transition::get_source</a></div><div class="ttdeci">const Location&lt; LocationT &gt; &amp; get_source() const</div><div class="ttdoc">getter for the source location</div><div class="ttdef"><b>Definition</b> ta.h:152</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a9eb9e5a8d8ab4ec5f0c1cce49836ce46"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a9eb9e5a8d8ab4ec5f0c1cce49836ce46">tacos::automata::ta::Transition::clock_resets_</a></div><div class="ttdeci">std::set&lt; std::string &gt; clock_resets_</div><div class="ttdoc">resets</div><div class="ttdef"><b>Definition</b> ta.h:179</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_ae7cb1fdd05e2d117058dc375ca4efea5"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#ae7cb1fdd05e2d117058dc375ca4efea5">tacos::automata::ta::Transition::Transition</a></div><div class="ttdeci">Transition(const Location&lt; LocationT &gt; &amp;source, const AP &amp;symbol, const Location&lt; LocationT &gt; &amp;target, const std::multimap&lt; std::string, ClockConstraint &gt; &amp;clock_constraints={}, const std::set&lt; std::string &gt; &amp;clock_resets={})</div><div class="ttdef"><b>Definition</b> ta.h:118</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_af713a921b0d677230d94b3223b852928"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#af713a921b0d677230d94b3223b852928">tacos::automata::ta::Transition::get_reset</a></div><div class="ttdeci">const std::set&lt; std::string &gt; &amp; get_reset() const</div><div class="ttdoc">getter for the set of clocks that get reset</div><div class="ttdef"><b>Definition</b> ta.h:170</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_af82933e4a099bb8800267d12428048ad"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#af82933e4a099bb8800267d12428048ad">tacos::automata::ta::Transition::get_label</a></div><div class="ttdeci">AP get_label() const</div><div class="ttdoc">getter for the synchronization label</div><div class="ttdef"><b>Definition</b> ta.h:164</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition</b> ta.h:31</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a291a802b4e7f0923b47414d72b1aec93"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">tacos::automata::ta::Location</a></div><div class="ttdeci">fluent::NamedType&lt; T, struct LocationTypeTag, fluent::Comparable, fluent::Callable, fluent::Printable, fluent::Hashable &gt; Location</div><div class="ttdef"><b>Definition</b> ta.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a453ccaa072659fffe497d59ff8b221b5"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a453ccaa072659fffe497d59ff8b221b5">tacos::automata::ta::operator==</a></div><div class="ttdeci">bool operator==(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdoc">Compare two transitions.</div><div class="ttdef"><b>Definition</b> ta.hpp:88</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a64f2a212d6f6a1566670ba012cb80f18"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a64f2a212d6f6a1566670ba012cb80f18">tacos::automata::ta::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdef"><b>Definition</b> ta.hpp:97</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ab888c09c43c85a709af0334eadda84c6"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ab888c09c43c85a709af0334eadda84c6">tacos::automata::ta::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ta::Transition&lt; LocationT, AP &gt; &amp;transition)</div><div class="ttdef"><b>Definition</b> ta.hpp:54</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_a21b5af8bd4cf7fe1cfb1fd806fa2dc12"><div class="ttname"><a href="namespacetacos_1_1automata.html#a21b5af8bd4cf7fe1cfb1fd806fa2dc12">tacos::automata::TimedWord</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; Symbol, Time &gt; &gt; TimedWord</div><div class="ttdef"><b>Definition</b> automata.h:38</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
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@@ -383,44 +383,44 @@
 <div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>}</div>
 <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span> </div>
 <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>} <span class="comment">// namespace tacos::automata::ta</span></div>
-<div class="ttc" id="aclasstacos_1_1Clock_html"><div class="ttname"><a href="classtacos_1_1Clock.html">tacos::Clock</a></div><div class="ttdoc">A clock of a plant.</div><div class="ttdef"><b>Definition:</b> types.h:26</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockException.html">tacos::automata::InvalidClockException</a></div><div class="ttdoc">Invalid clock encountered.</div><div class="ttdef"><b>Definition:</b> automata.h:88</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidSymbolException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidSymbolException.html">tacos::automata::InvalidSymbolException</a></div><div class="ttdoc">Invalid symbol encountered.</div><div class="ttdef"><b>Definition:</b> automata.h:115</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1InvalidLocationException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1InvalidLocationException.html">tacos::automata::ta::InvalidLocationException</a></div><div class="ttdoc">Invalid location encountered.</div><div class="ttdef"><b>Definition:</b> ta.h:48</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html">tacos::automata::ta::Path</a></div><div class="ttdoc">One specific (finite) path in the timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:189</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html_a8bf6db711cfcbece813eba631fc88a89"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html#a8bf6db711cfcbece813eba631fc88a89">tacos::automata::ta::Path::Path</a></div><div class="ttdeci">Path(LocationT initial_location, std::set&lt; std::string &gt; clocks)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> ta.hpp:146</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html_aba9d5127c56e607a07693257c6098b8e"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html#aba9d5127c56e607a07693257c6098b8e">tacos::automata::ta::Path::get_current_configuration</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_current_configuration() const</div><div class="ttdef"><b>Definition:</b> ta.h:211</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:240</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a1680a18e7b571b4ef04a1785185733ad"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a1680a18e7b571b4ef04a1785185733ad">tacos::automata::ta::TimedAutomaton::get_initial_configuration</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_initial_configuration() const</div><div class="ttdef"><b>Definition:</b> ta.hpp:291</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a33d0e246b751530f39027788a9be3f22"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a33d0e246b751530f39027788a9be3f22">tacos::automata::ta::TimedAutomaton::make_transition</a></div><div class="ttdeci">std::set&lt; Path&lt; LocationT, AP &gt; &gt; make_transition(Path&lt; LocationT, AP &gt; path, const AP &amp;symbol, const Time &amp;time) const</div><div class="ttdoc">Let the TA make a transition on the given symbol at the given time.</div><div class="ttdef"><b>Definition:</b> ta.hpp:208</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a48af8ee28bf6bd645567885f59d7050e"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a48af8ee28bf6bd645567885f59d7050e">tacos::automata::ta::TimedAutomaton::is_accepting_configuration</a></div><div class="ttdeci">bool is_accepting_configuration(const TAConfiguration&lt; LocationT &gt; &amp;configuration) const</div><div class="ttdef"><b>Definition:</b> ta.hpp:302</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a8a82d65d701a12c368c2e90acce57833"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a8a82d65d701a12c368c2e90acce57833">tacos::automata::ta::TimedAutomaton::add_transition</a></div><div class="ttdeci">void add_transition(const Transition &amp;transition)</div><div class="ttdef"><b>Definition:</b> ta.hpp:156</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aafe51eacc2fd85a3d974e2c71e0ef390"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aafe51eacc2fd85a3d974e2c71e0ef390">tacos::automata::ta::TimedAutomaton::get_enabled_transitions</a></div><div class="ttdeci">std::vector&lt; Transition &gt; get_enabled_transitions(const TAConfiguration&lt; LocationT &gt; &amp;configuration)</div><div class="ttdoc">Get the enabled transitions in a given configuration.</div><div class="ttdef"><b>Definition:</b> ta.hpp:257</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ac66706f557bb3b10f12b3b213138f907"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ac66706f557bb3b10f12b3b213138f907">tacos::automata::ta::TimedAutomaton::accepts_word</a></div><div class="ttdeci">bool accepts_word(const TimedWord &amp;word) const</div><div class="ttdoc">Check if the TA accepts the given timed word.</div><div class="ttdef"><b>Definition:</b> ta.hpp:233</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aecef4290752fd8615a0900b03d5bf051"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aecef4290752fd8615a0900b03d5bf051">tacos::automata::ta::TimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; TAConfiguration&lt; LocationT &gt; &gt; make_symbol_step(const TAConfiguration&lt; LocationT &gt; &amp;configuration, const AP &amp;symbol) const</div><div class="ttdef"><b>Definition:</b> ta.hpp:182</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aeebfd644cc0e52ac39ef1fe8b09e9c82"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aeebfd644cc0e52ac39ef1fe8b09e9c82">tacos::automata::ta::TimedAutomaton::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdoc">Get the largest constant any clock is compared to.</div><div class="ttdef"><b>Definition:</b> ta.hpp:274</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html">tacos::automata::ta::Transition</a></div><div class="ttdoc">A transition in a timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:95</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a165b9c9421c2e1b8fcea995c0998b7c8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a165b9c9421c2e1b8fcea995c0998b7c8">tacos::automata::ta::Transition::target_</a></div><div class="ttdeci">Location&lt; LocationT &gt; target_</div><div class="ttdoc">target location</div><div class="ttdef"><b>Definition:</b> ta.h:176</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a3bc4e616cda2f8feffb08700ac958f59"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a3bc4e616cda2f8feffb08700ac958f59">tacos::automata::ta::Transition::is_enabled</a></div><div class="ttdeci">bool is_enabled(const AP &amp;symbol, const ClockSetValuation &amp;clock_vals) const</div><div class="ttdef"><b>Definition:</b> ta.hpp:74</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a5f32c46d75c4e3a24c36c3f08f5c6bf8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a5f32c46d75c4e3a24c36c3f08f5c6bf8">tacos::automata::ta::Transition::symbol_</a></div><div class="ttdeci">AP symbol_</div><div class="ttdoc">transition label</div><div class="ttdef"><b>Definition:</b> ta.h:177</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a8517cccdc95c581d953aff236ba65283"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a8517cccdc95c581d953aff236ba65283">tacos::automata::ta::Transition::source_</a></div><div class="ttdeci">Location&lt; LocationT &gt; source_</div><div class="ttdoc">source location</div><div class="ttdef"><b>Definition:</b> ta.h:175</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a943b665e8619ea76e2436ff1ca4b296c"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a943b665e8619ea76e2436ff1ca4b296c">tacos::automata::ta::Transition::clock_constraints_</a></div><div class="ttdeci">std::multimap&lt; std::string, ClockConstraint &gt; clock_constraints_</div><div class="ttdoc">guards</div><div class="ttdef"><b>Definition:</b> ta.h:178</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a9eb9e5a8d8ab4ec5f0c1cce49836ce46"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a9eb9e5a8d8ab4ec5f0c1cce49836ce46">tacos::automata::ta::Transition::clock_resets_</a></div><div class="ttdeci">std::set&lt; std::string &gt; clock_resets_</div><div class="ttdoc">resets</div><div class="ttdef"><b>Definition:</b> ta.h:179</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition:</b> ta.h:31</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a291a802b4e7f0923b47414d72b1aec93"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">tacos::automata::ta::Location</a></div><div class="ttdeci">fluent::NamedType&lt; T, struct LocationTypeTag, fluent::Comparable, fluent::Callable, fluent::Printable, fluent::Hashable &gt; Location</div><div class="ttdef"><b>Definition:</b> ta.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a453ccaa072659fffe497d59ff8b221b5"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a453ccaa072659fffe497d59ff8b221b5">tacos::automata::ta::operator==</a></div><div class="ttdeci">bool operator==(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdoc">Compare two transitions.</div><div class="ttdef"><b>Definition:</b> ta.hpp:88</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a64f2a212d6f6a1566670ba012cb80f18"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a64f2a212d6f6a1566670ba012cb80f18">tacos::automata::ta::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdef"><b>Definition:</b> ta.hpp:97</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a666b4a29de91c8cc5c4b493e5212f1ab"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a666b4a29de91c8cc5c4b493e5212f1ab">tacos::automata::ta::operator&gt;</a></div><div class="ttdeci">bool operator&gt;(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdef"><b>Definition:</b> ta.hpp:140</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ab888c09c43c85a709af0334eadda84c6"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ab888c09c43c85a709af0334eadda84c6">tacos::automata::ta::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ta::Transition&lt; LocationT, AP &gt; &amp;transition)</div><div class="ttdef"><b>Definition:</b> ta.hpp:54</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_a21b5af8bd4cf7fe1cfb1fd806fa2dc12"><div class="ttname"><a href="namespacetacos_1_1automata.html#a21b5af8bd4cf7fe1cfb1fd806fa2dc12">tacos::automata::TimedWord</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; Symbol, Time &gt; &gt; TimedWord</div><div class="ttdef"><b>Definition:</b> automata.h:38</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_abd59d3d5e615a98feb528be0c4704fcb"><div class="ttname"><a href="namespacetacos_1_1automata.html#abd59d3d5e615a98feb528be0c4704fcb">tacos::automata::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const ClockConstraint &amp;constraint, const Time &amp;valuation)</div><div class="ttdef"><b>Definition:</b> automata.cpp:14</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a37d196250ab049f5ce55b6edc7672588"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a37d196250ab049f5ce55b6edc7672588">tacos::PlantConfiguration::clock_valuations</a></div><div class="ttdeci">ClockSetValuation clock_valuations</div><div class="ttdef"><b>Definition:</b> types.h:83</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a5ce672600ba7424765ef8aa330ceb7e6"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a5ce672600ba7424765ef8aa330ceb7e6">tacos::PlantConfiguration::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition:</b> types.h:81</div></div>
