IntervalPlanner Class Reference

#include <intervalPlanner.h>

Public Member Functions
void	costs_changed ()
void	costs_changed (StateChangeQuery const &stateChange)
int	force_planning_from_scratch ()
	Makes the planner start from scratch. This should be called before each replan.
virtual int	get_n_expands () const
	Returns the number of expansions from the last replan.
virtual double	get_solution_eps () const
	Returns the epsilon sub-optimality bound of the solution from the last replan.
void	getSearchStats (bool solutionFound, vector< int > numExpands, vector< int > solutionCost, vector< double > searchTime, vector< double > *searchEps)
	Returns all the search statistics from the last replan.
	IntervalPlanner (DiscreteSpaceTimeIntervalInformation *environment)
	Constructor.
void	print_searchpath (FILE *fOut)
int	replan (double allocated_time_sec, vector< int > solution_stateIDs_V, int solcost)
	Runs the planner.
int	replan (double allocated_time_secs, vector< int > *solution_stateIDs_V)
	Runs the planner.
virtual void	set_decrease_eps_step (double dec_eps)
	Sets the decrement step size for epsilon.
void	set_finalsolution_eps (double finalsolution_eps)
	Sets the final epsilon that the planner will work down to.
int	set_goal (int goal_stateID)
	Sets the goal state.
virtual void	set_initialsolution_eps (double initialsolution_eps)
	Sets the initial epsilon that the planner starts at.
int	set_search_mode (bool bSearchUntilFirstSolution)
	This determines whether the planner improves the solution until time expires, or if it returns the first solution it finds.
int	set_start (int start_stateID)
	Sets the start state.
	~IntervalPlanner ()
	Destructor.
Private Member Functions
void	BuildNewOPENList (IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
int	ComputeHeuristic (CMDPSTATE MDPstate, IntervalPlannerSearchStateSpace_t pSearchStateSpace)
int	CreateSearchStateSpace (IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
CMDPSTATE *	CreateState (int stateID, IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
void	DeleteSearchStateData (IntervalPlannerState *state)
void	DeleteSearchStateSpace (IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
int	GetGVal (int StateID, IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
int	getHeurValue (IntervalPlannerSearchStateSpace_t *pSearchStateSpace, int StateID)
vector< int >	GetSearchPath (IntervalPlannerSearchStateSpace_t *pSearchStateSpace, int &solcost)
CMDPSTATE *	GetState (int stateID, IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
int	ImprovePath (IntervalPlannerSearchStateSpace_t *pSearchStateSpace, double MaxNumofSecs)
void	Initialize_searchinfo (CMDPSTATE state, IntervalPlannerSearchStateSpace_t pSearchStateSpace)
void	InitializeSearchStateInfo (IntervalPlannerState state, IntervalPlannerSearchStateSpace_t pSearchStateSpace)
int	InitializeSearchStateSpace (IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
void	PrintSearchPath (IntervalPlannerSearchStateSpace_t pSearchStateSpace, FILE fOut)
void	PrintSearchState (IntervalPlannerState state, FILE fOut)
int	ReconstructPath (IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
void	Reevaluatefvals (IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
void	ReInitializeSearchStateInfo (IntervalPlannerState state, IntervalPlannerSearchStateSpace_t pSearchStateSpace)
void	ReInitializeSearchStateSpace (IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
int	ResetSearchStateSpace (IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
bool	Search (IntervalPlannerSearchStateSpace_t *pSearchStateSpace, vector< int > &pathIds, int &PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
int	SetSearchGoalState (int SearchGoalStateID, IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
int	SetSearchStartState (int SearchStartStateID, IntervalPlannerSearchStateSpace_t *pSearchStateSpace)
void	UpdatePreds (IntervalPlannerState state, IntervalPlannerSearchStateSpace_t pSearchStateSpace)
void	UpdateSuccs (IntervalPlannerState state, IntervalPlannerSearchStateSpace_t pSearchStateSpace)
Private Attributes
bool	bforwardsearch
bool	bsearchuntilfirstsolution
double	decrease_eps
DiscreteSpaceTimeIntervalInformation *	environment_
vector< double >	epsV
vector< unsigned int >	expandsV
FILE *	fDeb
int	finalsolcost
double	finitial_eps
double	IntervalPlanner_FINAL_EPS
int	MaxMemoryCounter
MDPConfig *	MDPCfg_
int	numOptStates
int	numSubOptStates
IntervalPlannerSearchStateSpace_t *	pSearchStateSpace_
unsigned int	searchexpands
double	searchtime
vector< double >	searchTimeV
vector< unsigned int >	solcostV
bool	solfound
clock_t	TimeStarted
int	totalNumOptStates
int	totalNumSubOptStates

Detailed Description

Definition at line 110 of file intervalPlanner.h.

Constructor & Destructor Documentation

IntervalPlanner::IntervalPlanner ( DiscreteSpaceTimeIntervalInformation * environment )

Constructor.

Parameters:

environment

A pointer to the environment (already initialized)

Definition at line 38 of file intervalPlanner.cpp.

IntervalPlanner::~IntervalPlanner ( )

Destructor.

Definition at line 72 of file intervalPlanner.cpp.

Member Function Documentation

void IntervalPlanner::BuildNewOPENList ( IntervalPlannerSearchStateSpace_t * pSearchStateSpace ) [private]

Definition at line 464 of file intervalPlanner.cpp.

int IntervalPlanner::ComputeHeuristic	(	CMDPSTATE *	MDPstate,
		IntervalPlannerSearchStateSpace_t *	pSearchStateSpace
	)			`[private]`

Definition at line 140 of file intervalPlanner.cpp.

void IntervalPlanner::costs_changed ( )

Definition at line 1097 of file intervalPlanner.cpp.

void IntervalPlanner::costs_changed ( StateChangeQuery const & stateChange )

Definition at line 1093 of file intervalPlanner.cpp.

int IntervalPlanner::CreateSearchStateSpace ( IntervalPlannerSearchStateSpace_t * pSearchStateSpace ) [private]

Definition at line 516 of file intervalPlanner.cpp.

CMDPSTATE * IntervalPlanner::CreateState	(	int	stateID,
		IntervalPlannerSearchStateSpace_t *	pSearchStateSpace
	)			`[private]`

Definition at line 90 of file intervalPlanner.cpp.

void IntervalPlanner::DeleteSearchStateData ( IntervalPlannerState * state ) [private]

Definition at line 227 of file intervalPlanner.cpp.

void IntervalPlanner::DeleteSearchStateSpace ( IntervalPlannerSearchStateSpace_t * pSearchStateSpace ) [private]

Definition at line 535 of file intervalPlanner.cpp.

int IntervalPlanner::force_planning_from_scratch ( )

Makes the planner start from scratch. This should be called before each replan.

Definition at line 1103 of file intervalPlanner.cpp.

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

Returns the number of expansions from the last replan.

Definition at line 175 of file intervalPlanner.h.

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

Returns the epsilon sub-optimality bound of the solution from the last replan.

Definition at line 170 of file intervalPlanner.h.

int IntervalPlanner::GetGVal	(	int	StateID,
		IntervalPlannerSearchStateSpace_t *	pSearchStateSpace
	)			`[private]`

Definition at line 336 of file intervalPlanner.cpp.

int IntervalPlanner::getHeurValue	(	IntervalPlannerSearchStateSpace_t *	pSearchStateSpace,
		int	StateID
	)			`[private]`

Definition at line 802 of file intervalPlanner.cpp.

vector< int > IntervalPlanner::GetSearchPath	(	IntervalPlannerSearchStateSpace_t *	pSearchStateSpace,
		int &	solcost
	)			`[private]`

Definition at line 809 of file intervalPlanner.cpp.

void IntervalPlanner::getSearchStats	(	bool *	solutionFound,
		vector< int > *	numExpands,
		vector< int > *	solutionCost,
		vector< double > *	searchTime,
		vector< double > *	searchEps
	)

Returns all the search statistics from the last replan.

Parameters:

	solutionFound	True if a solution was found
	numExpands	The number of expansions for each epsilon
	solutionCost	The solution cost for each epsilon
	searchTime	The planning time for each epsilon
	searchEps	The epsilons

Definition at line 1125 of file intervalPlanner.cpp.

CMDPSTATE * IntervalPlanner::GetState	(	int	stateID,
		IntervalPlannerSearchStateSpace_t *	pSearchStateSpace
	)			`[private]`

Definition at line 121 of file intervalPlanner.cpp.

int IntervalPlanner::ImprovePath	(	IntervalPlannerSearchStateSpace_t *	pSearchStateSpace,
		double	MaxNumofSecs
	)			`[private]`

Definition at line 343 of file intervalPlanner.cpp.

void IntervalPlanner::Initialize_searchinfo	(	CMDPSTATE *	state,
		IntervalPlannerSearchStateSpace_t *	pSearchStateSpace
	)			`[private]`

Definition at line 82 of file intervalPlanner.cpp.

void IntervalPlanner::InitializeSearchStateInfo	(	IntervalPlannerState *	state,
		IntervalPlannerSearchStateSpace_t *	pSearchStateSpace
	)			`[private]`

Definition at line 167 of file intervalPlanner.cpp.

int IntervalPlanner::InitializeSearchStateSpace ( IntervalPlannerSearchStateSpace_t * pSearchStateSpace ) [private]

Definition at line 614 of file intervalPlanner.cpp.

void IntervalPlanner::print_searchpath ( FILE * fOut )

Definition at line 1117 of file intervalPlanner.cpp.

void IntervalPlanner::PrintSearchPath	(	IntervalPlannerSearchStateSpace_t *	pSearchStateSpace,
		FILE *	fOut
	)			`[private]`

Definition at line 732 of file intervalPlanner.cpp.

void IntervalPlanner::PrintSearchState	(	IntervalPlannerState *	state,
		FILE *	fOut
	)			`[private]`

Definition at line 793 of file intervalPlanner.cpp.

int IntervalPlanner::ReconstructPath ( IntervalPlannerSearchStateSpace_t * pSearchStateSpace ) [private]

Definition at line 679 of file intervalPlanner.cpp.

void IntervalPlanner::Reevaluatefvals ( IntervalPlannerSearchStateSpace_t * pSearchStateSpace ) [private]

Definition at line 493 of file intervalPlanner.cpp.

void IntervalPlanner::ReInitializeSearchStateInfo	(	IntervalPlannerState *	state,
		IntervalPlannerSearchStateSpace_t *	pSearchStateSpace
	)			`[private]`

Definition at line 196 of file intervalPlanner.cpp.

void IntervalPlanner::ReInitializeSearchStateSpace ( IntervalPlannerSearchStateSpace_t * pSearchStateSpace ) [private]

Definition at line 573 of file intervalPlanner.cpp.

int IntervalPlanner::replan	(	double	allocated_time_sec,
		vector< int > *	solution_stateIDs_V,
		int *	solcost
	)

Runs the planner.

Parameters:

	allocated_time_secs	The amount of time the planner can run (and try to improve the solution)
	solution_stateIDs_V	The path of state IDs from the start to goal (the environment's ConvertStateIDPathintoXYThetaPath can change a state ID path into a path of points)
	solcost	The cost of the solution

Returns:: 1 if a plan is found, 0 otherwise

Definition at line 1027 of file intervalPlanner.cpp.

int IntervalPlanner::replan	(	double	allocated_time_secs,
		vector< int > *	solution_stateIDs_V
	)

Runs the planner.

Parameters:

	allocated_time_secs	The amount of time the planner can run (and try to improve the solution)
	solution_stateIDs_V	The path of state IDs from the start to goal (the environment's ConvertStateIDPathintoXYThetaPath can change a state ID path into a path of points)

Returns:: 1 if a plan is found, 0 otherwise

Definition at line 1021 of file intervalPlanner.cpp.

int IntervalPlanner::ResetSearchStateSpace ( IntervalPlannerSearchStateSpace_t * pSearchStateSpace ) [private]

Definition at line 565 of file intervalPlanner.cpp.

bool IntervalPlanner::Search	(	IntervalPlannerSearchStateSpace_t *	pSearchStateSpace,
		vector< int > &	pathIds,
		int &	PathCost,
		bool	bFirstSolution,
		bool	bOptimalSolution,
		double	MaxNumofSecs
	)			`[private]`