ADPlanner Class Reference

Anytime D* search planner: all states are uniquely defined by stateIDs. More...

#include <adplanner.h>

Inheritance diagram for ADPlanner:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 ADPlanner (DiscreteSpaceInformation *environment, bool bForwardSearch)
 constructor
void costs_changed (StateChangeQuery const &stateChange)
 inform the search about the new edge costs
int force_planning_from_scratch ()
 set a flag to get rid of the previous search efforts, release the memory and re-initialize the search, when the next replan is called
double get_final_eps_planning_time ()
 returns the time taken to get the final solution
double get_final_epsilon ()
 returns the final epsilon achieved during the search
double get_initial_eps ()
 returns the initial epsilon
double get_initial_eps_planning_time ()
 returns the time taken to find the first solution
virtual int get_n_expands () const
 returns the number of states expanded so far
int get_n_expands_init_solution ()
 returns the number of expands to find the first solution
virtual double get_solution_eps () const
 returns the suboptimality bound on the currently found solution
int replan (double allocated_time_secs, vector< int > *solution_stateIDs_V, int *solcost)
 replan a path within the allocated time, return the solution in the vector, also returns solution cost
int replan (double allocated_time_secs, vector< int > *solution_stateIDs_V)
 replan a path within the allocated time, return the solution in the vector
int set_goal (int goal_stateID)
 set the goal state
virtual void set_initialsolution_eps (double initialsolution_eps)
 returns the value of the initial epsilon (suboptimality bound) used
int set_search_mode (bool bSearchUntilFirstSolution)
 you can either search forwards or backwards
int set_start (int start_stateID)
 set the start state
void update_preds_of_changededges (vector< int > *predsIDV)
 direct form of informing the search about the new edge costs
void update_succs_of_changededges (vector< int > *succsIDV)
 direct form of informing the search about the new edge costs
 ~ADPlanner ()
 destructor

Private Member Functions

void BuildNewOPENList (ADSearchStateSpace_t *pSearchStateSpace)
int ComputeHeuristic (CMDPSTATE *MDPstate, ADSearchStateSpace_t *pSearchStateSpace)
CKey ComputeKey (ADState *state)
int ComputePath (ADSearchStateSpace_t *pSearchStateSpace, double MaxNumofSecs)
int CreateSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
CMDPSTATECreateState (int stateID, ADSearchStateSpace_t *pSearchStateSpace)
void DeleteSearchStateData (ADState *state)
void DeleteSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
int GetGVal (int StateID, ADSearchStateSpace_t *pSearchStateSpace)
int getHeurValue (ADSearchStateSpace_t *pSearchStateSpace, int StateID)
vector< int > GetSearchPath (ADSearchStateSpace_t *pSearchStateSpace, int &solcost)
CMDPSTATEGetState (int stateID, ADSearchStateSpace_t *pSearchStateSpace)
void Initialize_searchinfo (CMDPSTATE *state, ADSearchStateSpace_t *pSearchStateSpace)
void InitializeSearchStateInfo (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
int InitializeSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
void PrintSearchPath (ADSearchStateSpace_t *pSearchStateSpace, FILE *fOut)
void PrintSearchState (ADState *searchstateinfo, FILE *fOut)
void Recomputegval (ADState *state)
int ReconstructPath (ADSearchStateSpace_t *pSearchStateSpace)
void Reevaluatefvals (ADSearchStateSpace_t *pSearchStateSpace)
void ReInitializeSearchStateInfo (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
void ReInitializeSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
int ResetSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
bool Search (ADSearchStateSpace_t *pSearchStateSpace, vector< int > &pathIds, int &PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
int SetSearchGoalState (int SearchGoalStateID, ADSearchStateSpace_t *pSearchStateSpace)
int SetSearchStartState (int SearchStartStateID, ADSearchStateSpace_t *pSearchStateSpace)
void Update_SearchSuccs_of_ChangedEdges (vector< int > const *statesIDV)
void UpdatePredsofOverconsState (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
void UpdatePredsofUnderconsState (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
void UpdateSetMembership (ADState *state)
void UpdateSuccsofOverconsState (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
void UpdateSuccsofUnderconsState (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)

Private Attributes

bool bforwardsearch
bool bsearchuntilfirstsolution
FILE * fDeb
double final_eps
double final_eps_planning_time
double finitial_eps
double finitial_eps_planning_time
int MaxMemoryCounter
MDPConfigMDPCfg_
int num_of_expands_initial_solution
ADSearchStateSpace_tpSearchStateSpace_
unsigned int searchexpands
clock_t TimeStarted

Detailed Description

Anytime D* search planner: all states are uniquely defined by stateIDs.