+<div class="ttc" id="aclasstacos_1_1Clock_html"><div class="ttname"><a href="classtacos_1_1Clock.html">tacos::Clock</a></div><div class="ttdoc">A clock of a plant.</div><div class="ttdef"><b>Definition</b> types.h:26</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidClockException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidClockException.html">tacos::automata::InvalidClockException</a></div><div class="ttdoc">Invalid clock encountered.</div><div class="ttdef"><b>Definition</b> automata.h:88</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1InvalidSymbolException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1InvalidSymbolException.html">tacos::automata::InvalidSymbolException</a></div><div class="ttdoc">Invalid symbol encountered.</div><div class="ttdef"><b>Definition</b> automata.h:115</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1InvalidLocationException_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1InvalidLocationException.html">tacos::automata::ta::InvalidLocationException</a></div><div class="ttdoc">Invalid location encountered.</div><div class="ttdef"><b>Definition</b> ta.h:48</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html">tacos::automata::ta::Path</a></div><div class="ttdoc">One specific (finite) path in the timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:189</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html_a8bf6db711cfcbece813eba631fc88a89"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html#a8bf6db711cfcbece813eba631fc88a89">tacos::automata::ta::Path::Path</a></div><div class="ttdeci">Path(LocationT initial_location, std::set&lt; std::string &gt; clocks)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> ta.hpp:146</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Path_html_aba9d5127c56e607a07693257c6098b8e"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Path.html#aba9d5127c56e607a07693257c6098b8e">tacos::automata::ta::Path::get_current_configuration</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_current_configuration() const</div><div class="ttdef"><b>Definition</b> ta.h:211</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a1680a18e7b571b4ef04a1785185733ad"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a1680a18e7b571b4ef04a1785185733ad">tacos::automata::ta::TimedAutomaton::get_initial_configuration</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_initial_configuration() const</div><div class="ttdef"><b>Definition</b> ta.hpp:291</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a33d0e246b751530f39027788a9be3f22"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a33d0e246b751530f39027788a9be3f22">tacos::automata::ta::TimedAutomaton::make_transition</a></div><div class="ttdeci">std::set&lt; Path&lt; LocationT, AP &gt; &gt; make_transition(Path&lt; LocationT, AP &gt; path, const AP &amp;symbol, const Time &amp;time) const</div><div class="ttdoc">Let the TA make a transition on the given symbol at the given time.</div><div class="ttdef"><b>Definition</b> ta.hpp:208</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a48af8ee28bf6bd645567885f59d7050e"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a48af8ee28bf6bd645567885f59d7050e">tacos::automata::ta::TimedAutomaton::is_accepting_configuration</a></div><div class="ttdeci">bool is_accepting_configuration(const TAConfiguration&lt; LocationT &gt; &amp;configuration) const</div><div class="ttdef"><b>Definition</b> ta.hpp:302</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a8a82d65d701a12c368c2e90acce57833"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a8a82d65d701a12c368c2e90acce57833">tacos::automata::ta::TimedAutomaton::add_transition</a></div><div class="ttdeci">void add_transition(const Transition &amp;transition)</div><div class="ttdef"><b>Definition</b> ta.hpp:156</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aafe51eacc2fd85a3d974e2c71e0ef390"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aafe51eacc2fd85a3d974e2c71e0ef390">tacos::automata::ta::TimedAutomaton::get_enabled_transitions</a></div><div class="ttdeci">std::vector&lt; Transition &gt; get_enabled_transitions(const TAConfiguration&lt; LocationT &gt; &amp;configuration)</div><div class="ttdoc">Get the enabled transitions in a given configuration.</div><div class="ttdef"><b>Definition</b> ta.hpp:257</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ac66706f557bb3b10f12b3b213138f907"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ac66706f557bb3b10f12b3b213138f907">tacos::automata::ta::TimedAutomaton::accepts_word</a></div><div class="ttdeci">bool accepts_word(const TimedWord &amp;word) const</div><div class="ttdoc">Check if the TA accepts the given timed word.</div><div class="ttdef"><b>Definition</b> ta.hpp:233</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aecef4290752fd8615a0900b03d5bf051"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aecef4290752fd8615a0900b03d5bf051">tacos::automata::ta::TimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; TAConfiguration&lt; LocationT &gt; &gt; make_symbol_step(const TAConfiguration&lt; LocationT &gt; &amp;configuration, const AP &amp;symbol) const</div><div class="ttdef"><b>Definition</b> ta.hpp:182</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aeebfd644cc0e52ac39ef1fe8b09e9c82"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aeebfd644cc0e52ac39ef1fe8b09e9c82">tacos::automata::ta::TimedAutomaton::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdoc">Get the largest constant any clock is compared to.</div><div class="ttdef"><b>Definition</b> ta.hpp:274</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html">tacos::automata::ta::Transition</a></div><div class="ttdoc">A transition in a timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:95</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a165b9c9421c2e1b8fcea995c0998b7c8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a165b9c9421c2e1b8fcea995c0998b7c8">tacos::automata::ta::Transition::target_</a></div><div class="ttdeci">Location&lt; LocationT &gt; target_</div><div class="ttdoc">target location</div><div class="ttdef"><b>Definition</b> ta.h:176</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a3bc4e616cda2f8feffb08700ac958f59"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a3bc4e616cda2f8feffb08700ac958f59">tacos::automata::ta::Transition::is_enabled</a></div><div class="ttdeci">bool is_enabled(const AP &amp;symbol, const ClockSetValuation &amp;clock_vals) const</div><div class="ttdef"><b>Definition</b> ta.hpp:74</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a5f32c46d75c4e3a24c36c3f08f5c6bf8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a5f32c46d75c4e3a24c36c3f08f5c6bf8">tacos::automata::ta::Transition::symbol_</a></div><div class="ttdeci">AP symbol_</div><div class="ttdoc">transition label</div><div class="ttdef"><b>Definition</b> ta.h:177</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a8517cccdc95c581d953aff236ba65283"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a8517cccdc95c581d953aff236ba65283">tacos::automata::ta::Transition::source_</a></div><div class="ttdeci">Location&lt; LocationT &gt; source_</div><div class="ttdoc">source location</div><div class="ttdef"><b>Definition</b> ta.h:175</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a943b665e8619ea76e2436ff1ca4b296c"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a943b665e8619ea76e2436ff1ca4b296c">tacos::automata::ta::Transition::clock_constraints_</a></div><div class="ttdeci">std::multimap&lt; std::string, ClockConstraint &gt; clock_constraints_</div><div class="ttdoc">guards</div><div class="ttdef"><b>Definition</b> ta.h:178</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1Transition_html_a9eb9e5a8d8ab4ec5f0c1cce49836ce46"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1Transition.html#a9eb9e5a8d8ab4ec5f0c1cce49836ce46">tacos::automata::ta::Transition::clock_resets_</a></div><div class="ttdeci">std::set&lt; std::string &gt; clock_resets_</div><div class="ttdoc">resets</div><div class="ttdef"><b>Definition</b> ta.h:179</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition</b> ta.h:31</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a291a802b4e7f0923b47414d72b1aec93"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">tacos::automata::ta::Location</a></div><div class="ttdeci">fluent::NamedType&lt; T, struct LocationTypeTag, fluent::Comparable, fluent::Callable, fluent::Printable, fluent::Hashable &gt; Location</div><div class="ttdef"><b>Definition</b> ta.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a453ccaa072659fffe497d59ff8b221b5"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a453ccaa072659fffe497d59ff8b221b5">tacos::automata::ta::operator==</a></div><div class="ttdeci">bool operator==(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdoc">Compare two transitions.</div><div class="ttdef"><b>Definition</b> ta.hpp:88</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a64f2a212d6f6a1566670ba012cb80f18"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a64f2a212d6f6a1566670ba012cb80f18">tacos::automata::ta::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdef"><b>Definition</b> ta.hpp:97</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a666b4a29de91c8cc5c4b493e5212f1ab"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a666b4a29de91c8cc5c4b493e5212f1ab">tacos::automata::ta::operator&gt;</a></div><div class="ttdeci">bool operator&gt;(const Transition&lt; LocationT, AP &gt; &amp;lhs, const Transition&lt; LocationT, AP &gt; &amp;rhs)</div><div class="ttdef"><b>Definition</b> ta.hpp:140</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ab888c09c43c85a709af0334eadda84c6"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ab888c09c43c85a709af0334eadda84c6">tacos::automata::ta::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ta::Transition&lt; LocationT, AP &gt; &amp;transition)</div><div class="ttdef"><b>Definition</b> ta.hpp:54</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_a21b5af8bd4cf7fe1cfb1fd806fa2dc12"><div class="ttname"><a href="namespacetacos_1_1automata.html#a21b5af8bd4cf7fe1cfb1fd806fa2dc12">tacos::automata::TimedWord</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; Symbol, Time &gt; &gt; TimedWord</div><div class="ttdef"><b>Definition</b> automata.h:38</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_abd59d3d5e615a98feb528be0c4704fcb"><div class="ttname"><a href="namespacetacos_1_1automata.html#abd59d3d5e615a98feb528be0c4704fcb">tacos::automata::is_satisfied</a></div><div class="ttdeci">bool is_satisfied(const ClockConstraint &amp;constraint, const Time &amp;valuation)</div><div class="ttdef"><b>Definition</b> automata.cpp:14</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a37d196250ab049f5ce55b6edc7672588"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a37d196250ab049f5ce55b6edc7672588">tacos::PlantConfiguration::clock_valuations</a></div><div class="ttdeci">ClockSetValuation clock_valuations</div><div class="ttdef"><b>Definition</b> types.h:83</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a5ce672600ba7424765ef8aa330ceb7e6"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a5ce672600ba7424765ef8aa330ceb7e6">tacos::PlantConfiguration::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition</b> types.h:81</div></div>
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diff --git a/docs/ta__adapter_8h_source.html b/docs/ta__adapter_8h_source.html
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@@ -3,7 +3,7 @@
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@@ -30,7 +30,7 @@
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@@ -183,25 +183,25 @@
 <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>};</div>
 <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
 <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>} <span class="comment">// namespace tacos::search</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:160</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:240</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ab3981c911b04d0398d49b87008ada54a"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ab3981c911b04d0398d49b87008ada54a">tacos::automata::ta::TimedAutomaton::get_alphabet</a></div><div class="ttdeci">const std::set&lt; AP &gt; &amp; get_alphabet() const</div><div class="ttdef"><b>Definition:</b> ta.h:316</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aecef4290752fd8615a0900b03d5bf051"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aecef4290752fd8615a0900b03d5bf051">tacos::automata::ta::TimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; TAConfiguration&lt; LocationT &gt; &gt; make_symbol_step(const TAConfiguration&lt; LocationT &gt; &amp;configuration, const AP &amp;symbol) const</div><div class="ttdef"><b>Definition:</b> ta.hpp:182</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435_html_a182ed3cfe0c252d0e6ceb4175f8f40a9"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435.html#a182ed3cfe0c252d0e6ceb4175f8f40a9">tacos::search::get_next_canonical_words&lt; automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;, ActionType, ConstraintSymbolType, use_location_constraints &gt;::operator()</a></div><div class="ttdeci">std::multimap&lt; ActionType, CanonicalABWord&lt; typename automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;::Location, ConstraintSymbolType &gt; &gt; operator()(const automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt; &amp;ta, const automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ConstraintSymbolType &gt; &gt; &amp;ata, const std::pair&lt; typename automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;::Configuration, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; &amp;ab_configuration, const RegionIndex, const RegionIndex K)</div><div class="ttdef"><b>Definition:</b> ta_adapter.h:58</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435_html_aa35841a8eec75e9b2c2c23be99850ece"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435.html#aa35841a8eec75e9b2c2c23be99850ece">tacos::search::get_next_canonical_words&lt; automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;, ActionType, ConstraintSymbolType, use_location_constraints &gt;::get_next_canonical_words</a></div><div class="ttdeci">get_next_canonical_words(const std::set&lt; ActionType &gt; &amp;controller_actions={}, const std::set&lt; ActionType &gt; &amp;environment_actions={})</div><div class="ttdef"><b>Definition:</b> ta_adapter.h:49</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html">tacos::search::get_next_canonical_words</a></div><div class="ttdoc">Generic functor to get the next canonical word.</div><div class="ttdef"><b>Definition:</b> adapter.h:28</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition:</b> golog_adapter.cpp:14</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a17413bc3a5f5b9753f43b7a1f1500d57"><div class="ttname"><a href="namespacetacos_1_1search.html#a17413bc3a5f5b9753f43b7a1f1500d57">tacos::search::get_canonical_word</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_canonical_word(const PlantConfiguration&lt; Location &gt; &amp;plant_configuration, const ATAConfiguration&lt; ConstraintSymbolType &gt; &amp;ata_configuration, const unsigned int K)</div><div class="ttdef"><b>Definition:</b> canonical_word.h:302</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition:</b> canonical_word.h:25</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition:</b> canonical_word.h:148</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html">tacos::search::PlantState</a></div><div class="ttdoc">The state of a plant.