Public Member Functions | Private Member Functions | Private Attributes
RSTARPlanner Class Reference

RSTAR* planner. More...

#include <rstarplanner.h>

Inheritance diagram for RSTARPlanner:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void costs_changed (StateChangeQuery const &stateChange)
 inform the search about the new edge costs
void costs_changed ()
 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
virtual int get_highlevel_expands () const
 get number of high level expands
virtual int get_lowlevel_expands () const
 get number of low level expands
virtual double get_solution_probabilisticeps () const
 obtain probabilistic eps suboptimality bound
void print_searchpath (FILE *fOut)
 print out search path
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 replan (double allocated_time_sec, vector< int > *solution_stateIDs_V, int *solcost)
 replan a path within the allocated time, return the solution in the vector, also returns solution cost
 RSTARPlanner (DiscreteSpaceInformation *environment, bool bforwardsearch)
 constructor
int set_goal (int goal_stateID)
 set the goal state
virtual void set_initialsolution_eps (double initialsolution_eps)
 set initial solution epsilon that R* will try to satisfy (probabilistically)
int set_search_mode (bool bSearchUntilFirstSolution)
 you can either search forwards or backwards
int set_start (int start_stateID)
 set the start state
 ~RSTARPlanner ()
 destructor

Private Member Functions

int ComputeHeuristic (CMDPSTATE *MDPstate)
CKey ComputeKey (RSTARState *rstarState)
bool ComputeLocalPath (int StartStateID, int GoalStateID, int maxc, int maxe, int *pCost, int *pCostLow, int *pExp, vector< int > *pPathIDs, int *pNewGoalStateID, double maxnumofsecs)
CMDPSTATECreateLSearchState (int stateID)
int CreateSearchStateSpace ()
CMDPSTATECreateState (int stateID)
void DeleteSearchActionData (RSTARACTIONDATA *actiondata)
void DeleteSearchStateData (RSTARState *state)
void DeleteSearchStateSpace ()
bool DestroyLocalSearchMemory ()
int GetGVal (int StateID)
int getHeurValue (int StateID)
CMDPSTATEGetLSearchState (int stateID)
vector< int > GetSearchPath (int &solcost)
CMDPSTATEGetState (int stateID)
int ImprovePath (double MaxNumofSecs)
void Initialize_rstarlsearchdata (CMDPSTATE *state)
void Initialize_searchinfo (CMDPSTATE *state)
void InitializeSearchStateInfo (RSTARState *state)
int InitializeSearchStateSpace ()
CKey LocalSearchComputeKey (RSTARLSearchState *rstarlsearchState)
void PrintSearchPath (FILE *fOut)
void PrintSearchState (RSTARState *state, FILE *fOut)
void Reevaluatefvals ()
void ReInitializeSearchStateInfo (RSTARState *state)
void ReInitializeSearchStateSpace ()
int ResetSearchStateSpace ()
bool Search (vector< int > &pathIds, int &PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
void SetBestPredecessor (RSTARState *rstarState, RSTARState *rstarPredState, CMDPACTION *action)
int SetSearchGoalState (int SearchGoalStateID)
int SetSearchStartState (int SearchStartStateID)

Private Attributes

bool bforwardsearch
bool bsearchuntilfirstsolution
FILE * fDeb
double finitial_eps
unsigned int highlevel_searchexpands
unsigned int lowlevel_searchexpands
int MaxMemoryCounter
RSTARLSearchStateSpace_tpLSearchStateSpace
RSTARSearchStateSpace_tpSearchStateSpace
clock_t TimeStarted

Detailed Description

RSTAR* planner.

Definition at line 236 of file rstarplanner.h.


Constructor & Destructor Documentation

RSTARPlanner::RSTARPlanner ( DiscreteSpaceInformation environment,
bool  bforwardsearch 
)

constructor

Definition at line 40 of file rstarplanner.cpp.

destructor

Definition at line 87 of file rstarplanner.cpp.


Member Function Documentation

int RSTARPlanner::ComputeHeuristic ( CMDPSTATE MDPstate) [private]

Definition at line 435 of file rstarplanner.cpp.

CKey RSTARPlanner::ComputeKey ( RSTARState rstarState) [private]

Definition at line 576 of file rstarplanner.cpp.

bool RSTARPlanner::ComputeLocalPath ( int  StartStateID,
int  GoalStateID,
int  maxc,
int  maxe,
int *  pCost,
int *  pCostLow,
int *  pExp,
vector< int > *  pPathIDs,
int *  pNewGoalStateID,
double  maxnumofsecs 
) [private]

Definition at line 250 of file rstarplanner.cpp.

void RSTARPlanner::costs_changed ( StateChangeQuery const &  stateChange) [virtual]

inform the search about the new edge costs

Implements SBPLPlanner.

Definition at line 1514 of file rstarplanner.cpp.

inform the search about the new edge costs -

Note:
since R* is non-incremental, it is sufficient (and more efficient) to just inform R* of the fact that some costs changed

Definition at line 1521 of file rstarplanner.cpp.

CMDPSTATE * RSTARPlanner::CreateLSearchState ( int  stateID) [private]

Definition at line 184 of file rstarplanner.cpp.

Definition at line 957 of file rstarplanner.cpp.

CMDPSTATE * RSTARPlanner::CreateState ( int  stateID) [private]

Definition at line 108 of file rstarplanner.cpp.

void RSTARPlanner::DeleteSearchActionData ( RSTARACTIONDATA actiondata) [private]

Definition at line 549 of file rstarplanner.cpp.

void RSTARPlanner::DeleteSearchStateData ( RSTARState state) [private]

Definition at line 533 of file rstarplanner.cpp.