Definition at line 124 of file adplanner.h.


Constructor & Destructor Documentation

ADPlanner::ADPlanner ( DiscreteSpaceInformation environment,
bool  bForwardSearch 
)

constructor

Definition at line 39 of file adplanner.cpp.

ADPlanner::~ADPlanner (  ) 

destructor

Definition at line 83 of file adplanner.cpp.


Member Function Documentation

void ADPlanner::BuildNewOPENList ( ADSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 698 of file adplanner.cpp.

int ADPlanner::ComputeHeuristic ( CMDPSTATE MDPstate,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 181 of file adplanner.cpp.

CKey ADPlanner::ComputeKey ( ADState state  )  [private]

Definition at line 162 of file adplanner.cpp.

int ADPlanner::ComputePath ( ADSearchStateSpace_t pSearchStateSpace,
double  MaxNumofSecs 
) [private]

Definition at line 529 of file adplanner.cpp.

void ADPlanner::costs_changed ( StateChangeQuery const &  stateChange  )  [virtual]

inform the search about the new edge costs

Implements SBPLPlanner.

Definition at line 1563 of file adplanner.cpp.

int ADPlanner::CreateSearchStateSpace ( ADSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 753 of file adplanner.cpp.

CMDPSTATE * ADPlanner::CreateState ( int  stateID,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 104 of file adplanner.cpp.

void ADPlanner::DeleteSearchStateData ( ADState state  )  [private]

Definition at line 274 of file adplanner.cpp.

void ADPlanner::DeleteSearchStateSpace ( ADSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 774 of file adplanner.cpp.

int ADPlanner::force_planning_from_scratch (  )  [virtual]

set a flag to get rid of the previous search efforts, release the memory and re-initialize the search, when the next replan is called

Implements SBPLPlanner.

Definition at line 1543 of file adplanner.cpp.

double ADPlanner::get_final_eps_planning_time (  )  [inline, virtual]

returns the time taken to get the final solution

Reimplemented from SBPLPlanner.

Definition at line 185 of file adplanner.h.

double ADPlanner::get_final_epsilon (  )  [inline, virtual]

returns the final epsilon achieved during the search

Reimplemented from SBPLPlanner.

Definition at line 193 of file adplanner.h.

double ADPlanner::get_initial_eps (  )  [inline, virtual]

returns the initial epsilon

Reimplemented from SBPLPlanner.

Definition at line 177 of file adplanner.h.

double ADPlanner::get_initial_eps_planning_time (  )  [inline, virtual]

returns the time taken to find the first solution

Reimplemented from SBPLPlanner.

Definition at line 181 of file adplanner.h.

virtual int ADPlanner::get_n_expands (  )  const [inline, virtual]

returns the number of states expanded so far

Reimplemented from SBPLPlanner.

Definition at line 173 of file adplanner.h.

int ADPlanner::get_n_expands_init_solution (  )  [inline, virtual]

returns the number of expands to find the first solution

Reimplemented from SBPLPlanner.

Definition at line 189 of file adplanner.h.

virtual double ADPlanner::get_solution_eps (  )  const [inline, virtual]

returns the suboptimality bound on the currently found solution

Reimplemented from SBPLPlanner.

Definition at line 169 of file adplanner.h.

int ADPlanner::GetGVal ( int  StateID,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 521 of file adplanner.cpp.

int ADPlanner::getHeurValue ( ADSearchStateSpace_t pSearchStateSpace,
int  StateID 
) [private]

Definition at line 1105 of file adplanner.cpp.

vector< int > ADPlanner::GetSearchPath ( ADSearchStateSpace_t pSearchStateSpace,
int &  solcost 
) [private]

Definition at line 1113 of file adplanner.cpp.

CMDPSTATE * ADPlanner::GetState ( int  stateID,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 141 of file adplanner.cpp.

void ADPlanner::Initialize_searchinfo ( CMDPSTATE state,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 94 of file adplanner.cpp.

void ADPlanner::InitializeSearchStateInfo ( ADState state,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 211 of file adplanner.cpp.

int ADPlanner::InitializeSearchStateSpace ( ADSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 858 of file adplanner.cpp.

void ADPlanner::PrintSearchPath ( ADSearchStateSpace_t pSearchStateSpace,
FILE *  fOut 
) [private]

Definition at line 1013 of file adplanner.cpp.

void ADPlanner::PrintSearchState ( ADState searchstateinfo,
FILE *  fOut 
) [private]

Definition at line 1002 of file adplanner.cpp.

void ADPlanner::Recomputegval ( ADState state  )  [private]

Definition at line 318 of file adplanner.cpp.

int ADPlanner::ReconstructPath ( ADSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 942 of file adplanner.cpp.

