2D (x,y) grid planning problem. For general structure see comments on parent class DiscreteSpaceInformation More...
#include <environment_nav2D.h>
Public Member Functions | |
| virtual bool | AreEquivalent (int StateID1, int StateID2) |
| returns true if two states meet the same condition - see environment.h for more info | |
| EnvironmentNAV2D () | |
| void | GetCoordFromState (int stateID, int &x, int &y) const |
| returns the actual <x,y> associated with state of stateID | |
| const EnvNAV2DConfig_t * | GetEnvNavConfig () |
| access to internal configuration data structure | |
| void | GetEnvParms (int *size_x, int *size_y, int *startx, int *starty, int *goalx, int *goaly, unsigned char *obsthresh) |
| returns the parameters associated with the current environment. This is useful for setting up a copy of an environment (i.e., second planning problem) | |
| int | GetFromToHeuristic (int FromStateID, int ToStateID) |
| see comments on the same function in the parent class | |
| int | GetGoalHeuristic (int stateID) |
| see comments on the same function in the parent class | |
| unsigned char | GetMapCost (int x, int y) |
| returns the cost associated with <x,y> cell, i.e., A[x][y] | |
| void | GetPreds (int TargetStateID, vector< int > *PredIDV, vector< int > *CostV) |
| see comments on the same function in the parent class | |
| void | GetPredsofChangedEdges (vector< nav2dcell_t > const *changedcellsV, vector< int > *preds_of_changededgesIDV) |
| this function fill in Predecessor/Successor states of edges whose costs changed It takes in an array of cells whose traversability changed, and returns (in vector preds_of_changededgesIDV) the IDs of all states that have outgoing edges that go through the changed cells | |
| virtual void | GetRandomNeighs (int stateID, std::vector< int > *NeighIDV, std::vector< int > *CLowV, int nNumofNeighs, int nDist_c, bool bSuccs) |
| generates nNumofNeighs random neighbors of cell <X,Y> at distance nDist_c (measured in cells) it will also generate goal if within this distance as an additional neighbor | |
| virtual void | GetRandomPredsatDistance (int TargetStateID, std::vector< int > *PredIDV, std::vector< int > *CLowV) |
| generates preds at some domain-dependent distance - see environment.h for more info used by certain searches such as R* | |
| virtual void | GetRandomSuccsatDistance (int SourceStateID, std::vector< int > *SuccIDV, std::vector< int > *CLowV) |
| generates succs at some domain-dependent distance - see environment.h for more info used by certain searches such as R* | |
| int | GetStartHeuristic (int stateID) |
| see comments on the same function in the parent class | |
| int | GetStateFromCoord (int x, int y) |
| returns a stateID associated with coordinates <x,y> | |
| void | GetSuccs (int SourceStateID, vector< int > *SuccIDV, vector< int > *CostV) |
| see comments on the same function in the parent class | |
| void | GetSuccsofChangedEdges (vector< nav2dcell_t > const *changedcellsV, vector< int > *succs_of_changededgesIDV) |
| same as GetPredsofChangedEdges, but returns successor states. Both functions need to be present for incremental search | |
| bool | InitGeneral () |
| performs initialization of environments. It is usually called in from InitializeEnv. But if SetConfiguration is used, then one should call InitGeneral by himself | |
| bool | InitializeEnv (int width, int height, const unsigned char *mapdata, unsigned char obsthresh) |
| a short version of environment initialization. Here start and goal coordinates will be set to 0s | |
| bool | InitializeEnv (int width, int height, const unsigned char *mapdata, int startx, int starty, int goalx, int goaly, unsigned char obsthresh) |
| initialize environment. Gridworld is defined as matrix A of size width by height. So, internally, it is accessed as A[x][y] with x ranging from 0 to width-1 and and y from 0 to height-1 Each element in A[x][y] is unsigned char. A[x][y] = 0 corresponds to fully traversable and cost is just Euclidean distance The cost of transition between two neighboring cells is EuclideanDistance*(max(A[sourcex][sourcey],A[targetx][targety])+1) If A[x][y] >= obsthresh, then in the above equation it is assumed to be infinite. mapdata is a pointer to the values of A. If it is null, then A is initialized to all zeros. Mapping is: A[x][y] = mapdata[x+y*width] start/goal are given by startx, starty, goalx,goaly. If they are not known yet, just set them to 0. Later setgoal/setstart can be executed finally obsthresh defined obstacle threshold, as mentioned above | |
