SBPL Environment represented as an adjacency list graph. More...

#include <environment_precomputed_adjacency_list.h>

Inheritance diagram for AdjacencyListSBPLEnv< Coords >:

Public Member Functions
void	addPoint (const Coords &c)
	Add point to roadmap. Does not check for duplicates.
	AdjacencyListSBPLEnv ()
vector< Coords >	findOptimalPath (int *solution_cost)
	Use ARA* to find an optimal path between the currently set start and goal states.
int	GetFromToHeuristic (int FromStateID, int ToStateID)
	heuristic estimate from state FromStateID to state ToStateID
int	GetGoalHeuristic (int stateID)
	heuristic estimate from state with stateID to goal state
void	GetPreds (int TargetStateID, vector< int > PredIDV, vector< int > CostV)
int	GetStartHeuristic (int stateID)
	heuristic estimate from start state to state with stateID
void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV)
bool	hasPoint (const Coords &c)
	Does the roadmap contain this point?
bool	InitializeEnv (const char *sEnvFile)
	initialization environment from file (see .cfg files for examples)
bool	InitializeMDPCfg (MDPConfig *MDPCfg)
	initialization of MDP data structure
void	PrintEnv_Config (FILE *fOut)
	prints environment config file
void	PrintState (int stateID, bool bVerbose, FILE *fOut=NULL)
	prints the state variables for a state with stateID
void	removeLastPoints (unsigned int n=1)
	Remove the last N points added using addPoint (and all their incident edges) in O(N) time.
void	SetAllActionsandAllOutcomes (CMDPSTATE *state)
	see comments for GetSuccs functon
void	SetAllPreds (CMDPSTATE *state)
	see comments for GetSuccs functon
void	setCost (const Coords &c1, const Coords &c2, int cost)
void	setCost (const Coords &c1, const Coords &c2)
void	setGoalState (const Coords &c)
void	setStartState (const Coords &c)
int	SizeofCreatedEnv ()
	returns the number of states (hashentries) created
void	writeToStream (ostream &str=cout)
Private Member Functions
void	resetStateId2IndexMapping (void)
Private Attributes
vector< Adjacencies >	adjacency_vector_
int	goalStateId_
map< Coords, int >	pointIds_
vector< Coords >	points_
int	startStateId_

Detailed Description

template<class Coords>
class AdjacencyListSBPLEnv< Coords >

SBPL Environment represented as an adjacency list graph.

Template Parameters:

Coords Coords must be a type that 1) has operator<< and heuristicDistanceTo (const Coords&) const defined on it 2) can be used as a key of an STL map

Nodes of the graph are labelled with Coords. Edges have integer costs attached to them. ARA* planning is done on this graph, and the function heuristicDistanceTo is used as the admissible heuristic.

Definition at line 33 of file environment_precomputed_adjacency_list.h.

Constructor & Destructor Documentation

template<class Coords >

AdjacencyListSBPLEnv< Coords >::AdjacencyListSBPLEnv ( )

Definition at line 101 of file environment_precomputed_adjacency_list.h.

Member Function Documentation

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::addPoint ( const Coords & c )

Add point to roadmap. Does not check for duplicates.

Definition at line 126 of file environment_precomputed_adjacency_list.h.

template<class Coords >

vector< Coords > AdjacencyListSBPLEnv< Coords >::findOptimalPath ( int * solution_cost )

Use ARA* to find an optimal path between the currently set start and goal states.

Returns:: Vector of states on the path

Postcondition:: solution_cost will hold the cost of the returned solution

Definition at line 351 of file environment_precomputed_adjacency_list.h.

template<class Coords >

int AdjacencyListSBPLEnv< Coords >::GetFromToHeuristic	(	int	FromStateID,
		int	ToStateID
	)		`[virtual]`

heuristic estimate from state FromStateID to state ToStateID

Implements DiscreteSpaceInformation.

Definition at line 250 of file environment_precomputed_adjacency_list.h.

template<class Coords >

int AdjacencyListSBPLEnv< Coords >::GetGoalHeuristic ( int stateID ) [virtual]

heuristic estimate from state with stateID to goal state

Implements DiscreteSpaceInformation.

Definition at line 256 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::GetPreds	(	int	TargetStateID,
		vector< int > *	PredIDV,
		vector< int > *	CostV
	)

Definition at line 344 of file environment_precomputed_adjacency_list.h.

template<class Coords >

int AdjacencyListSBPLEnv< Coords >::GetStartHeuristic ( int stateID ) [virtual]

heuristic estimate from start state to state with stateID

Implements DiscreteSpaceInformation.

Definition at line 262 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV
	)

Definition at line 327 of file environment_precomputed_adjacency_list.h.

template<class Coords >

bool AdjacencyListSBPLEnv< Coords >::hasPoint ( const Coords & c )

Does the roadmap contain this point?

Definition at line 141 of file environment_precomputed_adjacency_list.h.

template<class Coords >

bool AdjacencyListSBPLEnv< Coords >::InitializeEnv ( const char * sEnvFile ) [virtual]

initialization environment from file (see .cfg files for examples)

Implements DiscreteSpaceInformation.

Definition at line 290 of file environment_precomputed_adjacency_list.h.

template<class Coords >

bool AdjacencyListSBPLEnv< Coords >::InitializeMDPCfg ( MDPConfig * MDPCfg ) [virtual]

initialization of MDP data structure

Implements DiscreteSpaceInformation.

Definition at line 241 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::PrintEnv_Config ( FILE * fOut ) [virtual]

prints environment config file

Implements DiscreteSpaceInformation.

Definition at line 275 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::PrintState	(	int	stateID,
		bool	bVerbose,
		FILE *	fOut = `NULL`
	)		`[virtual]`

prints the state variables for a state with stateID

Implements DiscreteSpaceInformation.

Definition at line 268 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::removeLastPoints ( unsigned int n = 1 )

Remove the last N points added using addPoint (and all their incident edges) in O(N) time.

Definition at line 148 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::resetStateId2IndexMapping ( void ) [private]

Definition at line 373 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::SetAllActionsandAllOutcomes ( CMDPSTATE * state ) [virtual]

see comments for GetSuccs functon

Implements DiscreteSpaceInformation.

Definition at line 299 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::SetAllPreds ( CMDPSTATE * state ) [virtual]

see comments for GetSuccs functon

Implements DiscreteSpaceInformation.

Definition at line 319 of file environment_precomputed_adjacency_list.h.

template<class Coords >

void AdjacencyListSBPLEnv< Coords >::setCost	(	const Coords &	c1,
		const Coords &	c2,
		int	cost
	)

Postcondition:: An undirected edge exists between c1 and c2 with the given cost cost, if not provided, defaults to the heuristic cost between c1 and c2

Definition at line 184 of file environment_precomputed_adjacency_list.h.

template<class Coords >