EnvSIPPLat Class Reference

#include <sipp.h>

Inheritance diagram for EnvSIPPLat:

[legend]

List of all members.

Public Member Functions
void	ClearStates ()
void	ConvertStateIDPathintoXYThetaPath (vector< int > *stateIDPath, vector< SBPL_4Dpt_t > *xythetaPath)
void	dumpDynamicObstaclesToFile ()
void	dumpEnvironmentToFile ()
void	dumpStatesToFile ()
void	GetCoordFromState (int stateID, int &x, int &y, int &theta, int &t) const
envSIPPLatHashEntry_t *	getEntryFromID (int id)
void	getExpansions (vector< SBPL_4Dpt_t > *p)
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< envSIPPLatAction_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	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 ()
	~EnvSIPPLat ()
Protected Member Functions
envSIPPLatHashEntry_t *	CreateNewHashEntry (int X, int Y, int Theta, int interval, int T)
unsigned int	GETHASHBIN (unsigned int X, unsigned int Y, unsigned int Theta, unsigned int interval)
envSIPPLatHashEntry_t *	GetHashEntry (int X, int Y, int Theta, int interval, int T)
virtual void	InitializeEnvironment ()
void	PrintHashTableHist ()
Protected Attributes
vector< envSIPPLatHashEntry_t * > *	Coord2StateIDHashTable
int	HashTableSize
vector< envSIPPLatHashEntry_t * >	StateID2CoordTable

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Detailed Description

Definition at line 367 of file sipp.h.

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Constructor & Destructor Documentation

EnvSIPPLat::~EnvSIPPLat

(

)

Definition at line 96 of file sipp.cpp.

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Member Function Documentation

void EnvSIPPLat::ClearStates

(

)

Definition at line 3104 of file sipp.cpp.

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

Implements DiscreteSpaceTimeInformation.

Definition at line 2841 of file sipp.cpp.

envSIPPLatHashEntry_t * EnvSIPPLat::CreateNewHashEntry	(	int	X,
		int	Y,
		int	Theta,
		int	interval,
		int	T
	)			[protected]

Definition at line 3206 of file sipp.cpp.

void EnvSIPPLat::dumpDynamicObstaclesToFile

(

)

Definition at line 3728 of file sipp.cpp.

void EnvSIPPLat::dumpEnvironmentToFile

(

)

Definition at line 3704 of file sipp.cpp.

void EnvSIPPLat::dumpStatesToFile

(

)

Definition at line 3694 of file sipp.cpp.

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

Implements DiscreteSpaceTimeInformation.

Definition at line 2817 of file sipp.cpp.

envSIPPLatHashEntry_t * EnvSIPPLat::getEntryFromID

(

int

id

)

[virtual]

Implements EnvSIPPLattice.

Definition at line 3123 of file sipp.cpp.

void EnvSIPPLat::getExpansions

(

vector< SBPL_4Dpt_t > *

p

)

[virtual]

Reimplemented from DiscreteSpaceTimeInformation.

Definition at line 3680 of file sipp.cpp.

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

Implements EnvSIPPLattice.

Definition at line 3748 of file sipp.cpp.

int EnvSIPPLat::GetGoalHeuristic

(

int

stateID

)

[virtual]

Implements EnvSIPPLattice.

Definition at line 3777 of file sipp.cpp.

unsigned int EnvSIPPLat::GETHASHBIN	(	unsigned int	X,
		unsigned int	Y,
		unsigned int	Theta,
		unsigned int	interval
	)			[protected]

Definition at line 3649 of file sipp.cpp.

envSIPPLatHashEntry_t * EnvSIPPLat::GetHashEntry	(	int	X,
		int	Y,
		int	Theta,
		int	interval,
		int	T
	)			[protected]

Definition at line 3157 of file sipp.cpp.

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

Implements EnvSIPPLattice.

Definition at line 3402 of file sipp.cpp.

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

Implements EnvSIPPLattice.

Definition at line 3547 of file sipp.cpp.

int EnvSIPPLat::GetStartHeuristic

(

int

stateID

)

[virtual]

Implements EnvSIPPLattice.

Definition at line 3821 of file sipp.cpp.

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

Definition at line 2825 of file sipp.cpp.

void EnvSIPPLat::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV,
		vector< envSIPPLatAction_t * > *	actionV = NULL
	)			[virtual]

Implements EnvSIPPLattice.

Definition at line 3263 of file sipp.cpp.

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

Implements EnvSIPPLattice.

Definition at line 3580 of file sipp.cpp.

void EnvSIPPLat::InitializeEnvironment

(

)

[protected, virtual]

Implements EnvSIPPLattice.

Definition at line 3617 of file sipp.cpp.

void EnvSIPPLat::PrintHashTableHist

(

)

[protected]

Definition at line 3655 of file sipp.cpp.

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

Definition at line 3127 of file sipp.cpp.

virtual void EnvSIPPLat::PrintVars

(

)

[inline, virtual]

Reimplemented from EnvSIPPLattice.

Definition at line 404 of file sipp.h.

void EnvSIPPLat::SetAllActionsandAllOutcomes

(

CMDPSTATE *

state

)

[virtual]

Implements EnvSIPPLattice.

Definition at line 3472 of file sipp.cpp.

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

Implements DiscreteSpaceTimeInformation.

Definition at line 3069 of file sipp.cpp.

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

Implements DiscreteSpaceTimeInformation.

Definition at line 2964 of file sipp.cpp.

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

< not used yet

Definition at line 376 of file sipp.h.

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

Implements DiscreteSpaceTimeInformation.

Definition at line 3020 of file sipp.cpp.

int EnvSIPPLat::SizeofCreatedEnv

(

)

[virtual]

Definition at line 3868 of file sipp.cpp.

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Member Data Documentation

vector<envSIPPLatHashEntry_t*>* EnvSIPPLat::Coord2StateIDHashTable [protected]

Definition at line 415 of file sipp.h.

int EnvSIPPLat::HashTableSize [protected]

Definition at line 414 of file sipp.h.

vector<envSIPPLatHashEntry_t*> EnvSIPPLat::StateID2CoordTable [protected]

Definition at line 417 of file sipp.h.

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

• sipp.h
• sipp.cpp