ADPlanner Class Reference

Anytime D* search planner: all states are uniquely defined by stateIDs. More...

#include <adplanner.h>

Inheritance diagram for ADPlanner:

[legend]

List of all members.

Public Member Functions
	ADPlanner (DiscreteSpaceInformation *environment, bool bForwardSearch)
	constructor
void	costs_changed (StateChangeQuery const &stateChange)
	inform the search about the new edge costs
int	force_planning_from_scratch ()
	set a flag to get rid of the previous search efforts, release the memory and re-initialize the search, when the next replan is called
double	get_final_eps_planning_time ()
	returns the time taken to get the final solution
double	get_final_epsilon ()
	returns the final epsilon achieved during the search
double	get_initial_eps ()
	returns the initial epsilon
double	get_initial_eps_planning_time ()
	returns the time taken to find the first solution
virtual int	get_n_expands () const
	returns the number of states expanded so far
int	get_n_expands_init_solution ()
	returns the number of expands to find the first solution
virtual double	get_solution_eps () const
	returns the suboptimality bound on the currently found solution
int	replan (double allocated_time_secs, vector< int > *solution_stateIDs_V, int *solcost)
	replan a path within the allocated time, return the solution in the vector, also returns solution cost
int	replan (double allocated_time_secs, vector< int > *solution_stateIDs_V)
	replan a path within the allocated time, return the solution in the vector
int	set_goal (int goal_stateID)
	set the goal state
virtual void	set_initialsolution_eps (double initialsolution_eps)
	returns the value of the initial epsilon (suboptimality bound) used
int	set_search_mode (bool bSearchUntilFirstSolution)
	you can either search forwards or backwards
int	set_start (int start_stateID)
	set the start state
void	update_preds_of_changededges (vector< int > *predsIDV)
	direct form of informing the search about the new edge costs
void	update_succs_of_changededges (vector< int > *succsIDV)
	direct form of informing the search about the new edge costs
	~ADPlanner ()
	destructor
Private Member Functions
void	BuildNewOPENList (ADSearchStateSpace_t *pSearchStateSpace)
int	ComputeHeuristic (CMDPSTATE *MDPstate, ADSearchStateSpace_t *pSearchStateSpace)
CKey	ComputeKey (ADState *state)
int	ComputePath (ADSearchStateSpace_t *pSearchStateSpace, double MaxNumofSecs)
int	CreateSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
CMDPSTATE *	CreateState (int stateID, ADSearchStateSpace_t *pSearchStateSpace)
void	DeleteSearchStateData (ADState *state)
void	DeleteSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
int	GetGVal (int StateID, ADSearchStateSpace_t *pSearchStateSpace)
int	getHeurValue (ADSearchStateSpace_t *pSearchStateSpace, int StateID)
vector< int >	GetSearchPath (ADSearchStateSpace_t *pSearchStateSpace, int &solcost)
CMDPSTATE *	GetState (int stateID, ADSearchStateSpace_t *pSearchStateSpace)
void	Initialize_searchinfo (CMDPSTATE *state, ADSearchStateSpace_t *pSearchStateSpace)
void	InitializeSearchStateInfo (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
int	InitializeSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
void	PrintSearchPath (ADSearchStateSpace_t *pSearchStateSpace, FILE *fOut)
void	PrintSearchState (ADState *searchstateinfo, FILE *fOut)
void	Recomputegval (ADState *state)
int	ReconstructPath (ADSearchStateSpace_t *pSearchStateSpace)
void	Reevaluatefvals (ADSearchStateSpace_t *pSearchStateSpace)
void	ReInitializeSearchStateInfo (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
void	ReInitializeSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
int	ResetSearchStateSpace (ADSearchStateSpace_t *pSearchStateSpace)
bool	Search (ADSearchStateSpace_t *pSearchStateSpace, vector< int > &pathIds, int &PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
int	SetSearchGoalState (int SearchGoalStateID, ADSearchStateSpace_t *pSearchStateSpace)
int	SetSearchStartState (int SearchStartStateID, ADSearchStateSpace_t *pSearchStateSpace)
void	Update_SearchSuccs_of_ChangedEdges (vector< int > const *statesIDV)
void	UpdatePredsofOverconsState (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
void	UpdatePredsofUnderconsState (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
void	UpdateSetMembership (ADState *state)
void	UpdateSuccsofOverconsState (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
void	UpdateSuccsofUnderconsState (ADState *state, ADSearchStateSpace_t *pSearchStateSpace)
Private Attributes
bool	bforwardsearch
bool	bsearchuntilfirstsolution
FILE *	fDeb
double	final_eps
double	final_eps_planning_time
double	finitial_eps
double	finitial_eps_planning_time
int	MaxMemoryCounter
MDPConfig *	MDPCfg_
int	num_of_expands_initial_solution
ADSearchStateSpace_t *	pSearchStateSpace_
unsigned int	searchexpands
clock_t	TimeStarted

---

Detailed Description

Anytime D* search planner: all states are uniquely defined by stateIDs.

