RSTARPlanner Class Reference

RSTAR* planner. More...

#include <rstarplanner.h>

Inheritance diagram for RSTARPlanner:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void costs_changed ()
 inform the search about the new edge costs -
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
virtual int get_highlevel_expands () const
 get number of high level expands
virtual int get_lowlevel_expands () const
 get number of low level expands
virtual double get_solution_probabilisticeps () const
 obtain probabilistic eps suboptimality bound
void print_searchpath (FILE *fOut)
 print out search path
int replan (double allocated_time_sec, 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
 RSTARPlanner (DiscreteSpaceInformation *environment, bool bforwardsearch)
 constructor
int set_goal (int goal_stateID)
 set the goal state
virtual void set_initialsolution_eps (double initialsolution_eps)
 set initial solution epsilon that R* will try to satisfy (probabilistically)
int set_search_mode (bool bSearchUntilFirstSolution)
 you can either search forwards or backwards
int set_start (int start_stateID)
 set the start state
 ~RSTARPlanner ()
 destructor

Private Member Functions

int ComputeHeuristic (CMDPSTATE *MDPstate)
CKey ComputeKey (RSTARState *rstarState)
bool ComputeLocalPath (int StartStateID, int GoalStateID, int maxc, int maxe, int *pCost, int *pCostLow, int *pExp, vector< int > *pPathIDs, int *pNewGoalStateID, double maxnumofsecs)
CMDPSTATECreateLSearchState (int stateID)
int CreateSearchStateSpace ()
CMDPSTATECreateState (int stateID)
void DeleteSearchActionData (RSTARACTIONDATA *actiondata)
void DeleteSearchStateData (RSTARState *state)
void DeleteSearchStateSpace ()
bool DestroyLocalSearchMemory ()
int GetGVal (int StateID)
int getHeurValue (int StateID)
CMDPSTATEGetLSearchState (int stateID)
vector< int > GetSearchPath (int &solcost)
CMDPSTATEGetState (int stateID)
int ImprovePath (double MaxNumofSecs)
void Initialize_rstarlsearchdata (CMDPSTATE *state)
void Initialize_searchinfo (CMDPSTATE *state)
void InitializeSearchStateInfo (RSTARState *state)
int InitializeSearchStateSpace ()
CKey LocalSearchComputeKey (RSTARLSearchState *rstarlsearchState)
void PrintSearchPath (FILE *fOut)
void PrintSearchState (RSTARState *state, FILE *fOut)
void Reevaluatefvals ()
void ReInitializeSearchStateInfo (RSTARState *state)
void ReInitializeSearchStateSpace ()
int ResetSearchStateSpace ()
bool Search (vector< int > &pathIds, int &PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
void SetBestPredecessor (RSTARState *rstarState, RSTARState *rstarPredState, CMDPACTION *action)
int SetSearchGoalState (int SearchGoalStateID)
int SetSearchStartState (int SearchStartStateID)

Private Attributes

bool bforwardsearch
bool bsearchuntilfirstsolution
FILE * fDeb
double finitial_eps
unsigned int highlevel_searchexpands
unsigned int lowlevel_searchexpands
int MaxMemoryCounter
RSTARLSearchStateSpace_tpLSearchStateSpace
RSTARSearchStateSpace_tpSearchStateSpace
clock_t TimeStarted

Detailed Description

RSTAR* planner.

Definition at line 236 of file rstarplanner.h.


Constructor & Destructor Documentation

RSTARPlanner::RSTARPlanner ( DiscreteSpaceInformation environment,
bool  bforwardsearch 
)

constructor

Definition at line 40 of file rstarplanner.cpp.

RSTARPlanner::~RSTARPlanner (  ) 

destructor

Definition at line 87 of file rstarplanner.cpp.


Member Function Documentation

int RSTARPlanner::ComputeHeuristic ( CMDPSTATE MDPstate  )  [private]

Definition at line 435 of file rstarplanner.cpp.

CKey RSTARPlanner::ComputeKey ( RSTARState rstarState  )  [private]

Definition at line 576 of file rstarplanner.cpp.

bool RSTARPlanner::ComputeLocalPath ( int  StartStateID,
int  GoalStateID,
int  maxc,
int  maxe,
int *  pCost,
int *  pCostLow,
int *  pExp,
vector< int > *  pPathIDs,
int *  pNewGoalStateID,
double  maxnumofsecs 
) [private]

Definition at line 250 of file rstarplanner.cpp.

void RSTARPlanner::costs_changed (  ) 

inform the search about the new edge costs -

Note:
since R* is non-incremental, it is sufficient (and more efficient) to just inform R* of the fact that some costs changed

Definition at line 1521 of file rstarplanner.cpp.

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

inform the search about the new edge costs

Implements SBPLPlanner.

Definition at line 1514 of file rstarplanner.cpp.

CMDPSTATE * RSTARPlanner::CreateLSearchState ( int  stateID  )  [private]

Definition at line 184 of file rstarplanner.cpp.

int RSTARPlanner::CreateSearchStateSpace (  )  [private]

Definition at line 957 of file rstarplanner.cpp.