Definition at line 975 of file rstarplanner.cpp.

Definition at line 402 of file rstarplanner.cpp.

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 1530 of file rstarplanner.cpp.

virtual int RSTARPlanner::get_highlevel_expands ( ) const [inline, virtual]

get number of high level expands

Definition at line 274 of file rstarplanner.h.

virtual int RSTARPlanner::get_lowlevel_expands ( ) const [inline, virtual]

get number of low level expands

Definition at line 277 of file rstarplanner.h.

virtual double RSTARPlanner::get_solution_probabilisticeps ( ) const [inline, virtual]

obtain probabilistic eps suboptimality bound

Definition at line 271 of file rstarplanner.h.

int RSTARPlanner::GetGVal ( int  StateID) [private]

Definition at line 557 of file rstarplanner.cpp.

int RSTARPlanner::getHeurValue ( int  StateID) [private]

Definition at line 1161 of file rstarplanner.cpp.

CMDPSTATE * RSTARPlanner::GetLSearchState ( int  stateID) [private]

Definition at line 218 of file rstarplanner.cpp.

vector< int > RSTARPlanner::GetSearchPath ( int &  solcost) [private]

Definition at line 1169 of file rstarplanner.cpp.

CMDPSTATE * RSTARPlanner::GetState ( int  stateID) [private]

Definition at line 144 of file rstarplanner.cpp.

int RSTARPlanner::ImprovePath ( double  MaxNumofSecs) [private]

Definition at line 608 of file rstarplanner.cpp.

Definition at line 166 of file rstarplanner.cpp.

void RSTARPlanner::Initialize_searchinfo ( CMDPSTATE state) [private]

Definition at line 98 of file rstarplanner.cpp.

Definition at line 469 of file rstarplanner.cpp.

Definition at line 1070 of file rstarplanner.cpp.

CKey RSTARPlanner::LocalSearchComputeKey ( RSTARLSearchState rstarlsearchState) [private]

Definition at line 234 of file rstarplanner.cpp.

void RSTARPlanner::print_searchpath ( FILE *  fOut)

print out search path

Definition at line 1551 of file rstarplanner.cpp.

void RSTARPlanner::PrintSearchPath ( FILE *  fOut) [private]

Definition at line 1267 of file rstarplanner.cpp.

void RSTARPlanner::PrintSearchState ( RSTARState state,
FILE *  fOut 
) [private]

Definition at line 1150 of file rstarplanner.cpp.

void RSTARPlanner::Reevaluatefvals ( ) [private]

Definition at line 935 of file rstarplanner.cpp.

Definition at line 494 of file rstarplanner.cpp.

Definition at line 1032 of file rstarplanner.cpp.

int RSTARPlanner::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 1422 of file rstarplanner.cpp.

int RSTARPlanner::replan ( double  allocated_time_sec,
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 1431 of file rstarplanner.cpp.

Definition at line 1022 of file rstarplanner.cpp.

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

Definition at line 1282 of file rstarplanner.cpp.

int RSTARPlanner::set_goal ( int  goal_stateID) [virtual]

set the goal state

Implements SBPLPlanner.

Definition at line 1457 of file rstarplanner.cpp.

virtual void RSTARPlanner::set_initialsolution_eps ( double  initialsolution_eps) [inline, virtual]

set initial solution epsilon that R* will try to satisfy (probabilistically)

Reimplemented from SBPLPlanner.

Definition at line 280 of file rstarplanner.h.

int RSTARPlanner::set_search_mode ( bool  bSearchUntilFirstSolution) [virtual]

you can either search forwards or backwards

Implements SBPLPlanner.

Definition at line 1540 of file rstarplanner.cpp.

int RSTARPlanner::set_start ( int  start_stateID) [virtual]

set the start state

Implements SBPLPlanner.

Definition at line 1484 of file rstarplanner.cpp.

void RSTARPlanner::SetBestPredecessor ( RSTARState rstarState,
RSTARState rstarPredState,
CMDPACTION action 
) [private]

Definition at line 565 of file rstarplanner.cpp.

int RSTARPlanner::SetSearchGoalState ( int  SearchGoalStateID) [private]

Definition at line 1101 of file rstarplanner.cpp.

int RSTARPlanner::SetSearchStartState ( int  SearchStartStateID) [private]

Definition at line 1132 of file rstarplanner.cpp.


Member Data Documentation

Definition at line 301 of file rstarplanner.h.

Definition at line 303 of file rstarplanner.h.

FILE* RSTARPlanner::fDeb [private]

Definition at line 312 of file rstarplanner.h.

double RSTARPlanner::finitial_eps [private]

Definition at line 299 of file rstarplanner.h.

unsigned int RSTARPlanner::highlevel_searchexpands [private]

Definition at line 308 of file rstarplanner.h.

unsigned int RSTARPlanner::lowlevel_searchexpands [private]

Definition at line 309 of file rstarplanner.h.

Definition at line 310 of file rstarplanner.h.

Definition at line 306 of file rstarplanner.h.

Definition at line 305 of file rstarplanner.h.

clock_t RSTARPlanner::TimeStarted [private]

Definition at line 311 of file rstarplanner.h.


The documentation for this class was generated from the following files:
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sbpl
Author(s): Maxim Likhachev/maximl@seas.upenn.edu
autogenerated on Fri Jan 18 2013 13:41:53