Definition at line 124 of file adplanner.h.

---

Constructor & Destructor Documentation

ADPlanner::ADPlanner	(	DiscreteSpaceInformation *	environment,
		bool	bForwardSearch
	)

constructor

Definition at line 39 of file adplanner.cpp.

ADPlanner::~ADPlanner

(

)

destructor

Definition at line 83 of file adplanner.cpp.

---

Member Function Documentation

void ADPlanner::BuildNewOPENList

(

ADSearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 698 of file adplanner.cpp.

int ADPlanner::ComputeHeuristic	(	CMDPSTATE *	MDPstate,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 181 of file adplanner.cpp.

CKey ADPlanner::ComputeKey

(

ADState *

state

)

[private]

Definition at line 162 of file adplanner.cpp.

int ADPlanner::ComputePath	(	ADSearchStateSpace_t *	pSearchStateSpace,
		double	MaxNumofSecs
	)			[private]

Definition at line 529 of file adplanner.cpp.

void ADPlanner::costs_changed

(

StateChangeQuery const &

stateChange

)

[virtual]

inform the search about the new edge costs

Implements SBPLPlanner.

Definition at line 1563 of file adplanner.cpp.

int ADPlanner::CreateSearchStateSpace

(

ADSearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 753 of file adplanner.cpp.

CMDPSTATE * ADPlanner::CreateState	(	int	stateID,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 104 of file adplanner.cpp.

void ADPlanner::DeleteSearchStateData

(

ADState *

state

)

[private]

Definition at line 274 of file adplanner.cpp.

void ADPlanner::DeleteSearchStateSpace

(

ADSearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 774 of file adplanner.cpp.

int ADPlanner::force_planning_from_scratch

(

)

[virtual]

set a flag to get rid of the previous search efforts, release the memory and re-initialize the search, when the next replan is called

Implements SBPLPlanner.

Definition at line 1543 of file adplanner.cpp.

double ADPlanner::get_final_eps_planning_time

(

)

[inline, virtual]

returns the time taken to get the final solution

Reimplemented from SBPLPlanner.

Definition at line 185 of file adplanner.h.

double ADPlanner::get_final_epsilon

(

)

[inline, virtual]

returns the final epsilon achieved during the search

Reimplemented from SBPLPlanner.

Definition at line 193 of file adplanner.h.

double ADPlanner::get_initial_eps

(

)

[inline, virtual]

returns the initial epsilon

Reimplemented from SBPLPlanner.

Definition at line 177 of file adplanner.h.

double ADPlanner::get_initial_eps_planning_time

(

)

[inline, virtual]

returns the time taken to find the first solution

Reimplemented from SBPLPlanner.

Definition at line 181 of file adplanner.h.

virtual int ADPlanner::get_n_expands

(

)

const [inline, virtual]

returns the number of states expanded so far

Reimplemented from SBPLPlanner.

Definition at line 173 of file adplanner.h.

int ADPlanner::get_n_expands_init_solution

(

)

[inline, virtual]

returns the number of expands to find the first solution

Reimplemented from SBPLPlanner.

Definition at line 189 of file adplanner.h.

virtual double ADPlanner::get_solution_eps

(

)

const [inline, virtual]

returns the suboptimality bound on the currently found solution

Reimplemented from SBPLPlanner.

Definition at line 169 of file adplanner.h.

int ADPlanner::GetGVal	(	int	StateID,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 521 of file adplanner.cpp.

int ADPlanner::getHeurValue	(	ADSearchStateSpace_t *	pSearchStateSpace,
		int	StateID
	)			[private]

Definition at line 1105 of file adplanner.cpp.

vector< int > ADPlanner::GetSearchPath	(	ADSearchStateSpace_t *	pSearchStateSpace,
		int &	solcost
	)			[private]

Definition at line 1113 of file adplanner.cpp.

CMDPSTATE * ADPlanner::GetState	(	int	stateID,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 141 of file adplanner.cpp.

void ADPlanner::Initialize_searchinfo	(	CMDPSTATE *	state,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 94 of file adplanner.cpp.

void ADPlanner::InitializeSearchStateInfo	(	ADState *	state,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 211 of file adplanner.cpp.

int ADPlanner::InitializeSearchStateSpace

(

ADSearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 858 of file adplanner.cpp.

void ADPlanner::PrintSearchPath	(	ADSearchStateSpace_t *	pSearchStateSpace,
		FILE *	fOut
	)			[private]

Definition at line 1013 of file adplanner.cpp.

void ADPlanner::PrintSearchState	(	ADState *	searchstateinfo,
		FILE *	fOut
	)			[private]

Definition at line 1002 of file adplanner.cpp.

void ADPlanner::Recomputegval

(

ADState *

state

)

[private]

Definition at line 318 of file adplanner.cpp.

int ADPlanner::ReconstructPath

(

ADSearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 942 of file adplanner.cpp.

void ADPlanner::Reevaluatefvals

(

ADSearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 727 of file adplanner.cpp.

void ADPlanner::ReInitializeSearchStateInfo	(	ADState *	state,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 240 of file adplanner.cpp.

void ADPlanner::ReInitializeSearchStateSpace

(

ADSearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 816 of file adplanner.cpp.

