anaPlanner Class Reference

ana* planner More...

#include <ANAplanner.h>

Inheritance diagram for anaPlanner:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 anaPlanner (DiscreteSpaceInformation *environment, bool bforwardsearch)
 constructor
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_n_expands () const
 returns the number of states expanded so far
virtual double get_solution_eps () const
 returns the suboptimality bound on the currently found solution
void print_searchpath (FILE *fOut)
 prints out the search path into a file
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
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
 ~anaPlanner ()
 destructor

Private Member Functions

void BuildNewOPENList (anaSearchStateSpace_t *pSearchStateSpace)
int ComputeHeuristic (CMDPSTATE *MDPstate, anaSearchStateSpace_t *pSearchStateSpace)
int CreateSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace)
CMDPSTATECreateState (int stateID, anaSearchStateSpace_t *pSearchStateSpace)
void DeleteSearchStateData (anaState *state)
void DeleteSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace)
double get_e_value (anaSearchStateSpace_t *pSearchStateSpace, int stateID)
int GetGVal (int StateID, anaSearchStateSpace_t *pSearchStateSpace)
int getHeurValue (anaSearchStateSpace_t *pSearchStateSpace, int StateID)
vector< int > GetSearchPath (anaSearchStateSpace_t *pSearchStateSpace, int &solcost)
CMDPSTATEGetState (int stateID, anaSearchStateSpace_t *pSearchStateSpace)
int ImprovePath (anaSearchStateSpace_t *pSearchStateSpace, double MaxNumofSecs)
void Initialize_searchinfo (CMDPSTATE *state, anaSearchStateSpace_t *pSearchStateSpace)
void InitializeSearchStateInfo (anaState *state, anaSearchStateSpace_t *pSearchStateSpace)
int InitializeSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace)
void PrintSearchPath (anaSearchStateSpace_t *pSearchStateSpace, FILE *fOut)
void PrintSearchState (anaState *state, FILE *fOut)
int ReconstructPath (anaSearchStateSpace_t *pSearchStateSpace)
void Reevaluatefvals (anaSearchStateSpace_t *pSearchStateSpace)
void ReInitializeSearchStateInfo (anaState *state, anaSearchStateSpace_t *pSearchStateSpace)
void ReInitializeSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace)
int ResetSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace)
bool Search (anaSearchStateSpace_t *pSearchStateSpace, vector< int > &pathIds, int &PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
int SetSearchGoalState (int SearchGoalStateID, anaSearchStateSpace_t *pSearchStateSpace)
int SetSearchStartState (int SearchStartStateID, anaSearchStateSpace_t *pSearchStateSpace)
void UpdatePreds (anaState *state, anaSearchStateSpace_t *pSearchStateSpace)
void UpdateSuccs (anaState *state, anaSearchStateSpace_t *pSearchStateSpace)

Private Attributes

bool bforwardsearch
bool bsearchuntilfirstsolution
FILE * fDeb
double finitial_eps
int MaxMemoryCounter
MDPConfigMDPCfg_
anaSearchStateSpace_tpSearchStateSpace_
unsigned int searchexpands
clock_t TimeStarted

Detailed Description

ana* planner

Definition at line 106 of file ANAplanner.h.


Constructor & Destructor Documentation

anaPlanner::anaPlanner ( DiscreteSpaceInformation environment,
bool  bforwardsearch 
)

constructor

Definition at line 20 of file ANAplanner.cpp.

anaPlanner::~anaPlanner (  ) 

destructor

Definition at line 51 of file ANAplanner.cpp.


Member Function Documentation

void anaPlanner::BuildNewOPENList ( anaSearchStateSpace_t pSearchStateSpace  )  [private]
int anaPlanner::ComputeHeuristic ( CMDPSTATE MDPstate,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 138 of file ANAplanner.cpp.

void anaPlanner::costs_changed (  ) 

inform the search about the new edge costs -

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

Definition at line 1255 of file ANAplanner.cpp.

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

inform the search about the new edge costs

Implements SBPLPlanner.

Definition at line 1246 of file ANAplanner.cpp.

int anaPlanner::CreateSearchStateSpace ( anaSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 544 of file ANAplanner.cpp.

CMDPSTATE * anaPlanner::CreateState ( int  stateID,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 75 of file ANAplanner.cpp.

void anaPlanner::DeleteSearchStateData ( anaState state  )  [private]

Definition at line 234 of file ANAplanner.cpp.

void anaPlanner::DeleteSearchStateSpace ( anaSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 565 of file ANAplanner.cpp.

int anaPlanner::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 1264 of file ANAplanner.cpp.

double anaPlanner::get_e_value ( anaSearchStateSpace_t pSearchStateSpace,
int  stateID 
) [private]

Definition at line 244 of file ANAplanner.cpp.