void ADPlanner::Reevaluatefvals ( ADSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 727 of file adplanner.cpp.

void ADPlanner::ReInitializeSearchStateInfo ( ADState state,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 240 of file adplanner.cpp.

void ADPlanner::ReInitializeSearchStateSpace ( ADSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 816 of file adplanner.cpp.

int ADPlanner::replan ( double  allocated_time_secs,
vector< int > *  solution_stateIDs_V,
int *  solcost 
)

replan a path within the allocated time, return the solution in the vector, also returns solution cost

Definition at line 1440 of file adplanner.cpp.

int ADPlanner::replan ( double  allocated_time_secs,
vector< int > *  solution_stateIDs_V 
)

replan a path within the allocated time, return the solution in the vector

Definition at line 1429 of file adplanner.cpp.

int ADPlanner::ResetSearchStateSpace ( ADSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 807 of file adplanner.cpp.

bool ADPlanner::Search ( ADSearchStateSpace_t pSearchStateSpace,
vector< int > &  pathIds,
int &  PathCost,
bool  bFirstSolution,
bool  bOptimalSolution,
double  MaxNumofSecs 
) [private]

Definition at line 1225 of file adplanner.cpp.

int ADPlanner::set_goal ( int  goal_stateID  )  [virtual]

set the goal state

Implements SBPLPlanner.

Definition at line 1464 of file adplanner.cpp.

virtual void ADPlanner::set_initialsolution_eps ( double  initialsolution_eps  )  [inline, virtual]

returns the value of the initial epsilon (suboptimality bound) used

Reimplemented from SBPLPlanner.

Definition at line 197 of file adplanner.h.

int ADPlanner::set_search_mode ( bool  bSearchUntilFirstSolution  )  [virtual]

you can either search forwards or backwards

Implements SBPLPlanner.

Definition at line 1553 of file adplanner.cpp.

int ADPlanner::set_start ( int  start_stateID  )  [virtual]

set the start state

Implements SBPLPlanner.

Definition at line 1495 of file adplanner.cpp.

int ADPlanner::SetSearchGoalState ( int  SearchGoalStateID,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 889 of file adplanner.cpp.

int ADPlanner::SetSearchStartState ( int  SearchStartStateID,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 925 of file adplanner.cpp.

void ADPlanner::update_preds_of_changededges ( vector< int > *  predsIDV  ) 

direct form of informing the search about the new edge costs

Parameters:
predsIDV array of predecessors of changed edges
Note:
this is used when the search is run backwards

Definition at line 1535 of file adplanner.cpp.

void ADPlanner::Update_SearchSuccs_of_ChangedEdges ( vector< int > const *  statesIDV  )  [private]

Definition at line 1356 of file adplanner.cpp.

void ADPlanner::update_succs_of_changededges ( vector< int > *  succsIDV  ) 

direct form of informing the search about the new edge costs

Parameters:
succsIDV array of successors of changed edges
Note:
this is used when the search is run forwards

Definition at line 1528 of file adplanner.cpp.

void ADPlanner::UpdatePredsofOverconsState ( ADState state,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 362 of file adplanner.cpp.

void ADPlanner::UpdatePredsofUnderconsState ( ADState state,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 452 of file adplanner.cpp.

void ADPlanner::UpdateSetMembership ( ADState state  )  [private]

Definition at line 282 of file adplanner.cpp.

void ADPlanner::UpdateSuccsofOverconsState ( ADState state,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 415 of file adplanner.cpp.

void ADPlanner::UpdateSuccsofUnderconsState ( ADState state,
ADSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 492 of file adplanner.cpp.


Member Data Documentation

bool ADPlanner::bforwardsearch [private]

Definition at line 216 of file adplanner.h.

Definition at line 217 of file adplanner.h.

FILE* ADPlanner::fDeb [private]

Definition at line 224 of file adplanner.h.

double ADPlanner::final_eps [private]

Definition at line 212 of file adplanner.h.

Definition at line 212 of file adplanner.h.

double ADPlanner::finitial_eps [private]

Definition at line 212 of file adplanner.h.

Definition at line 212 of file adplanner.h.

Definition at line 222 of file adplanner.h.

Definition at line 214 of file adplanner.h.

Definition at line 213 of file adplanner.h.

Definition at line 219 of file adplanner.h.

unsigned int ADPlanner::searchexpands [private]

Definition at line 221 of file adplanner.h.

clock_t ADPlanner::TimeStarted [private]

Definition at line 223 of file adplanner.h.


The documentation for this class was generated from the following files:
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sbpl
Author(s): Maxim Likhachev/maximl@seas.upenn.edu
autogenerated on Fri Jan 11 09:38:50 2013