</div><div class="ttdef"><b>Definition:</b> canonical_word.h:33</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ab3981c911b04d0398d49b87008ada54a"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ab3981c911b04d0398d49b87008ada54a">tacos::automata::ta::TimedAutomaton::get_alphabet</a></div><div class="ttdeci">const std::set&lt; AP &gt; &amp; get_alphabet() const</div><div class="ttdef"><b>Definition</b> ta.h:316</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aecef4290752fd8615a0900b03d5bf051"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aecef4290752fd8615a0900b03d5bf051">tacos::automata::ta::TimedAutomaton::make_symbol_step</a></div><div class="ttdeci">std::set&lt; TAConfiguration&lt; LocationT &gt; &gt; make_symbol_step(const TAConfiguration&lt; LocationT &gt; &amp;configuration, const AP &amp;symbol) const</div><div class="ttdef"><b>Definition</b> ta.hpp:182</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435_html_a182ed3cfe0c252d0e6ceb4175f8f40a9"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435.html#a182ed3cfe0c252d0e6ceb4175f8f40a9">tacos::search::get_next_canonical_words&lt; automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;, ActionType, ConstraintSymbolType, use_location_constraints &gt;::operator()</a></div><div class="ttdeci">std::multimap&lt; ActionType, CanonicalABWord&lt; typename automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;::Location, ConstraintSymbolType &gt; &gt; operator()(const automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt; &amp;ta, const automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt;, logic::AtomicProposition&lt; ConstraintSymbolType &gt; &gt; &amp;ata, const std::pair&lt; typename automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;::Configuration, ATAConfiguration&lt; ConstraintSymbolType &gt; &gt; &amp;ab_configuration, const RegionIndex, const RegionIndex K)</div><div class="ttdef"><b>Definition</b> ta_adapter.h:58</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435_html_aa35841a8eec75e9b2c2c23be99850ece"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words_3_01automata_1_1ta_1_1TimedAutomaton_3_01Loc1753c26bfb81820825382aa4e765a435.html#aa35841a8eec75e9b2c2c23be99850ece">tacos::search::get_next_canonical_words&lt; automata::ta::TimedAutomaton&lt; LocationT, ActionType &gt;, ActionType, ConstraintSymbolType, use_location_constraints &gt;::get_next_canonical_words</a></div><div class="ttdeci">get_next_canonical_words(const std::set&lt; ActionType &gt; &amp;controller_actions={}, const std::set&lt; ActionType &gt; &amp;environment_actions={})</div><div class="ttdef"><b>Definition</b> ta_adapter.h:49</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1get__next__canonical__words_html"><div class="ttname"><a href="classtacos_1_1search_1_1get__next__canonical__words.html">tacos::search::get_next_canonical_words</a></div><div class="ttdoc">Generic functor to get the next canonical word.</div><div class="ttdef"><b>Definition</b> adapter.h:28</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html"><div class="ttname"><a href="namespacetacos_1_1search.html">tacos::search</a></div><div class="ttdoc">The search algorithm.</div><div class="ttdef"><b>Definition</b> golog_adapter.cpp:14</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a17413bc3a5f5b9753f43b7a1f1500d57"><div class="ttname"><a href="namespacetacos_1_1search.html#a17413bc3a5f5b9753f43b7a1f1500d57">tacos::search::get_canonical_word</a></div><div class="ttdeci">CanonicalABWord&lt; Location, ConstraintSymbolType &gt; get_canonical_word(const PlantConfiguration&lt; Location &gt; &amp;plant_configuration, const ATAConfiguration&lt; ConstraintSymbolType &gt; &amp;ata_configuration, const unsigned int K)</div><div class="ttdef"><b>Definition</b> canonical_word.h:302</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a308143750fcb4a93cb927bcb8b1fda94"><div class="ttname"><a href="namespacetacos_1_1search.html#a308143750fcb4a93cb927bcb8b1fda94">tacos::search::ATAConfiguration</a></div><div class="ttdeci">automata::ata::Configuration&lt; logic::MTLFormula&lt; ConstraintSymbolType &gt; &gt; ATAConfiguration</div><div class="ttdef"><b>Definition</b> canonical_word.h:25</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a30908a2fd33b56099708770ddc6ae2e5"><div class="ttname"><a href="namespacetacos_1_1search.html#a30908a2fd33b56099708770ddc6ae2e5">tacos::search::CanonicalABWord</a></div><div class="ttdeci">std::vector&lt; std::set&lt; ABRegionSymbol&lt; LocationT, ConstraintSymbolT &gt; &gt; &gt; CanonicalABWord</div><div class="ttdef"><b>Definition</b> canonical_word.h:148</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1PlantState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantState.html">tacos::search::PlantState</a></div><div class="ttdoc">The state of a plant.</div><div class="ttdef"><b>Definition</b> canonical_word.h:33</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
 </small></address>
 </body>
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diff --git a/docs/ta__product_8h_source.html b/docs/ta__product_8h_source.html
index e2b3863f..521cf535 100644
--- a/docs/ta__product_8h_source.html
+++ b/docs/ta__product_8h_source.html
@@ -3,7 +3,7 @@
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/automata/include/automata/ta_product.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -128,15 +128,15 @@
 <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span><span class="preprocessor">#include &quot;ta_product.hpp&quot;</span></div>
 <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
 <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_AUTOMATA_INCLUDE_AUTOMATA_TA_PRODUCT_H_ */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition:</b> ta.h:31</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a089784e6378411440f231d578ce6bc19"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a089784e6378411440f231d578ce6bc19">tacos::automata::ta::get_product</a></div><div class="ttdeci">TimedAutomaton&lt; std::vector&lt; LocationT &gt;, ActionT &gt; get_product(const std::vector&lt; TimedAutomaton&lt; LocationT, ActionT &gt; &gt; &amp;automata, const std::set&lt; ActionT &gt; &amp;synchronized_actions={})</div><div class="ttdef"><b>Definition:</b> ta_product.hpp:46</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a291a802b4e7f0923b47414d72b1aec93"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">tacos::automata::ta::Location</a></div><div class="ttdeci">fluent::NamedType&lt; T, struct LocationTypeTag, fluent::Comparable, fluent::Callable, fluent::Printable, fluent::Hashable &gt; Location</div><div class="ttdef"><b>Definition:</b> ta.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ab888c09c43c85a709af0334eadda84c6"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ab888c09c43c85a709af0334eadda84c6">tacos::automata::ta::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ta::Transition&lt; LocationT, AP &gt; &amp;transition)</div><div class="ttdef"><b>Definition:</b> ta.hpp:54</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_afd62c46941998ad376640e5c12e40fd0"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#afd62c46941998ad376640e5c12e40fd0">tacos::automata::ta::collect_synchronizing_alphabets</a></div><div class="ttdeci">std::map&lt; ActionT, std::vector&lt; std::size_t &gt; &gt; collect_synchronizing_alphabets(const std::set&lt; ActionT &gt; &amp;synchronized_actions, const std::vector&lt; std::set&lt; ActionT &gt; &gt; &amp;alphabets)</div><div class="ttdoc">Checks which automata may synchronize on which label by comparing the set of synchronizing labels and...</div><div class="ttdef"><b>Definition:</b> ta_product.hpp:29</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition</b> ta.h:31</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a089784e6378411440f231d578ce6bc19"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a089784e6378411440f231d578ce6bc19">tacos::automata::ta::get_product</a></div><div class="ttdeci">TimedAutomaton&lt; std::vector&lt; LocationT &gt;, ActionT &gt; get_product(const std::vector&lt; TimedAutomaton&lt; LocationT, ActionT &gt; &gt; &amp;automata, const std::set&lt; ActionT &gt; &amp;synchronized_actions={})</div><div class="ttdef"><b>Definition</b> ta_product.hpp:46</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a291a802b4e7f0923b47414d72b1aec93"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">tacos::automata::ta::Location</a></div><div class="ttdeci">fluent::NamedType&lt; T, struct LocationTypeTag, fluent::Comparable, fluent::Callable, fluent::Printable, fluent::Hashable &gt; Location</div><div class="ttdef"><b>Definition</b> ta.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ab888c09c43c85a709af0334eadda84c6"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ab888c09c43c85a709af0334eadda84c6">tacos::automata::ta::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const automata::ta::Transition&lt; LocationT, AP &gt; &amp;transition)</div><div class="ttdef"><b>Definition</b> ta.hpp:54</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_afd62c46941998ad376640e5c12e40fd0"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#afd62c46941998ad376640e5c12e40fd0">tacos::automata::ta::collect_synchronizing_alphabets</a></div><div class="ttdeci">std::map&lt; ActionT, std::vector&lt; std::size_t &gt; &gt; collect_synchronizing_alphabets(const std::set&lt; ActionT &gt; &amp;synchronized_actions, const std::vector&lt; std::set&lt; ActionT &gt; &gt; &amp;alphabets)</div><div class="ttdoc">Checks which automata may synchronize on which label by comparing the set of synchronizing labels and...</div><div class="ttdef"><b>Definition</b> ta_product.hpp:29</div></div>
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 <!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/ta__product_8hpp_source.html b/docs/ta__product_8hpp_source.html
index a733ac84..da2efbd3 100644
--- a/docs/ta__product_8hpp_source.html
+++ b/docs/ta__product_8hpp_source.html
@@ -3,7 +3,7 @@
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/automata/include/automata/ta_product.hpp Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
 <script type="text/javascript">
 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -161,7 +161,7 @@
 <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>                      std::set&lt;ProductLocation&gt; augmented_product_locations;</div>
 <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>                      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;product_location : product_locations) {</div>
 <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>                          <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;ta_location : ta.get_locations()) {</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>                              auto new_product_location = product_location;</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>                              <span class="keyword">auto</span> new_product_location = product_location;</div>
 <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                              new_product_location-&gt;push_back(ta_location);</div>
 <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>                              augmented_product_locations.insert(new_product_location);</div>
 <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>                          }</div>
@@ -180,7 +180,7 @@
 <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>                      std::set&lt;ProductLocation&gt; augmented_product_final_locations;</div>
 <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>                      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;product_location : product_final_locations) {</div>
 <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>                          <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;ta_location : ta.get_final_locations()) {</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>                              auto new_product_location = product_location;</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>                              <span class="keyword">auto</span> new_product_location = product_location;</div>
 <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>                              new_product_location-&gt;push_back(ta_location);</div>
 <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>                              augmented_product_final_locations.insert(new_product_location);</div>
 <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>                          }</div>
@@ -309,15 +309,15 @@
 <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>}</div>
 <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span> </div>
 <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>} <span class="comment">// namespace tacos::automata::ta</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:240</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition:</b> ta.h:31</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a089784e6378411440f231d578ce6bc19"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a089784e6378411440f231d578ce6bc19">tacos::automata::ta::get_product</a></div><div class="ttdeci">TimedAutomaton&lt; std::vector&lt; LocationT &gt;, ActionT &gt; get_product(const std::vector&lt; TimedAutomaton&lt; LocationT, ActionT &gt; &gt; &amp;automata, const std::set&lt; ActionT &gt; &amp;synchronized_actions={})</div><div class="ttdef"><b>Definition:</b> ta_product.hpp:46</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a291a802b4e7f0923b47414d72b1aec93"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">tacos::automata::ta::Location</a></div><div class="ttdeci">fluent::NamedType&lt; T, struct LocationTypeTag, fluent::Comparable, fluent::Callable, fluent::Printable, fluent::Hashable &gt; Location</div><div class="ttdef"><b>Definition:</b> ta.h:40</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_afd62c46941998ad376640e5c12e40fd0"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#afd62c46941998ad376640e5c12e40fd0">tacos::automata::ta::collect_synchronizing_alphabets</a></div><div class="ttdeci">std::map&lt; ActionT, std::vector&lt; std::size_t &gt; &gt; collect_synchronizing_alphabets(const std::set&lt; ActionT &gt; &amp;synchronized_actions, const std::vector&lt; std::set&lt; ActionT &gt; &gt; &amp;alphabets)</div><div class="ttdoc">Checks which automata may synchronize on which label by comparing the set of synchronizing labels and...</div><div class="ttdef"><b>Definition:</b> ta_product.hpp:29</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition</b> ta.h:31</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a089784e6378411440f231d578ce6bc19"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a089784e6378411440f231d578ce6bc19">tacos::automata::ta::get_product</a></div><div class="ttdeci">TimedAutomaton&lt; std::vector&lt; LocationT &gt;, ActionT &gt; get_product(const std::vector&lt; TimedAutomaton&lt; LocationT, ActionT &gt; &gt; &amp;automata, const std::set&lt; ActionT &gt; &amp;synchronized_actions={})</div><div class="ttdef"><b>Definition</b> ta_product.hpp:46</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a291a802b4e7f0923b47414d72b1aec93"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a291a802b4e7f0923b47414d72b1aec93">tacos::automata::ta::Location</a></div><div class="ttdeci">fluent::NamedType&lt; T, struct LocationTypeTag, fluent::Comparable, fluent::Callable, fluent::Printable, fluent::Hashable &gt; Location</div><div class="ttdef"><b>Definition</b> ta.h:40</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_afd62c46941998ad376640e5c12e40fd0"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#afd62c46941998ad376640e5c12e40fd0">tacos::automata::ta::collect_synchronizing_alphabets</a></div><div class="ttdeci">std::map&lt; ActionT, std::vector&lt; std::size_t &gt; &gt; collect_synchronizing_alphabets(const std::set&lt; ActionT &gt; &amp;synchronized_actions, const std::vector&lt; std::set&lt; ActionT &gt; &gt; &amp;alphabets)</div><div class="ttdoc">Checks which automata may synchronize on which label by comparing the set of synchronizing labels and...</div><div class="ttdef"><b>Definition</b> ta_product.hpp:29</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