| bool | InitializeEnv (const char *sEnvFile) |
| see comments on the same function in the parent class | |
| bool | InitializeMDPCfg (MDPConfig *MDPCfg) |
| see comments on the same function in the parent class | |
| bool | IsObstacle (int x, int y) |
| returns true if <x,y> is obstacle (used by the value of this cell and obsthresh) | |
| bool | IsWithinMapCell (int X, int Y) |
| checks X,Y against map boundaries | |
| void | PrintEnv_Config (FILE *fOut) |
| see comments on the same function in the parent class | |
| void | PrintState (int stateID, bool bVerbose, FILE *fOut=NULL) |
| see comments on the same function in the parent class | |
| void | PrintTimeStat (FILE *fOut) |
| print some time statistics | |
| void | SetAllActionsandAllOutcomes (CMDPSTATE *state) |
| see comments on the same function in the parent class | |
| void | SetAllPreds (CMDPSTATE *state) |
| see comments on the same function in the parent class | |
| void | SetConfiguration (int width, int height, const unsigned char *mapdata, int startx, int starty, int goalx, int goaly) |
| a direct way to set the configuration of environment - see InitializeEnv function for details about the parameters it is not a full way to initialize environment. To fully initialize, one needs to executed InitGeneral in addition. | |
| bool | SetEnvParameter (const char *parameter, int value) |
| way to set up various parameters. For a list of parameters, see the body of the function - it is pretty straightforward | |
| int | SetGoal (int x, int y) |
| set goal location | |
| void | SetGoalTolerance (double tol_x, double tol_y, double tol_theta) |
| currently, this is not used | |
| int | SetStart (int x, int y) |
| set start location | |
| int | SizeofCreatedEnv () |
| see comments on the same function in the parent class | |
| bool | UpdateCost (int x, int y, unsigned char newcost) |
| update the traversability of a cell<x,y> | |
| ~EnvironmentNAV2D () | |
Private Member Functions | |
| void | Computedxy () |
| void | ComputeHeuristicValues () |
| EnvNAV2DHashEntry_t * | CreateNewHashEntry (int X, int Y) |
| void | CreateStartandGoalStates () |
| unsigned int | GETHASHBIN (unsigned int X, unsigned int Y) |
| EnvNAV2DHashEntry_t * | GetHashEntry (int X, int Y) |
| void | InitializeEnvConfig () |
| void | InitializeEnvironment () |
| bool | IsValidCell (int X, int Y) |
| void | PrintHashTableHist () |
| void | ReadConfiguration (FILE *fCfg) |
Private Attributes | |
| EnvironmentNAV2D_t | EnvNAV2D |
| EnvNAV2DConfig_t | EnvNAV2DCfg |
2D (x,y) grid planning problem. For general structure see comments on parent class DiscreteSpaceInformation
Definition at line 105 of file environment_nav2D.h.
| EnvironmentNAV2D::EnvironmentNAV2D | ( | ) |
Definition at line 46 of file environment_nav2D.cpp.
| EnvironmentNAV2D::~EnvironmentNAV2D | ( | ) |
Definition at line 454 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::AreEquivalent | ( | int | StateID1, | |
| int | StateID2 | |||
| ) | [virtual] |
returns true if two states meet the same condition - see environment.h for more info
Reimplemented from DiscreteSpaceInformation.
Definition at line 1289 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::Computedxy | ( | ) | [private] |
Definition at line 312 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::ComputeHeuristicValues | ( | ) | [private] |
Definition at line 619 of file environment_nav2D.cpp.
| EnvNAV2DHashEntry_t * EnvironmentNAV2D::CreateNewHashEntry | ( | int | X, | |
| int | Y | |||
| ) | [private] |
Definition at line 393 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::CreateStartandGoalStates | ( | ) | [private] |
| void EnvironmentNAV2D::GetCoordFromState | ( | int | stateID, | |
| int & | x, | |||
| int & | y | |||
| ) | const |
returns the actual <x,y> associated with state of stateID
Definition at line 1073 of file environment_nav2D.cpp.
| const EnvNAV2DConfig_t * EnvironmentNAV2D::GetEnvNavConfig | ( | ) |
access to internal configuration data structure
Definition at line 1089 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::GetEnvParms | ( | int * | size_x, | |
| int * | size_y, | |||
| int * | startx, | |||
| int * | starty, | |||
| int * | goalx, | |||
| int * | goaly, | |||
| unsigned char * | obsthresh | |||
| ) |
returns the parameters associated with the current environment. This is useful for setting up a copy of an environment (i.e., second planning problem)
Definition at line 1247 of file environment_nav2D.cpp.
