EnvIntervalLat Class Reference

#include <envInterval.h>

Inheritance diagram for EnvIntervalLat:

Public Member Functions
void	ConvertStateIDPathintoXYThetaPath (vector< int > stateIDPath, vector< SBPL_4Dpt_t > xythetaPath)
	Converts a path of state IDs (returned from the planner) into a paths of points (x,y,theta,time).
void	dumpDynamicObstaclesToFile ()
void	dumpEnvironmentToFile ()
void	dumpStatesToFile ()
void	GetCoordFromState (int stateID, int &x, int &y, int &theta, int &t, bool &opt) const
	Gets the coordinate (and whether it is optimal) given a state ID.
void	GetCoordFromState (int stateID, int &x, int &y, int &theta, int &t) const
	Gets the coordinate given a state ID.
void	getExpansions (vector< SBPL_4Dpt_t > *p)
virtual int	GetFromToHeuristic (int FromStateID, int ToStateID)
virtual int	GetGoalHeuristic (int stateID)
virtual int	GetStartHeuristic (int stateID)
int	GetStateFromCoord (int x, int y, int theta, int t)
	Returns the state ID given the coordinate.
virtual void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV, vector< bool > OptV, bool optSearch, vector< envIntervalLatAction_t > *actionV=NULL)
	A function that gets the successors of a state. Used by the planner.
void	PrintState (int stateID, bool bVerbose, FILE *fOut=NULL)
virtual void	PrintVars ()
void	Relax (int stateID)
	A function that updates the time value for a state. Should only be called by the planner.
bool	setDynamicObstacles (vector< SBPL_DynamicObstacle_t > dynObs, bool reset_states=true)
	Sets the dynamic obstacles.
int	SetGoal (double x, double y, double theta)
	Sets the goal state of the environment. You still have to set the goal state of the planner after this.
int	SetStart (double x, double y, double theta, double startTime)
	Sets the start state of the environment. You still have to set the start state of the planner after this.
virtual int	SizeofCreatedEnv ()
	~EnvIntervalLat ()
Protected Member Functions
void	ClearStates ()
envIntervalLatHashEntry_t *	CreateNewHashEntry (int X, int Y, int Theta, int interval, int T, bool Opt)
envIntervalLatHashEntry_t *	getEntryFromID (int id)
unsigned int	GETHASHBIN (unsigned int X, unsigned int Y, unsigned int Theta, unsigned int interval, bool Opt)
envIntervalLatHashEntry_t *	GetHashEntry (int X, int Y, int Theta, int interval, int T, bool Opt)
virtual void	GetPreds (int TargetStateID, vector< int > PredIDV, vector< int > CostV)
void	GetPredsofChangedEdges (vector< nav2dcell_t > const changedcellsV, vector< int > preds_of_changededgesIDV)
void	GetSuccsofChangedEdges (vector< nav2dcell_t > const changedcellsV, vector< int > succs_of_changededgesIDV)
virtual void	InitializeEnvironment ()
void	PrintHashTableHist ()
virtual void	SetAllActionsandAllOutcomes (CMDPSTATE *state)
Protected Attributes
vector < envIntervalLatHashEntry_t * > *	Coord2StateIDHashTable
int	HashTableSize
vector < envIntervalLatHashEntry_t * >	StateID2CoordTable

Detailed Description

Definition at line 447 of file envInterval.h.

Constructor & Destructor Documentation

EnvIntervalLat::~EnvIntervalLat ( )

Definition at line 92 of file envInterval.cpp.

Member Function Documentation

void EnvIntervalLat::ClearStates ( ) [protected]

Definition at line 3120 of file envInterval.cpp.

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

Converts a path of state IDs (returned from the planner) into a paths of points (x,y,theta,time).

Parameters:

	stateIDPath	The path of state IDs
	xythetaPath	The path of points

Implements DiscreteSpaceTimeIntervalInformation.

Definition at line 2854 of file envInterval.cpp.

envIntervalLatHashEntry_t * EnvIntervalLat::CreateNewHashEntry	(	int	X,
		int	Y,
		int	Theta,
		int	interval,
		int	T,
		bool	Opt
	)			`[protected]`

Definition at line 3228 of file envInterval.cpp.

void EnvIntervalLat::dumpDynamicObstaclesToFile ( )

Definition at line 3764 of file envInterval.cpp.

void EnvIntervalLat::dumpEnvironmentToFile ( )

Definition at line 3740 of file envInterval.cpp.

void EnvIntervalLat::dumpStatesToFile ( )

Definition at line 3730 of file envInterval.cpp.

void EnvIntervalLat::GetCoordFromState	(	int	stateID,
		int &	x,
		int &	y,
		int &	theta,
		int &	t,
		bool &	opt
	)			const

Gets the coordinate (and whether it is optimal) given a state ID.

Definition at line 2827 of file envInterval.cpp.

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

Gets the coordinate given a state ID.

Implements DiscreteSpaceTimeIntervalInformation.