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diff --git a/docs/ta__proto_8h_source.html b/docs/ta__proto_8h_source.html
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+<meta name="generator" content="Doxygen 1.9.7"/>
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 <title>tacos: src/automata/include/automata/ta_proto.h Source File</title>
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@@ -30,7 +30,7 @@
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+<!-- Generated by Doxygen 1.9.7 -->
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@@ -112,15 +112,15 @@
 <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#include &quot;ta_proto.hpp&quot;</span></div>
 <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
 <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_AUTOMATA_INCLUDE_AUTOMATA_TA_PROTO_H */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition:</b> ta.h:31</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0b8fea5c6bc3a3603bbab315dd713260"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0b8fea5c6bc3a3603bbab315dd713260">tacos::automata::ta::ta_to_proto</a></div><div class="ttdeci">proto::TimedAutomaton ta_to_proto(const TimedAutomaton&lt; LocationT, ActionT &gt; &amp;ta)</div><div class="ttdef"><b>Definition:</b> ta_proto.hpp:41</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0d85280ccf7fd32f507a720865102424"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0d85280ccf7fd32f507a720865102424">tacos::automata::ta::parse_proto</a></div><div class="ttdeci">TimedAutomaton&lt; std::string, std::string &gt; parse_proto(const proto::TimedAutomaton &amp;ta_proto)</div><div class="ttdef"><b>Definition:</b> ta_proto.cpp:105</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a56a6411fbf4556ecc94c4eee14028cb1"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a56a6411fbf4556ecc94c4eee14028cb1">tacos::automata::ta::parse_product_proto</a></div><div class="ttdeci">TimedAutomaton&lt; std::vector&lt; std::string &gt;, std::string &gt; parse_product_proto(const proto::ProductAutomaton &amp;ta_product_proto)</div><div class="ttdef"><b>Definition:</b> ta_proto.cpp:125</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_html_ae76064700b8c5b972347a745856fc7b8"><div class="ttname"><a href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">tacos::automata::ClockConstraint</a></div><div class="ttdeci">std::variant&lt; AtomicClockConstraintT&lt; std::less&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::less_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::not_equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater&lt; Time &gt; &gt; &gt; ClockConstraint</div><div class="ttdef"><b>Definition:</b> automata.h:50</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition</b> ta.h:31</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0b8fea5c6bc3a3603bbab315dd713260"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0b8fea5c6bc3a3603bbab315dd713260">tacos::automata::ta::ta_to_proto</a></div><div class="ttdeci">proto::TimedAutomaton ta_to_proto(const TimedAutomaton&lt; LocationT, ActionT &gt; &amp;ta)</div><div class="ttdef"><b>Definition</b> ta_proto.hpp:41</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0d85280ccf7fd32f507a720865102424"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0d85280ccf7fd32f507a720865102424">tacos::automata::ta::parse_proto</a></div><div class="ttdeci">TimedAutomaton&lt; std::string, std::string &gt; parse_proto(const proto::TimedAutomaton &amp;ta_proto)</div><div class="ttdef"><b>Definition</b> ta_proto.cpp:105</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a56a6411fbf4556ecc94c4eee14028cb1"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a56a6411fbf4556ecc94c4eee14028cb1">tacos::automata::ta::parse_product_proto</a></div><div class="ttdeci">TimedAutomaton&lt; std::vector&lt; std::string &gt;, std::string &gt; parse_product_proto(const proto::ProductAutomaton &amp;ta_product_proto)</div><div class="ttdef"><b>Definition</b> ta_proto.cpp:125</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_html_ae76064700b8c5b972347a745856fc7b8"><div class="ttname"><a href="namespacetacos_1_1automata.html#ae76064700b8c5b972347a745856fc7b8">tacos::automata::ClockConstraint</a></div><div class="ttdeci">std::variant&lt; AtomicClockConstraintT&lt; std::less&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::less_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::not_equal_to&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater_equal&lt; Time &gt; &gt;, AtomicClockConstraintT&lt; std::greater&lt; Time &gt; &gt; &gt; ClockConstraint</div><div class="ttdef"><b>Definition</b> automata.h:50</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/ta__proto_8hpp_source.html b/docs/ta__proto_8hpp_source.html
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@@ -30,7 +30,7 @@
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-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
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@@ -137,19 +137,19 @@
 <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>}</div>
 <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
 <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>} <span class="comment">// namespace tacos::automata::ta</span></div>
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-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a0fa220852df2462af18ca7f3e7b01072"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a0fa220852df2462af18ca7f3e7b01072">tacos::automata::ta::TimedAutomaton::get_final_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_final_locations() const</div><div class="ttdef"><b>Definition:</b> ta.h:343</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a65b876f51412397d08ebe77279ef9435"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a65b876f51412397d08ebe77279ef9435">tacos::automata::ta::TimedAutomaton::get_clocks</a></div><div class="ttdeci">const std::set&lt; std::string &gt; &amp; get_clocks() const</div><div class="ttdef"><b>Definition:</b> ta.h:361</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a6f3404d9440c673b5d82c654c9ca2ddc"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a6f3404d9440c673b5d82c654c9ca2ddc">tacos::automata::ta::TimedAutomaton::get_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_locations() const</div><div class="ttdef"><b>Definition:</b> ta.h:325</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a9b5a0206988119598e3d6ae859b0c1b8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a9b5a0206988119598e3d6ae859b0c1b8">tacos::automata::ta::TimedAutomaton::get_transitions</a></div><div class="ttdeci">const std::multimap&lt; Location, Transition &gt; &amp; get_transitions() const</div><div class="ttdef"><b>Definition:</b> ta.h:352</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ab3981c911b04d0398d49b87008ada54a"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ab3981c911b04d0398d49b87008ada54a">tacos::automata::ta::TimedAutomaton::get_alphabet</a></div><div class="ttdeci">const std::set&lt; AP &gt; &amp; get_alphabet() const</div><div class="ttdef"><b>Definition:</b> ta.h:316</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_affcbb0c8e6a7e798ab0a46a984b14655"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#affcbb0c8e6a7e798ab0a46a984b14655">tacos::automata::ta::TimedAutomaton::get_initial_location</a></div><div class="ttdeci">const Location &amp; get_initial_location() const</div><div class="ttdef"><b>Definition:</b> ta.h:334</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition:</b> ta.h:31</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0b8fea5c6bc3a3603bbab315dd713260"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0b8fea5c6bc3a3603bbab315dd713260">tacos::automata::ta::ta_to_proto</a></div><div class="ttdeci">proto::TimedAutomaton ta_to_proto(const TimedAutomaton&lt; LocationT, ActionT &gt; &amp;ta)</div><div class="ttdef"><b>Definition:</b> ta_proto.hpp:41</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a0fa220852df2462af18ca7f3e7b01072"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a0fa220852df2462af18ca7f3e7b01072">tacos::automata::ta::TimedAutomaton::get_final_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_final_locations() const</div><div class="ttdef"><b>Definition</b> ta.h:343</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a65b876f51412397d08ebe77279ef9435"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a65b876f51412397d08ebe77279ef9435">tacos::automata::ta::TimedAutomaton::get_clocks</a></div><div class="ttdeci">const std::set&lt; std::string &gt; &amp; get_clocks() const</div><div class="ttdef"><b>Definition</b> ta.h:361</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a6f3404d9440c673b5d82c654c9ca2ddc"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a6f3404d9440c673b5d82c654c9ca2ddc">tacos::automata::ta::TimedAutomaton::get_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_locations() const</div><div class="ttdef"><b>Definition</b> ta.h:325</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a9b5a0206988119598e3d6ae859b0c1b8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a9b5a0206988119598e3d6ae859b0c1b8">tacos::automata::ta::TimedAutomaton::get_transitions</a></div><div class="ttdeci">const std::multimap&lt; Location, Transition &gt; &amp; get_transitions() const</div><div class="ttdef"><b>Definition</b> ta.h:352</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_ab3981c911b04d0398d49b87008ada54a"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#ab3981c911b04d0398d49b87008ada54a">tacos::automata::ta::TimedAutomaton::get_alphabet</a></div><div class="ttdeci">const std::set&lt; AP &gt; &amp; get_alphabet() const</div><div class="ttdef"><b>Definition</b> ta.h:316</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_affcbb0c8e6a7e798ab0a46a984b14655"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#affcbb0c8e6a7e798ab0a46a984b14655">tacos::automata::ta::TimedAutomaton::get_initial_location</a></div><div class="ttdeci">const Location &amp; get_initial_location() const</div><div class="ttdef"><b>Definition</b> ta.h:334</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition</b> ta.h:31</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0b8fea5c6bc3a3603bbab315dd713260"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0b8fea5c6bc3a3603bbab315dd713260">tacos::automata::ta::ta_to_proto</a></div><div class="ttdeci">proto::TimedAutomaton ta_to_proto(const TimedAutomaton&lt; LocationT, ActionT &gt; &amp;ta)</div><div class="ttdef"><b>Definition</b> ta_proto.hpp:41</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
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@@ -128,23 +128,23 @@
 <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="preprocessor">#include &quot;ta_regions.hpp&quot;</span></div>
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 <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef SRC_AUTOMATA_INCLUDE_AUTOMATA_TA_REGIONS_H */</span><span class="preprocessor"></span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:240</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition:</b> ta.h:31</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0165f060fde2946cc77f6ce4a12fab6b"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0165f060fde2946cc77f6ce4a12fab6b">tacos::automata::ta::get_maximal_region_index</a></div><div class="ttdeci">RegionIndex get_maximal_region_index(const TimedAutomaton&lt; LocationT, AP &gt; &amp;ta)</div><div class="ttdoc">Get the maximal region index from a given timed automaton.</div><div class="ttdef"><b>Definition:</b> ta_regions.hpp:35</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a47792619ecf8c56928605d8e47d00b39"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a47792619ecf8c56928605d8e47d00b39">tacos::automata::ta::get_region_candidate</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_region_candidate(const RegionalizedConfiguration&lt; LocationT &gt; &amp;regionalized_configuration)</div><div class="ttdoc">Get a (unregionalized) Configuration of a TimedAutomaton for a given regionalized Configuration.</div><div class="ttdef"><b>Definition:</b> ta_regions.hpp:18</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a550c8e35a8a6f902b67951cbc9c91785"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a550c8e35a8a6f902b67951cbc9c91785">tacos::automata::ta::RegionalizedConfiguration</a></div><div class="ttdeci">std::pair&lt; Location&lt; LocationT &gt;, RegionSetValuation &gt; RegionalizedConfiguration</div><div class="ttdef"><b>Definition:</b> ta_regions.h:29</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_aa2ada33ae68e18ef41f8df5f5d8f4c78"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#aa2ada33ae68e18ef41f8df5f5d8f4c78">tacos::automata::ta::Integer</a></div><div class="ttdeci">unsigned Integer</div><div class="ttdoc">fix integer type</div><div class="ttdef"><b>Definition:</b> ta_regions.h:30</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ab58dfdf0dbcdde0802c5ba707e55c204"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ab58dfdf0dbcdde0802c5ba707e55c204">tacos::automata::ta::RegionSetValuation</a></div><div class="ttdeci">std::map&lt; std::string, RegionIndex &gt; RegionSetValuation</div><div class="ttdef"><b>Definition:</b> ta_regions.h:26</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ad9b5756f12395e07248b04e4a5e92edc"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ad9b5756f12395e07248b04e4a5e92edc">tacos::automata::ta::ConstraintBoundType</a></div><div class="ttdeci">ConstraintBoundType</div><div class="ttdef"><b>Definition:</b> ta_regions.h:33</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_af8b145c53e039ee314d28ba7cd5f8e4d"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#af8b145c53e039ee314d28ba7cd5f8e4d">tacos::automata::ta::get_clock_constraints_from_region_index</a></div><div class="ttdeci">std::vector&lt; ClockConstraint &gt; get_clock_constraints_from_region_index(RegionIndex region_index, RegionIndex max_region_index, ConstraintBoundType bound_type=ConstraintBoundType::BOTH)</div><div class="ttdoc">Given a region index, compute a set of clock constraints that restrict a clock to that region.</div><div class="ttdef"><b>Definition:</b> ta_regions.cpp:32</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions.html">tacos::automata::ta::TimedAutomatonRegions</a></div><div class="ttdoc">A set of one-dimensional regions.</div><div class="ttdef"><b>Definition:</b> ta_regions.h:37</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions_html_a510fa3017ec15947fb81d6b2370d48b9"><div class="ttname"><a href="structtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions.html#a510fa3017ec15947fb81d6b2370d48b9">tacos::automata::ta::TimedAutomatonRegions::largestConstant</a></div><div class="ttdeci">Integer largestConstant</div><div class="ttdoc">the largest constant the according clock is compared to</div><div class="ttdef"><b>Definition:</b> ta_regions.h:38</div></div>
