EnvDBubbleLat Class Reference

#include <envDBubble.h>

Inheritance diagram for EnvDBubbleLat:

[legend]

List of all members.

Public Member Functions
void	ConvertStateIDPathintoXYThetaPath (vector< int > *stateIDPath, vector< SBPL_4Dpt_t > *xythetaPath)
void	dumpStatesToFile ()
void	GetCoordFromState (int stateID, int &x, int &y, int &theta, int &t) const
virtual int	GetFromToHeuristic (int FromStateID, int ToStateID)
virtual int	GetGoalHeuristic (int stateID)
virtual void	GetPreds (int TargetStateID, vector< int > *PredIDV, vector< int > *CostV)
void	GetPredsofChangedEdges (vector< nav2dcell_t > const *changedcellsV, vector< int > *preds_of_changededgesIDV)
virtual int	GetStartHeuristic (int stateID)
int	GetStateFromCoord (int x, int y, int theta, int t)
virtual void	GetSuccs (int SourceStateID, vector< int > *SuccIDV, vector< int > *CostV, vector< int > *stateBubbles, vector< int > *bubbleCollisions, vector< envDBubbleLatAction_t * > *actionV=NULL)
void	GetSuccsofChangedEdges (vector< nav2dcell_t > const *changedcellsV, vector< int > *succs_of_changededgesIDV)
void	PrintState (int stateID, bool bVerbose, FILE *fOut=NULL)
virtual void	PrintVars ()
virtual void	Relax (int sourceID, int targetID)
virtual void	SetAllActionsandAllOutcomes (CMDPSTATE *state)
bool	setDynamicObstacles (vector< SBPL_DynamicObstacle_t > dynObs, bool reset_states=true)
int	SetGoal (double x, double y, double theta)
void	SetGoalTolerance (double tol_x, double tol_y, double tol_theta)
int	SetStart (double x, double y, double theta, double startTime)
virtual int	SizeofCreatedEnv ()
	~EnvDBubbleLat ()
Protected Member Functions
envDBubbleLatHashEntry_t *	CreateNewHashEntry (int X, int Y, int Theta, int T, bool inBubble)
unsigned int	GETHASHBIN (unsigned int X, unsigned int Y, unsigned int Theta, unsigned int T)
envDBubbleLatHashEntry_t *	GetHashEntry (int X, int Y, int Theta, int T, bool inBubble)
virtual void	InitializeEnvironment ()
void	PrintHashTableHist ()
Protected Attributes
vector < envDBubbleLatHashEntry_t * > *	Coord2StateIDHashTable
int	HashTableSize
vector < envDBubbleLatHashEntry_t * >	StateID2CoordTable

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Detailed Description

Definition at line 381 of file envDBubble.h.

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Constructor & Destructor Documentation

EnvDBubbleLat::~EnvDBubbleLat

(

)

Definition at line 92 of file envDBubble.cpp.

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Member Function Documentation

void EnvDBubbleLat::ConvertStateIDPathintoXYThetaPath	(	vector< int > *	stateIDPath,
		vector< SBPL_4Dpt_t > *	xythetaPath
	)			[virtual]

Implements DiscreteSpaceTimeInformation.

Definition at line 3026 of file envDBubble.cpp.

envDBubbleLatHashEntry_t * EnvDBubbleLat::CreateNewHashEntry	(	int	X,
		int	Y,
		int	Theta,
		int	T,
		bool	inBubble
	)			[protected]

Definition at line 3360 of file envDBubble.cpp.

void EnvDBubbleLat::dumpStatesToFile

(

)

Definition at line 3854 of file envDBubble.cpp.

void EnvDBubbleLat::GetCoordFromState	(	int	stateID,
		int &	x,
		int &	y,
		int &	theta,
		int &	t
	)			const [virtual]

Implements DiscreteSpaceTimeInformation.

Definition at line 2941 of file envDBubble.cpp.

int EnvDBubbleLat::GetFromToHeuristic	(	int	FromStateID,
		int	ToStateID
	)			[virtual]

Implements EnvDBubbleLattice.

Definition at line 3863 of file envDBubble.cpp.

int EnvDBubbleLat::GetGoalHeuristic

(

int

stateID

)

[virtual]

Implements EnvDBubbleLattice.

