RSTARPlanner Class Reference

RSTAR* planner. More...

#include <rstarplanner.h>

Inheritance diagram for RSTARPlanner:

[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)
CMDPSTATE *	CreateLSearchState (int stateID)
int	CreateSearchStateSpace ()
CMDPSTATE *	CreateState (int stateID)
void	DeleteSearchActionData (RSTARACTIONDATA *actiondata)
void	DeleteSearchStateData (RSTARState *state)
void	DeleteSearchStateSpace ()
bool	DestroyLocalSearchMemory ()
int	GetGVal (int StateID)
int	getHeurValue (int StateID)
CMDPSTATE *	GetLSearchState (int stateID)
vector< int >	GetSearchPath (int &solcost)
CMDPSTATE *	GetState (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_t *	pLSearchStateSpace
RSTARSearchStateSpace_t *	pSearchStateSpace
clock_t	TimeStarted

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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.

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Member Data Documentation

bool RSTARPlanner::bforwardsearch [private]

Definition at line 301 of file rstarplanner.h.

bool RSTARPlanner::bsearchuntilfirstsolution [private]

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.

int RSTARPlanner::MaxMemoryCounter [private]

Definition at line 310 of file rstarplanner.h.

RSTARLSearchStateSpace_t* RSTARPlanner::pLSearchStateSpace [private]

Definition at line 306 of file rstarplanner.h.

RSTARSearchStateSpace_t* RSTARPlanner::pSearchStateSpace [private]

Definition at line 305 of file rstarplanner.h.

clock_t RSTARPlanner::TimeStarted [private]

Definition at line 311 of file rstarplanner.h.

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The documentation for this class was generated from the following files:

• rstarplanner.h
• rstarplanner.cpp