-<div class="ttc" id="astructtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions_html_a6508884aaed91bf53a7c756e0fc45b99"><div class="ttname"><a href="structtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions.html#a6508884aaed91bf53a7c756e0fc45b99">tacos::automata::ta::TimedAutomatonRegions::getRegionIndex</a></div><div class="ttdeci">RegionIndex getRegionIndex(ClockValuation timePoint)</div><div class="ttdoc">returns the index of the region in which the time-point lies.</div><div class="ttdef"><b>Definition:</b> ta_regions.cpp:17</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition</b> ta.h:31</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0165f060fde2946cc77f6ce4a12fab6b"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0165f060fde2946cc77f6ce4a12fab6b">tacos::automata::ta::get_maximal_region_index</a></div><div class="ttdeci">RegionIndex get_maximal_region_index(const TimedAutomaton&lt; LocationT, AP &gt; &amp;ta)</div><div class="ttdoc">Get the maximal region index from a given timed automaton.</div><div class="ttdef"><b>Definition</b> ta_regions.hpp:35</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a47792619ecf8c56928605d8e47d00b39"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a47792619ecf8c56928605d8e47d00b39">tacos::automata::ta::get_region_candidate</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_region_candidate(const RegionalizedConfiguration&lt; LocationT &gt; &amp;regionalized_configuration)</div><div class="ttdoc">Get a (unregionalized) Configuration of a TimedAutomaton for a given regionalized Configuration.</div><div class="ttdef"><b>Definition</b> ta_regions.hpp:18</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a550c8e35a8a6f902b67951cbc9c91785"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a550c8e35a8a6f902b67951cbc9c91785">tacos::automata::ta::RegionalizedConfiguration</a></div><div class="ttdeci">std::pair&lt; Location&lt; LocationT &gt;, RegionSetValuation &gt; RegionalizedConfiguration</div><div class="ttdef"><b>Definition</b> ta_regions.h:29</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_aa2ada33ae68e18ef41f8df5f5d8f4c78"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#aa2ada33ae68e18ef41f8df5f5d8f4c78">tacos::automata::ta::Integer</a></div><div class="ttdeci">unsigned Integer</div><div class="ttdoc">fix integer type</div><div class="ttdef"><b>Definition</b> ta_regions.h:30</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ab58dfdf0dbcdde0802c5ba707e55c204"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ab58dfdf0dbcdde0802c5ba707e55c204">tacos::automata::ta::RegionSetValuation</a></div><div class="ttdeci">std::map&lt; std::string, RegionIndex &gt; RegionSetValuation</div><div class="ttdef"><b>Definition</b> ta_regions.h:26</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_ad9b5756f12395e07248b04e4a5e92edc"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#ad9b5756f12395e07248b04e4a5e92edc">tacos::automata::ta::ConstraintBoundType</a></div><div class="ttdeci">ConstraintBoundType</div><div class="ttdef"><b>Definition</b> ta_regions.h:33</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_af8b145c53e039ee314d28ba7cd5f8e4d"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#af8b145c53e039ee314d28ba7cd5f8e4d">tacos::automata::ta::get_clock_constraints_from_region_index</a></div><div class="ttdeci">std::vector&lt; ClockConstraint &gt; get_clock_constraints_from_region_index(RegionIndex region_index, RegionIndex max_region_index, ConstraintBoundType bound_type=ConstraintBoundType::BOTH)</div><div class="ttdoc">Given a region index, compute a set of clock constraints that restrict a clock to that region.</div><div class="ttdef"><b>Definition</b> ta_regions.cpp:32</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions_html"><div class="ttname"><a href="structtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions.html">tacos::automata::ta::TimedAutomatonRegions</a></div><div class="ttdoc">A set of one-dimensional regions.</div><div class="ttdef"><b>Definition</b> ta_regions.h:37</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions_html_a510fa3017ec15947fb81d6b2370d48b9"><div class="ttname"><a href="structtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions.html#a510fa3017ec15947fb81d6b2370d48b9">tacos::automata::ta::TimedAutomatonRegions::largestConstant</a></div><div class="ttdeci">Integer largestConstant</div><div class="ttdoc">the largest constant the according clock is compared to</div><div class="ttdef"><b>Definition</b> ta_regions.h:38</div></div>
+<div class="ttc" id="astructtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions_html_a6508884aaed91bf53a7c756e0fc45b99"><div class="ttname"><a href="structtacos_1_1automata_1_1ta_1_1TimedAutomatonRegions.html#a6508884aaed91bf53a7c756e0fc45b99">tacos::automata::ta::TimedAutomatonRegions::getRegionIndex</a></div><div class="ttdeci">RegionIndex getRegionIndex(ClockValuation timePoint)</div><div class="ttdoc">returns the index of the region in which the time-point lies.</div><div class="ttdef"><b>Definition</b> ta_regions.cpp:17</div></div>
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diff --git a/docs/ta__regions_8hpp_source.html b/docs/ta__regions_8hpp_source.html
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@@ -121,19 +121,19 @@
 <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>}</div>
 <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
 <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>} <span class="comment">// namespace tacos::automata::ta</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:240</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aeebfd644cc0e52ac39ef1fe8b09e9c82"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aeebfd644cc0e52ac39ef1fe8b09e9c82">tacos::automata::ta::TimedAutomaton::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdoc">Get the largest constant any clock is compared to.</div><div class="ttdef"><b>Definition:</b> ta.hpp:274</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition:</b> ta.h:31</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0165f060fde2946cc77f6ce4a12fab6b"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0165f060fde2946cc77f6ce4a12fab6b">tacos::automata::ta::get_maximal_region_index</a></div><div class="ttdeci">RegionIndex get_maximal_region_index(const TimedAutomaton&lt; LocationT, AP &gt; &amp;ta)</div><div class="ttdoc">Get the maximal region index from a given timed automaton.</div><div class="ttdef"><b>Definition:</b> ta_regions.hpp:35</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a47792619ecf8c56928605d8e47d00b39"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a47792619ecf8c56928605d8e47d00b39">tacos::automata::ta::get_region_candidate</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_region_candidate(const RegionalizedConfiguration&lt; LocationT &gt; &amp;regionalized_configuration)</div><div class="ttdoc">Get a (unregionalized) Configuration of a TimedAutomaton for a given regionalized Configuration.</div><div class="ttdef"><b>Definition:</b> ta_regions.hpp:18</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a550c8e35a8a6f902b67951cbc9c91785"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a550c8e35a8a6f902b67951cbc9c91785">tacos::automata::ta::RegionalizedConfiguration</a></div><div class="ttdeci">std::pair&lt; Location&lt; LocationT &gt;, RegionSetValuation &gt; RegionalizedConfiguration</div><div class="ttdef"><b>Definition:</b> ta_regions.h:29</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a37d196250ab049f5ce55b6edc7672588"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a37d196250ab049f5ce55b6edc7672588">tacos::PlantConfiguration::clock_valuations</a></div><div class="ttdeci">ClockSetValuation clock_valuations</div><div class="ttdef"><b>Definition:</b> types.h:83</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a5ce672600ba7424765ef8aa330ceb7e6"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a5ce672600ba7424765ef8aa330ceb7e6">tacos::PlantConfiguration::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition:</b> types.h:81</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_aeebfd644cc0e52ac39ef1fe8b09e9c82"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#aeebfd644cc0e52ac39ef1fe8b09e9c82">tacos::automata::ta::TimedAutomaton::get_largest_constant</a></div><div class="ttdeci">Endpoint get_largest_constant() const</div><div class="ttdoc">Get the largest constant any clock is compared to.</div><div class="ttdef"><b>Definition</b> ta.hpp:274</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html">tacos::automata::ta</a></div><div class="ttdoc">Timed Automata.</div><div class="ttdef"><b>Definition</b> ta.h:31</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a0165f060fde2946cc77f6ce4a12fab6b"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a0165f060fde2946cc77f6ce4a12fab6b">tacos::automata::ta::get_maximal_region_index</a></div><div class="ttdeci">RegionIndex get_maximal_region_index(const TimedAutomaton&lt; LocationT, AP &gt; &amp;ta)</div><div class="ttdoc">Get the maximal region index from a given timed automaton.</div><div class="ttdef"><b>Definition</b> ta_regions.hpp:35</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a47792619ecf8c56928605d8e47d00b39"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a47792619ecf8c56928605d8e47d00b39">tacos::automata::ta::get_region_candidate</a></div><div class="ttdeci">TAConfiguration&lt; LocationT &gt; get_region_candidate(const RegionalizedConfiguration&lt; LocationT &gt; &amp;regionalized_configuration)</div><div class="ttdoc">Get a (unregionalized) Configuration of a TimedAutomaton for a given regionalized Configuration.</div><div class="ttdef"><b>Definition</b> ta_regions.hpp:18</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ta_html_a550c8e35a8a6f902b67951cbc9c91785"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ta.html#a550c8e35a8a6f902b67951cbc9c91785">tacos::automata::ta::RegionalizedConfiguration</a></div><div class="ttdeci">std::pair&lt; Location&lt; LocationT &gt;, RegionSetValuation &gt; RegionalizedConfiguration</div><div class="ttdef"><b>Definition</b> ta_regions.h:29</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a37d196250ab049f5ce55b6edc7672588"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a37d196250ab049f5ce55b6edc7672588">tacos::PlantConfiguration::clock_valuations</a></div><div class="ttdeci">ClockSetValuation clock_valuations</div><div class="ttdef"><b>Definition</b> types.h:83</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a5ce672600ba7424765ef8aa330ceb7e6"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a5ce672600ba7424765ef8aa330ceb7e6">tacos::PlantConfiguration::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition</b> types.h:81</div></div>
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@@ -30,7 +30,7 @@
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@@ -125,23 +125,23 @@
 <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>}</div>
 <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
 <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>} <span class="comment">// namespace tacos::visualization</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition:</b> ta.h:240</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a0fa220852df2462af18ca7f3e7b01072"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a0fa220852df2462af18ca7f3e7b01072">tacos::automata::ta::TimedAutomaton::get_final_locations</a></div><div class="ttdeci">const std::set&lt; Location &gt; &amp; get_final_locations() const</div><div class="ttdef"><b>Definition:</b> ta.h:343</div></div>
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-<div class="ttc" id="anamespacetacos_1_1visualization_html"><div class="ttname"><a href="namespacetacos_1_1visualization.html">tacos::visualization</a></div><div class="ttdoc">Visualization tools for automata and search trees.</div><div class="ttdef"><b>Definition:</b> interactive_tree_to_graphviz.h:18</div></div>
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+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html">tacos::automata::ta::TimedAutomaton</a></div><div class="ttdoc">A timed automaton.</div><div class="ttdef"><b>Definition</b> ta.h:240</div></div>
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+<div class="ttc" id="aclasstacos_1_1automata_1_1ta_1_1TimedAutomaton_html_a9b5a0206988119598e3d6ae859b0c1b8"><div class="ttname"><a href="classtacos_1_1automata_1_1ta_1_1TimedAutomaton.html#a9b5a0206988119598e3d6ae859b0c1b8">tacos::automata::ta::TimedAutomaton::get_transitions</a></div><div class="ttdeci">const std::multimap&lt; Location, Transition &gt; &amp; get_transitions() const</div><div class="ttdef"><b>Definition</b> ta.h:352</div></div>
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+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html">tacos::utilities::graphviz::Graph</a></div><div class="ttdoc">A simple wrapper to create graphs with graphviz.</div><div class="ttdef"><b>Definition</b> graphviz.h:68</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a138606c622f05e604e00ac6cb45fd668"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a138606c622f05e604e00ac6cb45fd668">tacos::utilities::graphviz::Graph::add_node</a></div><div class="ttdeci">Node add_node(std::string label, std::optional&lt; std::string &gt; identifier=std::nullopt)</div><div class="ttdef"><b>Definition</b> graph.cpp:53</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a1996ef855c72d4670a1c36641bb16093"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a1996ef855c72d4670a1c36641bb16093">tacos::utilities::graphviz::Graph::set_default_node_property</a></div><div class="ttdeci">void set_default_node_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition</b> graph.cpp:47</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_aec95c67633339e2d20bcd2a9965eae88"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#aec95c67633339e2d20bcd2a9965eae88">tacos::utilities::graphviz::Graph::add_edge</a></div><div class="ttdeci">void add_edge(const Node &amp;source, const Node &amp;target, std::string label=&quot;&quot;)</div><div class="ttdef"><b>Definition</b> graph.cpp:69</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html">tacos::utilities::graphviz::Node</a></div><div class="ttdoc">A wrapper for a node in graphviz.</div><div class="ttdef"><b>Definition</b> graphviz.h:37</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html_abbca1b7a572dfb91d66ed30102d92c33"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html#abbca1b7a572dfb91d66ed30102d92c33">tacos::utilities::graphviz::Node::set_property</a></div><div class="ttdeci">void set_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition</b> node.cpp:20</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html"><div class="ttname"><a href="namespacetacos_1_1visualization.html">tacos::visualization</a></div><div class="ttdoc">Visualization tools for automata and search trees.</div><div class="ttdef"><b>Definition</b> interactive_tree_to_graphviz.h:18</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html_af729ac71fe561aeab298df257f92c226"><div class="ttname"><a href="namespacetacos_1_1visualization.html#af729ac71fe561aeab298df257f92c226">tacos::visualization::ta_to_graphviz</a></div><div class="ttdeci">utilities::graphviz::Graph ta_to_graphviz(const automata::ta::TimedAutomaton&lt; LocationT, ActionT &gt; &amp;ta, bool show_node_labels=true)</div><div class="ttdoc">Generate a dot graph from a timed automaton.</div><div class="ttdef"><b>Definition</b> ta_to_graphviz.h:25</div></div>
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diff --git a/docs/translator_8h_source.html b/docs/translator_8h_source.html
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@@ -30,7 +30,7 @@
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@@ -106,15 +106,15 @@
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-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html">tacos::mtl_ata_translation</a></div><div class="ttdoc">Translate an MTL formula into an ATA.</div><div class="ttdef"><b>Definition:</b> translator.h:16</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html">tacos::mtl_ata_translation</a></div><div class="ttdoc">Translate an MTL formula into an ATA.</div><div class="ttdef"><b>Definition</b> translator.h:16</div></div>
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+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
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diff --git a/docs/translator_8hpp_source.html b/docs/translator_8hpp_source.html