Definition at line 3892 of file envDBubble.cpp.

unsigned int EnvDBubbleLat::GETHASHBIN	(	unsigned int	X,
		unsigned int	Y,
		unsigned int	Theta,
		unsigned int	T
	)			[protected]

Definition at line 3823 of file envDBubble.cpp.

envDBubbleLatHashEntry_t * EnvDBubbleLat::GetHashEntry	(	int	X,
		int	Y,
		int	Theta,
		int	T,
		bool	inBubble
	)			[protected]

Definition at line 3295 of file envDBubble.cpp.

void EnvDBubbleLat::GetPreds	(	int	TargetStateID,
		vector< int > *	PredIDV,
		vector< int > *	CostV
	)			[virtual]

Implements EnvDBubbleLattice.

Definition at line 3580 of file envDBubble.cpp.

void EnvDBubbleLat::GetPredsofChangedEdges	(	vector< nav2dcell_t > const *	changedcellsV,
		vector< int > *	preds_of_changededgesIDV
	)			[virtual]

Implements EnvDBubbleLattice.

Definition at line 3725 of file envDBubble.cpp.

int EnvDBubbleLat::GetStartHeuristic

(

int

stateID

)

[virtual]

Implements EnvDBubbleLattice.

Definition at line 3936 of file envDBubble.cpp.

int EnvDBubbleLat::GetStateFromCoord	(	int	x,
		int	y,
		int	theta,
		int	t
	)

Definition at line 2949 of file envDBubble.cpp.

void EnvDBubbleLat::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV,
		vector< int > *	stateBubbles,
		vector< int > *	bubbleCollisions,
		vector< envDBubbleLatAction_t * > *	actionV = NULL
	)			[virtual]

HashEntry->inBubble

Implements EnvDBubbleLattice.

Definition at line 3423 of file envDBubble.cpp.

void EnvDBubbleLat::GetSuccsofChangedEdges	(	vector< nav2dcell_t > const *	changedcellsV,
		vector< int > *	succs_of_changededgesIDV
	)			[virtual]

Implements EnvDBubbleLattice.

Definition at line 3758 of file envDBubble.cpp.

void EnvDBubbleLat::InitializeEnvironment

(

)

[protected, virtual]

Implements EnvDBubbleLattice.

Definition at line 3795 of file envDBubble.cpp.

void EnvDBubbleLat::PrintHashTableHist

(

)

[protected]

Definition at line 3829 of file envDBubble.cpp.

void EnvDBubbleLat::PrintState	(	int	stateID,
		bool	bVerbose,
		FILE *	fOut = NULL
	)

Definition at line 3265 of file envDBubble.cpp.

virtual void EnvDBubbleLat::PrintVars

(

)

[inline, virtual]

Reimplemented from EnvDBubbleLattice.

Definition at line 417 of file envDBubble.h.

void EnvDBubbleLat::Relax	(	int	sourceID,
		int	targetID
	)			[virtual]

Reimplemented from DiscreteSpaceTimeInformation.

Definition at line 3555 of file envDBubble.cpp.

void EnvDBubbleLat::SetAllActionsandAllOutcomes

(

CMDPSTATE *

state

)

[virtual]

Implements EnvDBubbleLattice.

Definition at line 3650 of file envDBubble.cpp.

bool EnvDBubbleLat::setDynamicObstacles	(	vector< SBPL_DynamicObstacle_t >	dynObs,
		bool	reset_states = true
	)			[virtual]

Implements DiscreteSpaceTimeInformation.

Definition at line 3234 of file envDBubble.cpp.

int EnvDBubbleLat::SetGoal	(	double	x,
		double	y,
		double	theta
	)			[virtual]

Implements DiscreteSpaceTimeInformation.

Definition at line 3135 of file envDBubble.cpp.

void EnvDBubbleLat::SetGoalTolerance	(	double	tol_x,
		double	tol_y,
		double	tol_theta
	)			[inline]

< not used yet

Definition at line 390 of file envDBubble.h.

int EnvDBubbleLat::SetStart	(	double	x,
		double	y,
		double	theta,
		double	startTime
	)			[virtual]

Implements DiscreteSpaceTimeInformation.

Definition at line 3186 of file envDBubble.cpp.

int EnvDBubbleLat::SizeofCreatedEnv

(

)

[virtual]

Definition at line 3983 of file envDBubble.cpp.

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Member Data Documentation

vector<envDBubbleLatHashEntry_t*>* EnvDBubbleLat::Coord2StateIDHashTable [protected]

Definition at line 424 of file envDBubble.h.

int EnvDBubbleLat::HashTableSize [protected]

Definition at line 423 of file envDBubble.h.

vector<envDBubbleLatHashEntry_t*> EnvDBubbleLat::StateID2CoordTable [protected]

Definition at line 426 of file envDBubble.h.

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

• envDBubble.h
• envDBubble.cpp