CMDPSTATE * RSTARPlanner::CreateState ( int  stateID  )  [private]

Definition at line 108 of file rstarplanner.cpp.

void RSTARPlanner::DeleteSearchActionData ( RSTARACTIONDATA actiondata  )  [private]

Definition at line 549 of file rstarplanner.cpp.

void RSTARPlanner::DeleteSearchStateData ( RSTARState state  )  [private]

Definition at line 533 of file rstarplanner.cpp.

void RSTARPlanner::DeleteSearchStateSpace (  )  [private]

Definition at line 975 of file rstarplanner.cpp.

bool RSTARPlanner::DestroyLocalSearchMemory (  )  [private]

Definition at line 402 of file rstarplanner.cpp.

int RSTARPlanner::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 1530 of file rstarplanner.cpp.

virtual int RSTARPlanner::get_highlevel_expands (  )  const [inline, virtual]

get number of high level expands

Definition at line 274 of file rstarplanner.h.

virtual int RSTARPlanner::get_lowlevel_expands (  )  const [inline, virtual]

get number of low level expands

Definition at line 277 of file rstarplanner.h.

virtual double RSTARPlanner::get_solution_probabilisticeps (  )  const [inline, virtual]

obtain probabilistic eps suboptimality bound

Definition at line 271 of file rstarplanner.h.

int RSTARPlanner::GetGVal ( int  StateID  )  [private]

Definition at line 557 of file rstarplanner.cpp.

int RSTARPlanner::getHeurValue ( int  StateID  )  [private]

Definition at line 1161 of file rstarplanner.cpp.

CMDPSTATE * RSTARPlanner::GetLSearchState ( int  stateID  )  [private]

Definition at line 218 of file rstarplanner.cpp.

vector< int > RSTARPlanner::GetSearchPath ( int &  solcost  )  [private]

Definition at line 1169 of file rstarplanner.cpp.

CMDPSTATE * RSTARPlanner::GetState ( int  stateID  )  [private]

Definition at line 144 of file rstarplanner.cpp.

int RSTARPlanner::ImprovePath ( double  MaxNumofSecs  )  [private]

Definition at line 608 of file rstarplanner.cpp.

void RSTARPlanner::Initialize_rstarlsearchdata ( CMDPSTATE state  )  [private]

Definition at line 166 of file rstarplanner.cpp.

void RSTARPlanner::Initialize_searchinfo ( CMDPSTATE state  )  [private]

Definition at line 98 of file rstarplanner.cpp.

void RSTARPlanner::InitializeSearchStateInfo ( RSTARState state  )  [private]

Definition at line 469 of file rstarplanner.cpp.

int RSTARPlanner::InitializeSearchStateSpace (  )  [private]

Definition at line 1070 of file rstarplanner.cpp.

CKey RSTARPlanner::LocalSearchComputeKey ( RSTARLSearchState rstarlsearchState  )  [private]

Definition at line 234 of file rstarplanner.cpp.

void RSTARPlanner::print_searchpath ( FILE *  fOut  ) 

print out search path

Definition at line 1551 of file rstarplanner.cpp.

void RSTARPlanner::PrintSearchPath ( FILE *  fOut  )  [private]

Definition at line 1267 of file rstarplanner.cpp.

void RSTARPlanner::PrintSearchState ( RSTARState state,
FILE *  fOut 
) [private]

Definition at line 1150 of file rstarplanner.cpp.

void RSTARPlanner::Reevaluatefvals (  )  [private]

Definition at line 935 of file rstarplanner.cpp.

void RSTARPlanner::ReInitializeSearchStateInfo ( RSTARState state  )  [private]

Definition at line 494 of file rstarplanner.cpp.

void RSTARPlanner::ReInitializeSearchStateSpace (  )  [private]

Definition at line 1032 of file rstarplanner.cpp.

int RSTARPlanner::replan ( double  allocated_time_sec,
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 1431 of file rstarplanner.cpp.

int RSTARPlanner::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 1422 of file rstarplanner.cpp.

int RSTARPlanner::ResetSearchStateSpace (  )  [private]

Definition at line 1022 of file rstarplanner.cpp.

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

Definition at line 1282 of file rstarplanner.cpp.

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

set the goal state

Implements SBPLPlanner.

Definition at line 1457 of file rstarplanner.cpp.

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

set initial solution epsilon that R* will try to satisfy (probabilistically)

Reimplemented from SBPLPlanner.

Definition at line 280 of file rstarplanner.h.

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

you can either search forwards or backwards

Implements SBPLPlanner.

Definition at line 1540 of file rstarplanner.cpp.

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

set the start state

Implements SBPLPlanner.

Definition at line 1484 of file rstarplanner.cpp.

void RSTARPlanner::SetBestPredecessor ( RSTARState rstarState,
RSTARState rstarPredState,
CMDPACTION action 
) [private]

Definition at line 565 of file rstarplanner.cpp.

int RSTARPlanner::SetSearchGoalState ( int  SearchGoalStateID  )  [private]

Definition at line 1101 of file rstarplanner.cpp.

int RSTARPlanner::SetSearchStartState ( int  SearchStartStateID  )  [private]

Definition at line 1132 of file rstarplanner.cpp.


Member Data Documentation

Definition at line 301 of file rstarplanner.h.

Definition at line 303 of file rstarplanner.h.

FILE* RSTARPlanner::fDeb [private]

Definition at line 312 of file rstarplanner.h.

double RSTARPlanner::finitial_eps [private]

Definition at line 299 of file rstarplanner.h.

unsigned int RSTARPlanner::highlevel_searchexpands [private]

Definition at line 308 of file rstarplanner.h.

unsigned int RSTARPlanner::lowlevel_searchexpands [private]

Definition at line 309 of file rstarplanner.h.

Definition at line 310 of file rstarplanner.h.

Definition at line 306 of file rstarplanner.h.

Definition at line 305 of file rstarplanner.h.

clock_t RSTARPlanner::TimeStarted [private]

Definition at line 311 of file rstarplanner.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 09:38:51 2013