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 <title>tacos: src/mtl_ata_translation/include/mtl_ata_translation/translator.hpp Source File</title>
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@@ -415,43 +415,43 @@
 <div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>                                             get_sink&lt;ConstraintSymbolT&gt;()});</div>
 <div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>}</div>
 <div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>} <span class="comment">// namespace tacos::mtl_ata_translation</span></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition:</b> automata.h:136</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:160</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html">tacos::automata::ata::ClockConstraintFormula</a></div><div class="ttdoc">A formula requiring that a clock constraint must be satisfied.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:194</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html">tacos::automata::ata::ConjunctionFormula</a></div><div class="ttdoc">A conjunction of two formulas.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:222</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html">tacos::automata::ata::DisjunctionFormula</a></div><div class="ttdoc">A disjunction of formulas.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:257</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html">tacos::automata::ata::FalseFormula</a></div><div class="ttdoc">A formula that is always false.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:152</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html">tacos::automata::ata::Formula</a></div><div class="ttdoc">An abstract ATA formula.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:99</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html">tacos::automata::ata::LocationFormula</a></div><div class="ttdoc">A formula requiring a specific location.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:167</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html">tacos::automata::ata::ResetClockFormula</a></div><div class="ttdoc">A formula that sets the clock valuation to 0 for it sub-formula.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:291</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html">tacos::automata::ata::Transition</a></div><div class="ttdoc">A transition of an alternating timed automaton.</div><div class="ttdef"><b>Definition:</b> ata.h:111</div></div>
-<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html">tacos::automata::ata::TrueFormula</a></div><div class="ttdoc">A formula that is always true.</div><div class="ttdef"><b>Definition:</b> ata_formula.h:137</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:140</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0a9b9f88c1a660cbb99b40ff9bf4b5ee"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0a9b9f88c1a660cbb99b40ff9bf4b5ee">tacos::logic::MTLFormula::get_operands</a></div><div class="ttdeci">const std::vector&lt; MTLFormula &gt; &amp; get_operands() const</div><div class="ttdoc">getter for operands</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:260</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0c54686bd45f20f622c76c4015e080ea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0c54686bd45f20f622c76c4015e080ea">tacos::logic::MTLFormula::get_operator</a></div><div class="ttdeci">LOP get_operator() const</div><div class="ttdoc">getter for the logical operator</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:266</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0eadb7fce9aa1eee1461b4bcc2c4647f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0eadb7fce9aa1eee1461b4bcc2c4647f">tacos::logic::MTLFormula::to_positive_normal_form</a></div><div class="ttdeci">MTLFormula to_positive_normal_form() const</div><div class="ttdoc">Returns normalized formula (positive normal form)</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:263</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a91d7d4b07707f213aa5c7fad643e4dc8"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a91d7d4b07707f213aa5c7fad643e4dc8">tacos::logic::MTLFormula::get_atomicProposition</a></div><div class="ttdeci">AtomicProposition&lt; APType &gt; get_atomicProposition() const</div><div class="ttdoc">getter for the atomic proposition</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:287</div></div>
-<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab82c723c33515430c3b0794f0210ab53"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab82c723c33515430c3b0794f0210ab53">tacos::logic::MTLFormula::get_subformulas_of_type</a></div><div class="ttdeci">std::set&lt; MTLFormula&lt; APType &gt; &gt; get_subformulas_of_type(LOP op) const</div><div class="ttdoc">collects all subformulas of a specific type</div><div class="ttdef"><b>Definition:</b> MTLFormula.hpp:332</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a3111562fa8dd443ad45e5fcddd306dfa"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a3111562fa8dd443ad45e5fcddd306dfa">tacos::automata::ata::create_disjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_disjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct2)</div><div class="ttdoc">Create a disjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:317</div></div>
-<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_adf0bb6a35a3047956dab9ff72f58d440"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#adf0bb6a35a3047956dab9ff72f58d440">tacos::automata::ata::create_conjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_conjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct2)</div><div class="ttdoc">Create a conjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition:</b> ata_formula.hpp:299</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_a409bddda743c2179d7a3d8297a0a0d71"><div class="ttname"><a href="namespacetacos_1_1logic.html#a409bddda743c2179d7a3d8297a0a0d71">tacos::logic::TimeInterval</a></div><div class="ttdeci">utilities::arithmetic::Interval&lt; Endpoint &gt; TimeInterval</div><div class="ttdoc">An interval used for constrained until and dual until operators.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:30</div></div>
-<div class="ttc" id="anamespacetacos_1_1logic_html_aa7732d54191ff35a21b5ec0a6f0be389"><div class="ttname"><a href="namespacetacos_1_1logic.html#aa7732d54191ff35a21b5ec0a6f0be389">tacos::logic::LOP</a></div><div class="ttdeci">LOP</div><div class="ttdoc">Enum for logical operation-types.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:36</div></div>
-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html">tacos::mtl_ata_translation</a></div><div class="ttdoc">Translate an MTL formula into an ATA.</div><div class="ttdef"><b>Definition:</b> translator.h:16</div></div>
-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a0955bb0ef252115f8c55f99b77c781fc"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a0955bb0ef252115f8c55f99b77c781fc">tacos::mtl_ata_translation::init</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; ConstraintSymbolT &gt; &gt; init(const MTLFormula&lt; ConstraintSymbolT &gt; &amp;formula, const AtomicProposition&lt; SymbolT &gt; &amp;ap, bool first=false)</div><div class="ttdef"><b>Definition:</b> translator.hpp:137</div></div>
-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a1d8a3683970d2141d83ac55477d18d12"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a1d8a3683970d2141d83ac55477d18d12">tacos::mtl_ata_translation::compute_alphabet</a></div><div class="ttdeci">auto compute_alphabet(std::set&lt; AtomicProposition&lt; ConstraintSymbolT &gt; &gt; input_alphabet)</div><div class="ttdef"><b>Definition:</b> translator.hpp:247</div></div>
-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a3e2a544fc5928c04361a790ae220203c"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a3e2a544fc5928c04361a790ae220203c">tacos::mtl_ata_translation::get_closure</a></div><div class="ttdeci">std::set&lt; MTLFormula&lt; ConstraintSymbolT &gt; &gt; get_closure(const MTLFormula&lt; ConstraintSymbolT &gt; &amp;formula)</div><div class="ttdef"><b>Definition:</b> translator.hpp:66</div></div>
-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a481f1144ea47f13203165dfcf7748b12"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a481f1144ea47f13203165dfcf7748b12">tacos::mtl_ata_translation::create_negated_contains</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; ConstraintSymbolT &gt; &gt; create_negated_contains(TimeInterval duration)</div><div class="ttdoc">Creates constraint excluding the passed interval.</div><div class="ttdef"><b>Definition:</b> translator.hpp:107</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1AtomicClockConstraintT_html"><div class="ttname"><a href="classtacos_1_1automata_1_1AtomicClockConstraintT.html">tacos::automata::AtomicClockConstraintT</a></div><div class="ttdoc">An atomic clock constraint.</div><div class="ttdef"><b>Definition</b> automata.h:136</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1AlternatingTimedAutomaton.html">tacos::automata::ata::AlternatingTimedAutomaton</a></div><div class="ttdoc">An alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:160</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ClockConstraintFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ClockConstraintFormula.html">tacos::automata::ata::ClockConstraintFormula</a></div><div class="ttdoc">A formula requiring that a clock constraint must be satisfied.</div><div class="ttdef"><b>Definition</b> ata_formula.h:194</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ConjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ConjunctionFormula.html">tacos::automata::ata::ConjunctionFormula</a></div><div class="ttdoc">A conjunction of two formulas.</div><div class="ttdef"><b>Definition</b> ata_formula.h:222</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1DisjunctionFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1DisjunctionFormula.html">tacos::automata::ata::DisjunctionFormula</a></div><div class="ttdoc">A disjunction of formulas.</div><div class="ttdef"><b>Definition</b> ata_formula.h:257</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1FalseFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1FalseFormula.html">tacos::automata::ata::FalseFormula</a></div><div class="ttdoc">A formula that is always false.</div><div class="ttdef"><b>Definition</b> ata_formula.h:152</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Formula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Formula.html">tacos::automata::ata::Formula</a></div><div class="ttdoc">An abstract ATA formula.</div><div class="ttdef"><b>Definition</b> ata_formula.h:99</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1LocationFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1LocationFormula.html">tacos::automata::ata::LocationFormula</a></div><div class="ttdoc">A formula requiring a specific location.</div><div class="ttdef"><b>Definition</b> ata_formula.h:167</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1ResetClockFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1ResetClockFormula.html">tacos::automata::ata::ResetClockFormula</a></div><div class="ttdoc">A formula that sets the clock valuation to 0 for it sub-formula.</div><div class="ttdef"><b>Definition</b> ata_formula.h:291</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1Transition_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1Transition.html">tacos::automata::ata::Transition</a></div><div class="ttdoc">A transition of an alternating timed automaton.</div><div class="ttdef"><b>Definition</b> ata.h:111</div></div>
+<div class="ttc" id="aclasstacos_1_1automata_1_1ata_1_1TrueFormula_html"><div class="ttname"><a href="classtacos_1_1automata_1_1ata_1_1TrueFormula.html">tacos::automata::ata::TrueFormula</a></div><div class="ttdoc">A formula that is always true.</div><div class="ttdef"><b>Definition</b> ata_formula.h:137</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html">tacos::logic::MTLFormula</a></div><div class="ttdoc">Class representing an MTL-formula with the usual operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:140</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0a9b9f88c1a660cbb99b40ff9bf4b5ee"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0a9b9f88c1a660cbb99b40ff9bf4b5ee">tacos::logic::MTLFormula::get_operands</a></div><div class="ttdeci">const std::vector&lt; MTLFormula &gt; &amp; get_operands() const</div><div class="ttdoc">getter for operands</div><div class="ttdef"><b>Definition</b> MTLFormula.h:260</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0c54686bd45f20f622c76c4015e080ea"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0c54686bd45f20f622c76c4015e080ea">tacos::logic::MTLFormula::get_operator</a></div><div class="ttdeci">LOP get_operator() const</div><div class="ttdoc">getter for the logical operator</div><div class="ttdef"><b>Definition</b> MTLFormula.h:266</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a0eadb7fce9aa1eee1461b4bcc2c4647f"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a0eadb7fce9aa1eee1461b4bcc2c4647f">tacos::logic::MTLFormula::to_positive_normal_form</a></div><div class="ttdeci">MTLFormula to_positive_normal_form() const</div><div class="ttdoc">Returns normalized formula (positive normal form)</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:263</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_a91d7d4b07707f213aa5c7fad643e4dc8"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#a91d7d4b07707f213aa5c7fad643e4dc8">tacos::logic::MTLFormula::get_atomicProposition</a></div><div class="ttdeci">AtomicProposition&lt; APType &gt; get_atomicProposition() const</div><div class="ttdoc">getter for the atomic proposition</div><div class="ttdef"><b>Definition</b> MTLFormula.h:287</div></div>
+<div class="ttc" id="aclasstacos_1_1logic_1_1MTLFormula_html_ab82c723c33515430c3b0794f0210ab53"><div class="ttname"><a href="classtacos_1_1logic_1_1MTLFormula.html#ab82c723c33515430c3b0794f0210ab53">tacos::logic::MTLFormula::get_subformulas_of_type</a></div><div class="ttdeci">std::set&lt; MTLFormula&lt; APType &gt; &gt; get_subformulas_of_type(LOP op) const</div><div class="ttdoc">collects all subformulas of a specific type</div><div class="ttdef"><b>Definition</b> MTLFormula.hpp:332</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_a3111562fa8dd443ad45e5fcddd306dfa"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#a3111562fa8dd443ad45e5fcddd306dfa">tacos::automata::ata::create_disjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_disjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; disjunct2)</div><div class="ttdoc">Create a disjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:317</div></div>
+<div class="ttc" id="anamespacetacos_1_1automata_1_1ata_html_adf0bb6a35a3047956dab9ff72f58d440"><div class="ttname"><a href="namespacetacos_1_1automata_1_1ata.html#adf0bb6a35a3047956dab9ff72f58d440">tacos::automata::ata::create_conjunction</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; create_conjunction(std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct1, std::unique_ptr&lt; Formula&lt; LocationT &gt; &gt; conjunct2)</div><div class="ttdoc">Create a conjunction of two formulas. If possible, the formula will be immediately simplified.</div><div class="ttdef"><b>Definition</b> ata_formula.hpp:299</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_a409bddda743c2179d7a3d8297a0a0d71"><div class="ttname"><a href="namespacetacos_1_1logic.html#a409bddda743c2179d7a3d8297a0a0d71">tacos::logic::TimeInterval</a></div><div class="ttdeci">utilities::arithmetic::Interval&lt; Endpoint &gt; TimeInterval</div><div class="ttdoc">An interval used for constrained until and dual until operators.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:30</div></div>