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

replan a path within the allocated time, return the solution in the vector, also returns solution cost

Definition at line 1440 of file adplanner.cpp.

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

replan a path within the allocated time, return the solution in the vector

Definition at line 1429 of file adplanner.cpp.

int ADPlanner::ResetSearchStateSpace

(

ADSearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 807 of file adplanner.cpp.

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

Definition at line 1225 of file adplanner.cpp.

int ADPlanner::set_goal

(

int

goal_stateID

)

[virtual]

set the goal state

Implements SBPLPlanner.

Definition at line 1464 of file adplanner.cpp.

virtual void ADPlanner::set_initialsolution_eps

(

double

initialsolution_eps

)

[inline, virtual]

returns the value of the initial epsilon (suboptimality bound) used

Reimplemented from SBPLPlanner.

Definition at line 197 of file adplanner.h.

int ADPlanner::set_search_mode

(

bool

bSearchUntilFirstSolution

)

[virtual]

you can either search forwards or backwards

Implements SBPLPlanner.

Definition at line 1553 of file adplanner.cpp.

int ADPlanner::set_start

(

int

start_stateID

)

[virtual]

set the start state

Implements SBPLPlanner.

Definition at line 1495 of file adplanner.cpp.

int ADPlanner::SetSearchGoalState	(	int	SearchGoalStateID,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 889 of file adplanner.cpp.

int ADPlanner::SetSearchStartState	(	int	SearchStartStateID,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 925 of file adplanner.cpp.

void ADPlanner::update_preds_of_changededges

(

vector< int > *

predsIDV

)

direct form of informing the search about the new edge costs

Parameters:

predsIDV

array of predecessors of changed edges

Note:

this is used when the search is run backwards

Definition at line 1535 of file adplanner.cpp.

void ADPlanner::Update_SearchSuccs_of_ChangedEdges

(

vector< int > const *

statesIDV

)

[private]

Definition at line 1356 of file adplanner.cpp.

void ADPlanner::update_succs_of_changededges

(

vector< int > *

succsIDV

)

direct form of informing the search about the new edge costs

Parameters:

succsIDV

array of successors of changed edges

Note:

this is used when the search is run forwards

Definition at line 1528 of file adplanner.cpp.

void ADPlanner::UpdatePredsofOverconsState	(	ADState *	state,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 362 of file adplanner.cpp.

void ADPlanner::UpdatePredsofUnderconsState	(	ADState *	state,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 452 of file adplanner.cpp.

void ADPlanner::UpdateSetMembership

(

ADState *

state

)

[private]

Definition at line 282 of file adplanner.cpp.

void ADPlanner::UpdateSuccsofOverconsState	(	ADState *	state,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 415 of file adplanner.cpp.

void ADPlanner::UpdateSuccsofUnderconsState	(	ADState *	state,
		ADSearchStateSpace_t *	pSearchStateSpace
	)			[private]

Definition at line 492 of file adplanner.cpp.

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Member Data Documentation

bool ADPlanner::bforwardsearch [private]

Definition at line 216 of file adplanner.h.

bool ADPlanner::bsearchuntilfirstsolution [private]

Definition at line 217 of file adplanner.h.

FILE* ADPlanner::fDeb [private]

Definition at line 224 of file adplanner.h.

double ADPlanner::final_eps [private]

Definition at line 212 of file adplanner.h.

double ADPlanner::final_eps_planning_time [private]

Definition at line 212 of file adplanner.h.

double ADPlanner::finitial_eps [private]

Definition at line 212 of file adplanner.h.

double ADPlanner::finitial_eps_planning_time [private]

Definition at line 212 of file adplanner.h.

int ADPlanner::MaxMemoryCounter [private]

Definition at line 222 of file adplanner.h.

MDPConfig* ADPlanner::MDPCfg_ [private]

Definition at line 214 of file adplanner.h.

int ADPlanner::num_of_expands_initial_solution [private]

Definition at line 213 of file adplanner.h.

ADSearchStateSpace_t* ADPlanner::pSearchStateSpace_ [private]

Definition at line 219 of file adplanner.h.

unsigned int ADPlanner::searchexpands [private]

Definition at line 221 of file adplanner.h.

clock_t ADPlanner::TimeStarted [private]

Definition at line 223 of file adplanner.h.

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

• adplanner.h
• adplanner.cpp