| int EnvironmentNAV2D::GetFromToHeuristic | ( | int | FromStateID, | |
| int | ToStateID | |||
| ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 705 of file environment_nav2D.cpp.
| int EnvironmentNAV2D::GetGoalHeuristic | ( | int | stateID | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 731 of file environment_nav2D.cpp.
| unsigned int EnvironmentNAV2D::GETHASHBIN | ( | unsigned int | X, | |
| unsigned int | Y | |||
| ) | [private] |
Definition at line 76 of file environment_nav2D.cpp.
| EnvNAV2DHashEntry_t * EnvironmentNAV2D::GetHashEntry | ( | int | X, | |
| int | Y | |||
| ) | [private] |
Definition at line 353 of file environment_nav2D.cpp.
| unsigned char EnvironmentNAV2D::GetMapCost | ( | int | x, | |
| int | y | |||
| ) |
returns the cost associated with <x,y> cell, i.e., A[x][y]
Definition at line 1240 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::GetPreds | ( | int | TargetStateID, | |
| vector< int > * | PredIDV, | |||
| vector< int > * | CostV | |||
| ) |
see comments on the same function in the parent class
Definition at line 954 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::GetPredsofChangedEdges | ( | vector< nav2dcell_t > const * | changedcellsV, | |
| vector< int > * | preds_of_changededgesIDV | |||
| ) |
this function fill in Predecessor/Successor states of edges whose costs changed It takes in an array of cells whose traversability changed, and returns (in vector preds_of_changededgesIDV) the IDs of all states that have outgoing edges that go through the changed cells
Definition at line 1187 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::GetRandomNeighs | ( | int | stateID, | |
| std::vector< int > * | NeighIDV, | |||
| std::vector< int > * | CLowV, | |||
| int | nNumofNeighs, | |||
| int | nDist_c, | |||
| bool | bSuccs | |||
| ) | [virtual] |
generates nNumofNeighs random neighbors of cell <X,Y> at distance nDist_c (measured in cells) it will also generate goal if within this distance as an additional neighbor
Definition at line 513 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::GetRandomPredsatDistance | ( | int | TargetStateID, | |
| std::vector< int > * | PredIDV, | |||
| std::vector< int > * | CLowV | |||
| ) | [virtual] |
generates preds at some domain-dependent distance - see environment.h for more info used by certain searches such as R*
Reimplemented from DiscreteSpaceInformation.
Definition at line 1338 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::GetRandomSuccsatDistance | ( | int | SourceStateID, | |
| std::vector< int > * | SuccIDV, | |||
| std::vector< int > * | CLowV | |||
| ) | [virtual] |
generates succs at some domain-dependent distance - see environment.h for more info used by certain searches such as R*
Reimplemented from DiscreteSpaceInformation.
Definition at line 1311 of file environment_nav2D.cpp.
| int EnvironmentNAV2D::GetStartHeuristic | ( | int | stateID | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 752 of file environment_nav2D.cpp.