+<div class="ttc" id="anamespacetacos_1_1logic_html_aa7732d54191ff35a21b5ec0a6f0be389"><div class="ttname"><a href="namespacetacos_1_1logic.html#aa7732d54191ff35a21b5ec0a6f0be389">tacos::logic::LOP</a></div><div class="ttdeci">LOP</div><div class="ttdoc">Enum for logical operation-types.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:36</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html">tacos::mtl_ata_translation</a></div><div class="ttdoc">Translate an MTL formula into an ATA.</div><div class="ttdef"><b>Definition</b> translator.h:16</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a0955bb0ef252115f8c55f99b77c781fc"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a0955bb0ef252115f8c55f99b77c781fc">tacos::mtl_ata_translation::init</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; ConstraintSymbolT &gt; &gt; init(const MTLFormula&lt; ConstraintSymbolT &gt; &amp;formula, const AtomicProposition&lt; SymbolT &gt; &amp;ap, bool first=false)</div><div class="ttdef"><b>Definition</b> translator.hpp:137</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a1d8a3683970d2141d83ac55477d18d12"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a1d8a3683970d2141d83ac55477d18d12">tacos::mtl_ata_translation::compute_alphabet</a></div><div class="ttdeci">auto compute_alphabet(std::set&lt; AtomicProposition&lt; ConstraintSymbolT &gt; &gt; input_alphabet)</div><div class="ttdef"><b>Definition</b> translator.hpp:247</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a3e2a544fc5928c04361a790ae220203c"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a3e2a544fc5928c04361a790ae220203c">tacos::mtl_ata_translation::get_closure</a></div><div class="ttdeci">std::set&lt; MTLFormula&lt; ConstraintSymbolT &gt; &gt; get_closure(const MTLFormula&lt; ConstraintSymbolT &gt; &amp;formula)</div><div class="ttdef"><b>Definition</b> translator.hpp:66</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a481f1144ea47f13203165dfcf7748b12"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a481f1144ea47f13203165dfcf7748b12">tacos::mtl_ata_translation::create_negated_contains</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; ConstraintSymbolT &gt; &gt; create_negated_contains(TimeInterval duration)</div><div class="ttdoc">Creates constraint excluding the passed interval.</div><div class="ttdef"><b>Definition</b> translator.hpp:107</div></div>
 <div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a6d618ca2aecd90f49f7f5385370e6ebf"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a6d618ca2aecd90f49f7f5385370e6ebf">tacos::mtl_ata_translation::translate</a></div><div class="ttdeci">automata::ata::AlternatingTimedAutomaton&lt; logic::MTLFormula&lt; ConstraintSymbolT &gt;, logic::AtomicProposition&lt; SymbolT &gt; &gt; translate(const logic::MTLFormula&lt; ConstraintSymbolT &gt; &amp;input_formula, std::set&lt; logic::AtomicProposition&lt; SymbolT &gt; &gt; input_alphabet={})</div></div>
-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a745fca06557c93be952a967ffb55979c"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a745fca06557c93be952a967ffb55979c">tacos::mtl_ata_translation::get_l0</a></div><div class="ttdeci">AtomicProposition&lt; ConstraintSymbolT &gt; get_l0()</div><div class="ttdef"><b>Definition:</b> translator.hpp:227</div></div>
-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_aafa4123348b2ce3cb9a52fd414c2cef6"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#aafa4123348b2ce3cb9a52fd414c2cef6">tacos::mtl_ata_translation::create_contains</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; ConstraintSymbolT &gt; &gt; create_contains(TimeInterval duration)</div><div class="ttdoc">Creates constraint defining the passed interval.</div><div class="ttdef"><b>Definition:</b> translator.hpp:77</div></div>
-<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_ab126f219821b9cd069fb0943be8af13a"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#ab126f219821b9cd069fb0943be8af13a">tacos::mtl_ata_translation::get_sink</a></div><div class="ttdeci">AtomicProposition&lt; ConstraintSymbolT &gt; get_sink()</div><div class="ttdef"><b>Definition:</b> translator.hpp:235</div></div>
-<div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472c"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">tacos::utilities::arithmetic::BoundType</a></div><div class="ttdeci">BoundType</div><div class="ttdoc">The type of an interval bound.</div><div class="ttdef"><b>Definition:</b> Interval.h:22</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:60</div></div>
-<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a27893ef0e7ca06297438e0d82507270e"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a27893ef0e7ca06297438e0d82507270e">tacos::logic::AtomicProposition::ap_</a></div><div class="ttdeci">APType ap_</div><div class="ttdoc">String representation of the ap.</div><div class="ttdef"><b>Definition:</b> MTLFormula.h:83</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_a745fca06557c93be952a967ffb55979c"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#a745fca06557c93be952a967ffb55979c">tacos::mtl_ata_translation::get_l0</a></div><div class="ttdeci">AtomicProposition&lt; ConstraintSymbolT &gt; get_l0()</div><div class="ttdef"><b>Definition</b> translator.hpp:227</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_aafa4123348b2ce3cb9a52fd414c2cef6"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#aafa4123348b2ce3cb9a52fd414c2cef6">tacos::mtl_ata_translation::create_contains</a></div><div class="ttdeci">std::unique_ptr&lt; Formula&lt; ConstraintSymbolT &gt; &gt; create_contains(TimeInterval duration)</div><div class="ttdoc">Creates constraint defining the passed interval.</div><div class="ttdef"><b>Definition</b> translator.hpp:77</div></div>
+<div class="ttc" id="anamespacetacos_1_1mtl__ata__translation_html_ab126f219821b9cd069fb0943be8af13a"><div class="ttname"><a href="namespacetacos_1_1mtl__ata__translation.html#ab126f219821b9cd069fb0943be8af13a">tacos::mtl_ata_translation::get_sink</a></div><div class="ttdeci">AtomicProposition&lt; ConstraintSymbolT &gt; get_sink()</div><div class="ttdef"><b>Definition</b> translator.hpp:235</div></div>
+<div class="ttc" id="anamespacetacos_1_1utilities_1_1arithmetic_html_a9e47b7c39113a62ec535f04b0dc2472c"><div class="ttname"><a href="namespacetacos_1_1utilities_1_1arithmetic.html#a9e47b7c39113a62ec535f04b0dc2472c">tacos::utilities::arithmetic::BoundType</a></div><div class="ttdeci">BoundType</div><div class="ttdoc">The type of an interval bound.</div><div class="ttdef"><b>Definition</b> Interval.h:22</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html">tacos::logic::AtomicProposition</a></div><div class="ttdoc">Strong typing of atomic propositions, allows simplified construction from Boolean values as well.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:60</div></div>
+<div class="ttc" id="astructtacos_1_1logic_1_1AtomicProposition_html_a27893ef0e7ca06297438e0d82507270e"><div class="ttname"><a href="structtacos_1_1logic_1_1AtomicProposition.html#a27893ef0e7ca06297438e0d82507270e">tacos::logic::AtomicProposition::ap_</a></div><div class="ttdeci">APType ap_</div><div class="ttdoc">String representation of the ap.</div><div class="ttdef"><b>Definition</b> MTLFormula.h:83</div></div>
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diff --git a/docs/tree__to__graphviz_8h_source.html b/docs/tree__to__graphviz_8h_source.html
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+++ b/docs/tree__to__graphviz_8h_source.html
@@ -3,7 +3,7 @@
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 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/visualization/include/visualization/tree_to_graphviz.h Source File</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
@@ -30,7 +30,7 @@
 </table>
 </div>
 <!-- end header part -->
-<!-- Generated by Doxygen 1.9.5 -->
+<!-- Generated by Doxygen 1.9.7 -->
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 /* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
 var searchBox = new SearchBox("searchBox", "search/",'.html');
@@ -213,29 +213,29 @@
 <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>}</div>
 <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
 <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>} <span class="comment">// namespace tacos::visualization</span></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html">tacos::search::SearchTreeNode</a></div><div class="ttdoc">A node in the search tree.</div><div class="ttdef"><b>Definition:</b> search_tree.h:61</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a6f5890e553ceb56ef11bc9c130b7ff72"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a6f5890e553ceb56ef11bc9c130b7ff72">tacos::search::SearchTreeNode::label</a></div><div class="ttdeci">std::atomic&lt; NodeLabel &gt; label</div><div class="ttdef"><b>Definition:</b> search_tree.h:296</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a7f643f185bcf9aceb46f342f6ca1fdd0"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a7f643f185bcf9aceb46f342f6ca1fdd0">tacos::search::SearchTreeNode::label_reason</a></div><div class="ttdeci">LabelReason label_reason</div><div class="ttdef"><b>Definition:</b> search_tree.h:305</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aad2b382a7f8e93a0ba9ff8cf60d11bef"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aad2b382a7f8e93a0ba9ff8cf60d11bef">tacos::search::SearchTreeNode::get_children</a></div><div class="ttdeci">const auto &amp; get_children() const</div><div class="ttdef"><b>Definition:</b> search_tree.h:265</div></div>
-<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af9eff25f9f3b07fa699d7e741ae62cb9"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af9eff25f9f3b07fa699d7e741ae62cb9">tacos::search::SearchTreeNode::words</a></div><div class="ttdeci">std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; words</div><div class="ttdef"><b>Definition:</b> search_tree.h:292</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html">tacos::utilities::graphviz::Graph</a></div><div class="ttdoc">A simple wrapper to create graphs with graphviz.</div><div class="ttdef"><b>Definition:</b> graphviz.h:68</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a07bd7211446a8946fdbcb38868b31351"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a07bd7211446a8946fdbcb38868b31351">tacos::utilities::graphviz::Graph::has_node</a></div><div class="ttdeci">bool has_node(std::string identifier)</div><div class="ttdef"><b>Definition:</b> graph.cpp:83</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a138606c622f05e604e00ac6cb45fd668"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a138606c622f05e604e00ac6cb45fd668">tacos::utilities::graphviz::Graph::add_node</a></div><div class="ttdeci">Node add_node(std::string label, std::optional&lt; std::string &gt; identifier=std::nullopt)</div><div class="ttdef"><b>Definition:</b> graph.cpp:53</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a1996ef855c72d4670a1c36641bb16093"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a1996ef855c72d4670a1c36641bb16093">tacos::utilities::graphviz::Graph::set_default_node_property</a></div><div class="ttdeci">void set_default_node_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition:</b> graph.cpp:47</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a4d67330635cc9f48025885a720161b62"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a4d67330635cc9f48025885a720161b62">tacos::utilities::graphviz::Graph::set_property</a></div><div class="ttdeci">void set_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition:</b> graph.cpp:77</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a99d434698074fcf8883570f78f278ce6"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a99d434698074fcf8883570f78f278ce6">tacos::utilities::graphviz::Graph::get_node</a></div><div class="ttdeci">std::optional&lt; Node &gt; get_node(std::string identifier)</div><div class="ttdef"><b>Definition:</b> graph.cpp:89</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_aec95c67633339e2d20bcd2a9965eae88"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#aec95c67633339e2d20bcd2a9965eae88">tacos::utilities::graphviz::Graph::add_edge</a></div><div class="ttdeci">void add_edge(const Node &amp;source, const Node &amp;target, std::string label=&quot;&quot;)</div><div class="ttdef"><b>Definition:</b> graph.cpp:69</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html">tacos::utilities::graphviz::Node</a></div><div class="ttdoc">A wrapper for a node in graphviz.</div><div class="ttdef"><b>Definition:</b> graphviz.h:37</div></div>
-<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html_abbca1b7a572dfb91d66ed30102d92c33"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html#abbca1b7a572dfb91d66ed30102d92c33">tacos::utilities::graphviz::Node::set_property</a></div><div class="ttdeci">void set_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition:</b> node.cpp:20</div></div>
-<div class="ttc" id="anamespacetacos_1_1search_html_a4ba19ece9b658a5b1fb83a4575015162"><div class="ttname"><a href="namespacetacos_1_1search.html#a4ba19ece9b658a5b1fb83a4575015162">tacos::search::LabelReason</a></div><div class="ttdeci">LabelReason</div><div class="ttdef"><b>Definition:</b> search_tree.h:44</div></div>
-<div class="ttc" id="anamespacetacos_1_1visualization_html"><div class="ttname"><a href="namespacetacos_1_1visualization.html">tacos::visualization</a></div><div class="ttdoc">Visualization tools for automata and search trees.</div><div class="ttdef"><b>Definition:</b> interactive_tree_to_graphviz.h:18</div></div>
-<div class="ttc" id="anamespacetacos_1_1visualization_html_a7881b55db24f3ae949b6526a5b1f5b10"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a7881b55db24f3ae949b6526a5b1f5b10">tacos::visualization::add_search_node_to_graph</a></div><div class="ttdeci">std::optional&lt; utilities::graphviz::Node &gt; add_search_node_to_graph(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; *search_node, utilities::graphviz::Graph *graph, std::function&lt; bool(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;)&gt; node_selector)</div><div class="ttdoc">Add a search tree node to a dot graph visualization of the search tree.</div><div class="ttdef"><b>Definition:</b> tree_to_graphviz.h:35</div></div>
-<div class="ttc" id="anamespacetacos_1_1visualization_html_ac996a6ab71cc96b8e51ed6c09b028f0d"><div class="ttname"><a href="namespacetacos_1_1visualization.html#ac996a6ab71cc96b8e51ed6c09b028f0d">tacos::visualization::search_tree_to_graphviz</a></div><div class="ttdeci">utilities::graphviz::Graph search_tree_to_graphviz(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;search_node, std::function&lt; bool(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;)&gt; node_selector)</div><div class="ttdoc">Generate a graphviz graph visualizing the search tree.</div><div class="ttdef"><b>Definition:</b> tree_to_graphviz.h:120</div></div>
-<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html">tacos::search::PlantRegionState</a></div><div class="ttdoc">A regionalized plant state.</div><div class="ttdef"><b>Definition:</b> canonical_word.h:67</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html">tacos::search::SearchTreeNode</a></div><div class="ttdoc">A node in the search tree.</div><div class="ttdef"><b>Definition</b> search_tree.h:61</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a6f5890e553ceb56ef11bc9c130b7ff72"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a6f5890e553ceb56ef11bc9c130b7ff72">tacos::search::SearchTreeNode::label</a></div><div class="ttdeci">std::atomic&lt; NodeLabel &gt; label</div><div class="ttdef"><b>Definition</b> search_tree.h:296</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_a7f643f185bcf9aceb46f342f6ca1fdd0"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#a7f643f185bcf9aceb46f342f6ca1fdd0">tacos::search::SearchTreeNode::label_reason</a></div><div class="ttdeci">LabelReason label_reason</div><div class="ttdef"><b>Definition</b> search_tree.h:305</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_aad2b382a7f8e93a0ba9ff8cf60d11bef"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#aad2b382a7f8e93a0ba9ff8cf60d11bef">tacos::search::SearchTreeNode::get_children</a></div><div class="ttdeci">const auto &amp; get_children() const</div><div class="ttdef"><b>Definition</b> search_tree.h:265</div></div>