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

returns the number of states expanded so far

Reimplemented from SBPLPlanner.

Definition at line 149 of file ANAplanner.h.

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

returns the suboptimality bound on the currently found solution

Reimplemented from SBPLPlanner.

Definition at line 145 of file ANAplanner.h.

int anaPlanner::GetGVal ( int  StateID,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 346 of file ANAplanner.cpp.

int anaPlanner::getHeurValue ( anaSearchStateSpace_t pSearchStateSpace,
int  StateID 
) [private]

Definition at line 884 of file ANAplanner.cpp.

vector< int > anaPlanner::GetSearchPath ( anaSearchStateSpace_t pSearchStateSpace,
int &  solcost 
) [private]

Definition at line 892 of file ANAplanner.cpp.

CMDPSTATE * anaPlanner::GetState ( int  stateID,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 111 of file ANAplanner.cpp.

int anaPlanner::ImprovePath ( anaSearchStateSpace_t pSearchStateSpace,
double  MaxNumofSecs 
) [private]

Definition at line 354 of file ANAplanner.cpp.

void anaPlanner::Initialize_searchinfo ( CMDPSTATE state,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 65 of file ANAplanner.cpp.

void anaPlanner::InitializeSearchStateInfo ( anaState state,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 169 of file ANAplanner.cpp.

int anaPlanner::InitializeSearchStateSpace ( anaSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 655 of file ANAplanner.cpp.

void anaPlanner::print_searchpath ( FILE *  fOut  ) 

prints out the search path into a file

Definition at line 1285 of file ANAplanner.cpp.

void anaPlanner::PrintSearchPath ( anaSearchStateSpace_t pSearchStateSpace,
FILE *  fOut 
) [private]

Definition at line 801 of file ANAplanner.cpp.

void anaPlanner::PrintSearchState ( anaState state,
FILE *  fOut 
) [private]

Definition at line 873 of file ANAplanner.cpp.

int anaPlanner::ReconstructPath ( anaSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 738 of file ANAplanner.cpp.

void anaPlanner::Reevaluatefvals ( anaSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 516 of file ANAplanner.cpp.

void anaPlanner::ReInitializeSearchStateInfo ( anaState state,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 199 of file ANAplanner.cpp.

void anaPlanner::ReInitializeSearchStateSpace ( anaSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 608 of file ANAplanner.cpp.

int anaPlanner::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 1162 of file ANAplanner.cpp.

int anaPlanner::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 1153 of file ANAplanner.cpp.

int anaPlanner::ResetSearchStateSpace ( anaSearchStateSpace_t pSearchStateSpace  )  [private]

Definition at line 599 of file ANAplanner.cpp.

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

Definition at line 989 of file ANAplanner.cpp.

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

set the goal state

Implements SBPLPlanner.

Definition at line 1189 of file ANAplanner.cpp.

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

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

Reimplemented from SBPLPlanner.

Definition at line 153 of file ANAplanner.h.

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

you can either search forwards or backwards

Implements SBPLPlanner.

Definition at line 1274 of file ANAplanner.cpp.

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

set the start state

Implements SBPLPlanner.

Definition at line 1216 of file ANAplanner.cpp.

int anaPlanner::SetSearchGoalState ( int  SearchGoalStateID,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 689 of file ANAplanner.cpp.

int anaPlanner::SetSearchStartState ( int  SearchStartStateID,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 721 of file ANAplanner.cpp.

void anaPlanner::UpdatePreds ( anaState state,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 270 of file ANAplanner.cpp.

void anaPlanner::UpdateSuccs ( anaState state,
anaSearchStateSpace_t pSearchStateSpace 
) [private]

Definition at line 306 of file ANAplanner.cpp.


Member Data Documentation

Definition at line 175 of file ANAplanner.h.

Definition at line 177 of file ANAplanner.h.

FILE* anaPlanner::fDeb [private]

Definition at line 184 of file ANAplanner.h.

double anaPlanner::finitial_eps [private]

Definition at line 172 of file ANAplanner.h.

Definition at line 182 of file ANAplanner.h.

Definition at line 173 of file ANAplanner.h.

Definition at line 179 of file ANAplanner.h.

unsigned int anaPlanner::searchexpands [private]

Definition at line 181 of file ANAplanner.h.

clock_t anaPlanner::TimeStarted [private]

Definition at line 183 of file ANAplanner.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