| int EnvironmentNAV2D::GetStateFromCoord | ( | int | x, | |
| int | y | |||
| ) |
returns a stateID associated with coordinates <x,y>
Definition at line 1079 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::GetSuccs | ( | int | SourceStateID, | |
| vector< int > * | SuccIDV, | |||
| vector< int > * | CostV | |||
| ) |
see comments on the same function in the parent class
Definition at line 877 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::GetSuccsofChangedEdges | ( | vector< nav2dcell_t > const * | changedcellsV, | |
| vector< int > * | succs_of_changededgesIDV | |||
| ) |
same as GetPredsofChangedEdges, but returns successor states. Both functions need to be present for incremental search
Definition at line 1212 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::InitGeneral | ( | ) |
performs initialization of environments. It is usually called in from InitializeEnv. But if SetConfiguration is used, then one should call InitGeneral by himself
Definition at line 681 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::InitializeEnv | ( | int | width, | |
| int | height, | |||
| const unsigned char * | mapdata, | |||
| unsigned char | obsthresh | |||
| ) |
a short version of environment initialization. Here start and goal coordinates will be set to 0s
| mapdata | if mapdata is NULL the grid is initialized to all freespace |
Definition at line 649 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::InitializeEnv | ( | int | width, | |
| int | height, | |||
| const unsigned char * | mapdata, | |||
| int | startx, | |||
| int | starty, | |||
| int | goalx, | |||
| int | goaly, | |||
| unsigned char | obsthresh | |||
| ) |
initialize environment. Gridworld is defined as matrix A of size width by height. So, internally, it is accessed as A[x][y] with x ranging from 0 to width-1 and and y from 0 to height-1 Each element in A[x][y] is unsigned char. A[x][y] = 0 corresponds to fully traversable and cost is just Euclidean distance The cost of transition between two neighboring cells is EuclideanDistance*(max(A[sourcex][sourcey],A[targetx][targety])+1) If A[x][y] >= obsthresh, then in the above equation it is assumed to be infinite. mapdata is a pointer to the values of A. If it is null, then A is initialized to all zeros. Mapping is: A[x][y] = mapdata[x+y*width] start/goal are given by startx, starty, goalx,goaly. If they are not known yet, just set them to 0. Later setgoal/setstart can be executed finally obsthresh defined obstacle threshold, as mentioned above
| mapdata | if mapdata is NULL the grid is initialized to all freespace |
Definition at line 659 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::InitializeEnv | ( | const char * | sEnvFile | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 631 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::InitializeEnvConfig | ( | ) | [private] |
Definition at line 284 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::InitializeEnvironment | ( | ) | [private] |
Definition at line 474 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::InitializeMDPCfg | ( | MDPConfig * | MDPCfg | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 694 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::IsObstacle | ( | int | x, | |
| int | y | |||
| ) |
returns true if <x,y> is obstacle (used by the value of this cell and obsthresh)
Definition at line 1233 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::IsValidCell | ( | int | X, | |
| int | Y | |||
| ) | [private] |
Definition at line 439 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::IsWithinMapCell | ( | int | X, | |
| int | Y | |||
| ) |
checks X,Y against map boundaries
Definition at line 446 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::PrintEnv_Config | ( | FILE * | fOut | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 1166 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::PrintHashTableHist | ( | ) | [private] |
Definition at line 84 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::PrintState | ( | int | stateID, | |
| bool | bVerbose, | |||
| FILE * | fOut = NULL | |||
| ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 1046 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::PrintTimeStat | ( | FILE * | fOut | ) |
print some time statistics
Definition at line 1176 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::ReadConfiguration | ( | FILE * | fCfg | ) | [private] |
Definition at line 157 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::SetAllActionsandAllOutcomes | ( | CMDPSTATE * | state | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 776 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::SetAllPreds | ( | CMDPSTATE * | state | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 868 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::SetConfiguration | ( | int | width, | |
| int | height, | |||
| const unsigned char * | mapdata, | |||
| int | startx, | |||
| int | starty, | |||
| int | goalx, | |||
| int | goaly | |||
| ) |
a direct way to set the configuration of environment - see InitializeEnv function for details about the parameters it is not a full way to initialize environment. To fully initialize, one needs to executed InitGeneral in addition.
| mapdata | if mapdata is NULL the grid is initialized to all freespace |
Definition at line 109 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::SetEnvParameter | ( | const char * | parameter, | |
| int | value | |||
| ) | [virtual] |
way to set up various parameters. For a list of parameters, see the body of the function - it is pretty straightforward
Reimplemented from DiscreteSpaceInformation.
Definition at line 1260 of file environment_nav2D.cpp.
| int EnvironmentNAV2D::SetGoal | ( | int | x, | |
| int | y | |||
| ) |
set goal location
Definition at line 1094 of file environment_nav2D.cpp.
| void EnvironmentNAV2D::SetGoalTolerance | ( | double | tol_x, | |
| double | tol_y, | |||
| double | tol_theta | |||
| ) |
| int EnvironmentNAV2D::SetStart | ( | int | x, | |
| int | y | |||
| ) |
set start location
Definition at line 1130 of file environment_nav2D.cpp.
| int EnvironmentNAV2D::SizeofCreatedEnv | ( | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 1040 of file environment_nav2D.cpp.
| bool EnvironmentNAV2D::UpdateCost | ( | int | x, | |
| int | y, | |||
| unsigned char | newcost | |||
| ) |
update the traversability of a cell<x,y>
Definition at line 1157 of file environment_nav2D.cpp.
EnvironmentNAV2D_t EnvironmentNAV2D::EnvNAV2D [private] |
Definition at line 266 of file environment_nav2D.h.
Definition at line 265 of file environment_nav2D.h.