+<div class="ttc" id="aclasstacos_1_1search_1_1SearchTreeNode_html_af9eff25f9f3b07fa699d7e741ae62cb9"><div class="ttname"><a href="classtacos_1_1search_1_1SearchTreeNode.html#af9eff25f9f3b07fa699d7e741ae62cb9">tacos::search::SearchTreeNode::words</a></div><div class="ttdeci">std::set&lt; CanonicalABWord&lt; Location, ConstraintSymbolType &gt; &gt; words</div><div class="ttdef"><b>Definition</b> search_tree.h:292</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html">tacos::utilities::graphviz::Graph</a></div><div class="ttdoc">A simple wrapper to create graphs with graphviz.</div><div class="ttdef"><b>Definition</b> graphviz.h:68</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a07bd7211446a8946fdbcb38868b31351"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a07bd7211446a8946fdbcb38868b31351">tacos::utilities::graphviz::Graph::has_node</a></div><div class="ttdeci">bool has_node(std::string identifier)</div><div class="ttdef"><b>Definition</b> graph.cpp:83</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a138606c622f05e604e00ac6cb45fd668"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a138606c622f05e604e00ac6cb45fd668">tacos::utilities::graphviz::Graph::add_node</a></div><div class="ttdeci">Node add_node(std::string label, std::optional&lt; std::string &gt; identifier=std::nullopt)</div><div class="ttdef"><b>Definition</b> graph.cpp:53</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a1996ef855c72d4670a1c36641bb16093"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a1996ef855c72d4670a1c36641bb16093">tacos::utilities::graphviz::Graph::set_default_node_property</a></div><div class="ttdeci">void set_default_node_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition</b> graph.cpp:47</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a4d67330635cc9f48025885a720161b62"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a4d67330635cc9f48025885a720161b62">tacos::utilities::graphviz::Graph::set_property</a></div><div class="ttdeci">void set_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition</b> graph.cpp:77</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_a99d434698074fcf8883570f78f278ce6"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#a99d434698074fcf8883570f78f278ce6">tacos::utilities::graphviz::Graph::get_node</a></div><div class="ttdeci">std::optional&lt; Node &gt; get_node(std::string identifier)</div><div class="ttdef"><b>Definition</b> graph.cpp:89</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Graph_html_aec95c67633339e2d20bcd2a9965eae88"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Graph.html#aec95c67633339e2d20bcd2a9965eae88">tacos::utilities::graphviz::Graph::add_edge</a></div><div class="ttdeci">void add_edge(const Node &amp;source, const Node &amp;target, std::string label=&quot;&quot;)</div><div class="ttdef"><b>Definition</b> graph.cpp:69</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html">tacos::utilities::graphviz::Node</a></div><div class="ttdoc">A wrapper for a node in graphviz.</div><div class="ttdef"><b>Definition</b> graphviz.h:37</div></div>
+<div class="ttc" id="aclasstacos_1_1utilities_1_1graphviz_1_1Node_html_abbca1b7a572dfb91d66ed30102d92c33"><div class="ttname"><a href="classtacos_1_1utilities_1_1graphviz_1_1Node.html#abbca1b7a572dfb91d66ed30102d92c33">tacos::utilities::graphviz::Node::set_property</a></div><div class="ttdeci">void set_property(const std::string &amp;property, const std::string &amp;value)</div><div class="ttdef"><b>Definition</b> node.cpp:20</div></div>
+<div class="ttc" id="anamespacetacos_1_1search_html_a4ba19ece9b658a5b1fb83a4575015162"><div class="ttname"><a href="namespacetacos_1_1search.html#a4ba19ece9b658a5b1fb83a4575015162">tacos::search::LabelReason</a></div><div class="ttdeci">LabelReason</div><div class="ttdef"><b>Definition</b> search_tree.h:44</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html"><div class="ttname"><a href="namespacetacos_1_1visualization.html">tacos::visualization</a></div><div class="ttdoc">Visualization tools for automata and search trees.</div><div class="ttdef"><b>Definition</b> interactive_tree_to_graphviz.h:18</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html_a7881b55db24f3ae949b6526a5b1f5b10"><div class="ttname"><a href="namespacetacos_1_1visualization.html#a7881b55db24f3ae949b6526a5b1f5b10">tacos::visualization::add_search_node_to_graph</a></div><div class="ttdeci">std::optional&lt; utilities::graphviz::Node &gt; add_search_node_to_graph(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; *search_node, utilities::graphviz::Graph *graph, std::function&lt; bool(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;)&gt; node_selector)</div><div class="ttdoc">Add a search tree node to a dot graph visualization of the search tree.</div><div class="ttdef"><b>Definition</b> tree_to_graphviz.h:35</div></div>
+<div class="ttc" id="anamespacetacos_1_1visualization_html_ac996a6ab71cc96b8e51ed6c09b028f0d"><div class="ttname"><a href="namespacetacos_1_1visualization.html#ac996a6ab71cc96b8e51ed6c09b028f0d">tacos::visualization::search_tree_to_graphviz</a></div><div class="ttdeci">utilities::graphviz::Graph search_tree_to_graphviz(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;search_node, std::function&lt; bool(const search::SearchTreeNode&lt; LocationT, ActionT, ConstraintSymbolT &gt; &amp;)&gt; node_selector)</div><div class="ttdoc">Generate a graphviz graph visualizing the search tree.</div><div class="ttdef"><b>Definition</b> tree_to_graphviz.h:120</div></div>
+<div class="ttc" id="astructtacos_1_1search_1_1PlantRegionState_html"><div class="ttname"><a href="structtacos_1_1search_1_1PlantRegionState.html">tacos::search::PlantRegionState</a></div><div class="ttdoc">A regionalized plant state.</div><div class="ttdef"><b>Definition</b> canonical_word.h:67</div></div>
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 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/type__traits_8h_source.html b/docs/type__traits_8h_source.html
index 17613d67..6d1e85e5 100644
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@@ -30,7 +30,7 @@
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+<!-- Generated by Doxygen 1.9.7 -->
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@@ -96,12 +96,12 @@
 <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>};</div>
 <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
 <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>} <span class="comment">// namespace tacos::utilities</span></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1values__equal_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1values__equal.html">tacos::utilities::values_equal</a></div><div class="ttdoc">Check if two types are the same.</div><div class="ttdef"><b>Definition:</b> type_traits.h:20</div></div>
-<div class="ttc" id="astructtacos_1_1utilities_1_1values__equal_html_a87ff3e62e05457c8f394271764473f17"><div class="ttname"><a href="structtacos_1_1utilities_1_1values__equal.html#a87ff3e62e05457c8f394271764473f17">tacos::utilities::values_equal::type</a></div><div class="ttdeci">T type</div><div class="ttdef"><b>Definition:</b> type_traits.h:22</div></div>
+<div class="ttc" id="astructtacos_1_1utilities_1_1values__equal_html"><div class="ttname"><a href="structtacos_1_1utilities_1_1values__equal.html">tacos::utilities::values_equal</a></div><div class="ttdoc">Check if two types are the same.</div><div class="ttdef"><b>Definition</b> type_traits.h:20</div></div>
+<div class="ttc" id="astructtacos_1_1utilities_1_1values__equal_html_a87ff3e62e05457c8f394271764473f17"><div class="ttname"><a href="structtacos_1_1utilities_1_1values__equal.html#a87ff3e62e05457c8f394271764473f17">tacos::utilities::values_equal::type</a></div><div class="ttdeci">T type</div><div class="ttdef"><b>Definition</b> type_traits.h:22</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.7
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diff --git a/docs/types_8h_source.html b/docs/types_8h_source.html
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 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="generator" content="Doxygen 1.9.7"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>tacos: src/utilities/include/utilities/types.h Source File</title>
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@@ -30,7 +30,7 @@
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-<!-- Generated by Doxygen 1.9.5 -->
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@@ -189,20 +189,20 @@
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 <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
 <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>} <span class="comment">// namespace fmt</span></div>
-<div class="ttc" id="aclasstacos_1_1Clock_html"><div class="ttname"><a href="classtacos_1_1Clock.html">tacos::Clock</a></div><div class="ttdoc">A clock of a plant.</div><div class="ttdef"><b>Definition:</b> types.h:26</div></div>
-<div class="ttc" id="aclasstacos_1_1Clock_html_a498ace844f3826ff74b8dbf7e5f1ffcb"><div class="ttname"><a href="classtacos_1_1Clock.html#a498ace844f3826ff74b8dbf7e5f1ffcb">tacos::Clock::get_valuation</a></div><div class="ttdeci">constexpr Time get_valuation() const noexcept</div><div class="ttdef"><b>Definition:</b> types.h:48</div></div>
-<div class="ttc" id="aclasstacos_1_1Clock_html_adb0c152869eacc90ee476c1eb7981e01"><div class="ttname"><a href="classtacos_1_1Clock.html#adb0c152869eacc90ee476c1eb7981e01">tacos::Clock::reset</a></div><div class="ttdeci">constexpr void reset() noexcept</div><div class="ttdef"><b>Definition:</b> types.h:55</div></div>
-<div class="ttc" id="aclasstacos_1_1Clock_html_add9e0916aeea0868012410b760fcda46"><div class="ttname"><a href="classtacos_1_1Clock.html#add9e0916aeea0868012410b760fcda46">tacos::Clock::tick</a></div><div class="ttdeci">constexpr void tick(const Time &amp;diff) noexcept</div><div class="ttdef"><b>Definition:</b> types.h:39</div></div>
-<div class="ttc" id="aclasstacos_1_1Clock_html_afd52fc85debd47941f1d424f18fa58a0"><div class="ttname"><a href="classtacos_1_1Clock.html#afd52fc85debd47941f1d424f18fa58a0">tacos::Clock::Clock</a></div><div class="ttdeci">constexpr Clock(const Time &amp;init=0) noexcept</div><div class="ttdef"><b>Definition:</b> types.h:31</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition:</b> types.h:79</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a37d196250ab049f5ce55b6edc7672588"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a37d196250ab049f5ce55b6edc7672588">tacos::PlantConfiguration::clock_valuations</a></div><div class="ttdeci">ClockSetValuation clock_valuations</div><div class="ttdef"><b>Definition:</b> types.h:83</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a5ce672600ba7424765ef8aa330ceb7e6"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a5ce672600ba7424765ef8aa330ceb7e6">tacos::PlantConfiguration::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition:</b> types.h:81</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a9bab4fae71352923561b2638b92b8f39"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a9bab4fae71352923561b2638b92b8f39">tacos::PlantConfiguration::operator&lt;</a></div><div class="ttdeci">friend bool operator&lt;(const PlantConfiguration&lt; LocationT &gt; &amp;first, const PlantConfiguration&lt; LocationT &gt; &amp;second)</div><div class="ttdef"><b>Definition:</b> types.h:89</div></div>
-<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_ab97c2681bcba7811adc177af27db6a9a"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#ab97c2681bcba7811adc177af27db6a9a">tacos::PlantConfiguration::operator==</a></div><div class="ttdeci">friend bool operator==(const PlantConfiguration&lt; LocationT &gt; &amp;first, const PlantConfiguration&lt; LocationT &gt; &amp;second)</div><div class="ttdef"><b>Definition:</b> types.h:98</div></div>
+<div class="ttc" id="aclasstacos_1_1Clock_html"><div class="ttname"><a href="classtacos_1_1Clock.html">tacos::Clock</a></div><div class="ttdoc">A clock of a plant.</div><div class="ttdef"><b>Definition</b> types.h:26</div></div>
+<div class="ttc" id="aclasstacos_1_1Clock_html_a498ace844f3826ff74b8dbf7e5f1ffcb"><div class="ttname"><a href="classtacos_1_1Clock.html#a498ace844f3826ff74b8dbf7e5f1ffcb">tacos::Clock::get_valuation</a></div><div class="ttdeci">constexpr Time get_valuation() const noexcept</div><div class="ttdef"><b>Definition</b> types.h:48</div></div>
+<div class="ttc" id="aclasstacos_1_1Clock_html_adb0c152869eacc90ee476c1eb7981e01"><div class="ttname"><a href="classtacos_1_1Clock.html#adb0c152869eacc90ee476c1eb7981e01">tacos::Clock::reset</a></div><div class="ttdeci">constexpr void reset() noexcept</div><div class="ttdef"><b>Definition</b> types.h:55</div></div>
+<div class="ttc" id="aclasstacos_1_1Clock_html_add9e0916aeea0868012410b760fcda46"><div class="ttname"><a href="classtacos_1_1Clock.html#add9e0916aeea0868012410b760fcda46">tacos::Clock::tick</a></div><div class="ttdeci">constexpr void tick(const Time &amp;diff) noexcept</div><div class="ttdef"><b>Definition</b> types.h:39</div></div>
+<div class="ttc" id="aclasstacos_1_1Clock_html_afd52fc85debd47941f1d424f18fa58a0"><div class="ttname"><a href="classtacos_1_1Clock.html#afd52fc85debd47941f1d424f18fa58a0">tacos::Clock::Clock</a></div><div class="ttdeci">constexpr Clock(const Time &amp;init=0) noexcept</div><div class="ttdef"><b>Definition</b> types.h:31</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html">tacos::PlantConfiguration</a></div><div class="ttdoc">A configuration of a plant, e.g., a TA.</div><div class="ttdef"><b>Definition</b> types.h:79</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a37d196250ab049f5ce55b6edc7672588"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a37d196250ab049f5ce55b6edc7672588">tacos::PlantConfiguration::clock_valuations</a></div><div class="ttdeci">ClockSetValuation clock_valuations</div><div class="ttdef"><b>Definition</b> types.h:83</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a5ce672600ba7424765ef8aa330ceb7e6"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a5ce672600ba7424765ef8aa330ceb7e6">tacos::PlantConfiguration::location</a></div><div class="ttdeci">LocationT location</div><div class="ttdef"><b>Definition</b> types.h:81</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_a9bab4fae71352923561b2638b92b8f39"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#a9bab4fae71352923561b2638b92b8f39">tacos::PlantConfiguration::operator&lt;</a></div><div class="ttdeci">friend bool operator&lt;(const PlantConfiguration&lt; LocationT &gt; &amp;first, const PlantConfiguration&lt; LocationT &gt; &amp;second)</div><div class="ttdef"><b>Definition</b> types.h:89</div></div>
+<div class="ttc" id="astructtacos_1_1PlantConfiguration_html_ab97c2681bcba7811adc177af27db6a9a"><div class="ttname"><a href="structtacos_1_1PlantConfiguration.html#ab97c2681bcba7811adc177af27db6a9a">tacos::PlantConfiguration::operator==</a></div><div class="ttdeci">friend bool operator==(const PlantConfiguration&lt; LocationT &gt; &amp;first, const PlantConfiguration&lt; LocationT &gt; &amp;second)</div><div class="ttdef"><b>Definition</b> types.h:98</div></div>
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