Definition at line 2820 of file envInterval.cpp.

envIntervalLatHashEntry_t * EnvIntervalLat::getEntryFromID ( int id ) [protected, virtual]

Implements EnvIntervalLattice.

Definition at line 3140 of file envInterval.cpp.

void EnvIntervalLat::getExpansions ( vector< SBPL_4Dpt_t > * p ) [virtual]

Reimplemented from DiscreteSpaceTimeIntervalInformation.

Definition at line 3716 of file envInterval.cpp.

int EnvIntervalLat::GetFromToHeuristic	(	int	FromStateID,
		int	ToStateID
	)			`[virtual]`

Implements EnvIntervalLattice.

Definition at line 3784 of file envInterval.cpp.

int EnvIntervalLat::GetGoalHeuristic ( int stateID ) [virtual]

Implements EnvIntervalLattice.

Definition at line 3813 of file envInterval.cpp.

unsigned int EnvIntervalLat::GETHASHBIN	(	unsigned int	X,
		unsigned int	Y,
		unsigned int	Theta,
		unsigned int	interval,
		bool	Opt
	)			`[protected]`

Definition at line 3685 of file envInterval.cpp.

envIntervalLatHashEntry_t * EnvIntervalLat::GetHashEntry	(	int	X,
		int	Y,
		int	Theta,
		int	interval,
		int	T,
		bool	Opt
	)			`[protected]`

Definition at line 3174 of file envInterval.cpp.

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

Implements EnvIntervalLattice.

Definition at line 3434 of file envInterval.cpp.

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

Implements EnvIntervalLattice.

Definition at line 3581 of file envInterval.cpp.

int EnvIntervalLat::GetStartHeuristic ( int stateID ) [virtual]

Implements EnvIntervalLattice.

Definition at line 3857 of file envInterval.cpp.

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

Returns the state ID given the coordinate.

Definition at line 2836 of file envInterval.cpp.

void EnvIntervalLat::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV,
		vector< bool > *	OptV,
		bool	optSearch,
		vector< envIntervalLatAction_t * > *	actionV = `NULL`
	)			`[virtual]`

A function that gets the successors of a state. Used by the planner.

Implements EnvIntervalLattice.

Definition at line 3288 of file envInterval.cpp.

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

Implements EnvIntervalLattice.

Definition at line 3616 of file envInterval.cpp.

void EnvIntervalLat::InitializeEnvironment ( ) [protected, virtual]

Implements EnvIntervalLattice.

Definition at line 3653 of file envInterval.cpp.

void EnvIntervalLat::PrintHashTableHist ( ) [protected]

Definition at line 3691 of file envInterval.cpp.

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

Definition at line 3144 of file envInterval.cpp.

virtual void EnvIntervalLat::PrintVars ( ) [inline, virtual]

Reimplemented from EnvIntervalLattice.

Definition at line 521 of file envInterval.h.

void EnvIntervalLat::Relax ( int stateID ) [virtual]

A function that updates the time value for a state. Should only be called by the planner.

Reimplemented from DiscreteSpaceTimeIntervalInformation.

Definition at line 3427 of file envInterval.cpp.

void EnvIntervalLat::SetAllActionsandAllOutcomes ( CMDPSTATE * state ) [protected, virtual]

Implements EnvIntervalLattice.

Definition at line 3504 of file envInterval.cpp.

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

Sets the dynamic obstacles.

Parameters:

	dynObs	The dynamic obstacle vector
	reset_states	This resets the states between replans. This should always be true. This will reset even the start and goal states so make sure that SetStart and SetGoal are called after this.

Returns:: True on success

Implements DiscreteSpaceTimeIntervalInformation.

Definition at line 3085 of file envInterval.cpp.

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

Sets the goal state of the environment. You still have to set the goal state of the planner after this.

Parameters:

	x	The goal x coordinate (meters)
	y	The goal y coordinate (meters)
	theta	The goal theta (radians)

Returns:: The state ID of the goal state

Implements DiscreteSpaceTimeIntervalInformation.

Definition at line 2978 of file envInterval.cpp.

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

Sets the start state of the environment. You still have to set the start state of the planner after this.

Parameters:

	x	The start x coordinate (meters)
	y	The start y coordinate (meters)
	theta	The start theta (radians)
	startTime	The start time (seconds)

Returns:: The state ID of the start state

Implements DiscreteSpaceTimeIntervalInformation.

Definition at line 3035 of file envInterval.cpp.

int EnvIntervalLat::SizeofCreatedEnv ( ) [virtual]

Definition at line 3904 of file envInterval.cpp.

Member Data Documentation

vector<envIntervalLatHashEntry_t*>* EnvIntervalLat::Coord2StateIDHashTable [protected]

Definition at line 534 of file envInterval.h.

int EnvIntervalLat::HashTableSize [protected]

Definition at line 533 of file envInterval.h.

vector<envIntervalLatHashEntry_t*> EnvIntervalLat::StateID2CoordTable [protected]

Definition at line 536 of file envInterval.h.

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

EnvIntervalLat Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation