intervalPlanner.h

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/*
 * Copyright (c) 2008, Maxim Likhachev
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef __INTERVAL_PLANNER_H_
#define __INTERVAL_PLANNER_H_

#include <sbpl_dynamic_planner/DiscreteSpaceTimeIntervalInformation.h>

//---configuration----

//control of EPS
#define IntervalPlanner_DEFAULT_INITIAL_EPS         5.0
#define IntervalPlanner_DECREASE_EPS    1.0
//#define IntervalPlanner_FINAL_EPS         1.0


//---------------------

#define IntervalPlanner_INCONS_LIST_ID 0

class CMDP;
class CMDPSTATE;
class CMDPACTION;
class CHeap;
class CList;


//-------------------------------------------------------------

//state structure
typedef class INTERVALPLANNERSEARCHSTATEDATA : public AbstractSearchState
{
public:
        CMDPSTATE* MDPstate; //the MDP state itself
        //IntervalPlanner* relevant data
        unsigned int v;
        unsigned int g;
        short unsigned int iterationclosed;
        short unsigned int callnumberaccessed;
        short unsigned int numofexpands;
        //best predecessor and the action from it, used only in forward searches
        CMDPSTATE *bestpredstate;
        //the next state if executing best action
        CMDPSTATE  *bestnextstate;
        unsigned int costtobestnextstate;
        int h;

  bool opt;
  unsigned int temp_g;
  CMDPSTATE* temp_bestpredstate;

        
public:
        INTERVALPLANNERSEARCHSTATEDATA() {};    
        ~INTERVALPLANNERSEARCHSTATEDATA() {};
} IntervalPlannerState;

//-------------------------------------------------------------



//statespace
typedef struct INTERVALPLANNERSEARCHSTATESPACE
{
        double eps;
    double eps_satisfied;
        CHeap* heap;
        CList* inconslist;
        short unsigned int searchiteration;
        short unsigned int callnumber;
        CMDPSTATE* searchgoalstate;
        CMDPSTATE* searchstartstate;
        
        CMDP searchMDP;

        bool bReevaluatefvals;
    bool bReinitializeSearchStateSpace;
        bool bNewSearchIteration;

} IntervalPlannerSearchStateSpace_t;



//IntervalPlanner* planner
class IntervalPlanner : public SBPLPlanner
{

public:
  IntervalPlanner(DiscreteSpaceTimeIntervalInformation* environment);

  ~IntervalPlanner();

  int set_start(int start_stateID);

  int set_goal(int goal_stateID);

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

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

  int force_planning_from_scratch(); 

        int set_search_mode(bool bSearchUntilFirstSolution);

        virtual double get_solution_eps() const {return pSearchStateSpace_->eps_satisfied;};

  virtual int get_n_expands() const { return searchexpands; }

  void set_finalsolution_eps(double finalsolution_eps){IntervalPlanner_FINAL_EPS = finalsolution_eps;};

        virtual void set_initialsolution_eps(double initialsolution_eps) {finitial_eps = initialsolution_eps;};

        virtual void set_decrease_eps_step(double dec_eps) {decrease_eps = dec_eps;};

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

        void print_searchpath(FILE* fOut);
  void costs_changed(StateChangeQuery const & stateChange);
  void costs_changed();

private:
  int numOptStates;
  int numSubOptStates;
  int totalNumOptStates;
  int totalNumSubOptStates;

  DiscreteSpaceTimeIntervalInformation *environment_;
  double IntervalPlanner_FINAL_EPS;

        //member variables
        double finitial_eps;
  double decrease_eps;
        MDPConfig* MDPCfg_;

        bool bforwardsearch; //if true, then search proceeds forward, otherwise backward

        bool bsearchuntilfirstsolution; //if true, then search until first solution only (see planner.h for search modes)

    IntervalPlannerSearchStateSpace_t* pSearchStateSpace_;

        unsigned int searchexpands;
        int MaxMemoryCounter;
        clock_t TimeStarted;
        FILE *fDeb;
  bool solfound;
  double searchtime;
  int finalsolcost;

  vector<double> epsV;
  vector<unsigned int> expandsV;
  vector<unsigned int> solcostV;
  vector<double> searchTimeV;

        //member functions
        void Initialize_searchinfo(CMDPSTATE* state, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        CMDPSTATE* CreateState(int stateID, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        CMDPSTATE* GetState(int stateID, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        int ComputeHeuristic(CMDPSTATE* MDPstate, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //initialization of a state
        void InitializeSearchStateInfo(IntervalPlannerState* state, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //re-initialization of a state
        void ReInitializeSearchStateInfo(IntervalPlannerState* state, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        void DeleteSearchStateData(IntervalPlannerState* state);

        //used for backward search
        void UpdatePreds(IntervalPlannerState* state, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);


        //used for forward search
        void UpdateSuccs(IntervalPlannerState* state, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        int GetGVal(int StateID, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time
        int ImprovePath(IntervalPlannerSearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs);

        void BuildNewOPENList(IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        void Reevaluatefvals(IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //creates (allocates memory) search state space
        //does not initialize search statespace
        int CreateSearchStateSpace(IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //deallocates memory used by SearchStateSpace
        void DeleteSearchStateSpace(IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //debugging 
        void PrintSearchState(IntervalPlannerState* state, FILE* fOut);


        //reset properly search state space
        //needs to be done before deleting states
        int ResetSearchStateSpace(IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //initialization before each search
        void ReInitializeSearchStateSpace(IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //very first initialization
        int InitializeSearchStateSpace(IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        int SetSearchGoalState(int SearchGoalStateID, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);


        int SetSearchStartState(int SearchStartStateID, IntervalPlannerSearchStateSpace_t* pSearchStateSpace);

        //reconstruct path functions are only relevant for forward search
        int ReconstructPath(IntervalPlannerSearchStateSpace_t* pSearchStateSpace);


        void PrintSearchPath(IntervalPlannerSearchStateSpace_t* pSearchStateSpace, FILE* fOut);

        int getHeurValue(IntervalPlannerSearchStateSpace_t* pSearchStateSpace, int StateID);

        //get path 
        vector<int> GetSearchPath(IntervalPlannerSearchStateSpace_t* pSearchStateSpace, int& solcost);


        bool Search(IntervalPlannerSearchStateSpace_t* pSearchStateSpace, vector<int>& pathIds, int & PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs);


};


#endif

---

sbpl_dynamic_planner
Author(s): Michael Phillips, Maxim Likhachev
autogenerated on Fri Jan 11 09:41:03 2013