ana* planner More...
#include <ANAplanner.h>
Public Member Functions | |
anaPlanner (DiscreteSpaceInformation *environment, bool bforwardsearch) | |
constructor | |
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_n_expands () const |
returns the number of states expanded so far | |
virtual double | get_solution_eps () const |
returns the suboptimality bound on the currently found solution | |
void | print_searchpath (FILE *fOut) |
prints out the search path into a file | |
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 | |
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 | |
~anaPlanner () | |
destructor | |
Private Member Functions | |
void | BuildNewOPENList (anaSearchStateSpace_t *pSearchStateSpace) |
int | ComputeHeuristic (CMDPSTATE *MDPstate, anaSearchStateSpace_t *pSearchStateSpace) |
int | CreateSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace) |
CMDPSTATE * | CreateState (int stateID, anaSearchStateSpace_t *pSearchStateSpace) |
void | DeleteSearchStateData (anaState *state) |
void | DeleteSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace) |
double | get_e_value (anaSearchStateSpace_t *pSearchStateSpace, int stateID) |
int | GetGVal (int StateID, anaSearchStateSpace_t *pSearchStateSpace) |
int | getHeurValue (anaSearchStateSpace_t *pSearchStateSpace, int StateID) |
vector< int > | GetSearchPath (anaSearchStateSpace_t *pSearchStateSpace, int &solcost) |
CMDPSTATE * | GetState (int stateID, anaSearchStateSpace_t *pSearchStateSpace) |
int | ImprovePath (anaSearchStateSpace_t *pSearchStateSpace, double MaxNumofSecs) |
void | Initialize_searchinfo (CMDPSTATE *state, anaSearchStateSpace_t *pSearchStateSpace) |
void | InitializeSearchStateInfo (anaState *state, anaSearchStateSpace_t *pSearchStateSpace) |
int | InitializeSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace) |
void | PrintSearchPath (anaSearchStateSpace_t *pSearchStateSpace, FILE *fOut) |
void | PrintSearchState (anaState *state, FILE *fOut) |
int | ReconstructPath (anaSearchStateSpace_t *pSearchStateSpace) |
void | Reevaluatefvals (anaSearchStateSpace_t *pSearchStateSpace) |
void | ReInitializeSearchStateInfo (anaState *state, anaSearchStateSpace_t *pSearchStateSpace) |
void | ReInitializeSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace) |
int | ResetSearchStateSpace (anaSearchStateSpace_t *pSearchStateSpace) |
bool | Search (anaSearchStateSpace_t *pSearchStateSpace, vector< int > &pathIds, int &PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs) |
int | SetSearchGoalState (int SearchGoalStateID, anaSearchStateSpace_t *pSearchStateSpace) |
int | SetSearchStartState (int SearchStartStateID, anaSearchStateSpace_t *pSearchStateSpace) |
void | UpdatePreds (anaState *state, anaSearchStateSpace_t *pSearchStateSpace) |
void | UpdateSuccs (anaState *state, anaSearchStateSpace_t *pSearchStateSpace) |
Private Attributes | |
bool | bforwardsearch |
bool | bsearchuntilfirstsolution |
FILE * | fDeb |
double | finitial_eps |
int | MaxMemoryCounter |
MDPConfig * | MDPCfg_ |
anaSearchStateSpace_t * | pSearchStateSpace_ |
unsigned int | searchexpands |
clock_t | TimeStarted |
ana* planner
Definition at line 106 of file ANAplanner.h.
anaPlanner::anaPlanner | ( | DiscreteSpaceInformation * | environment, |
bool | bforwardsearch | ||
) |
constructor
Definition at line 20 of file ANAplanner.cpp.
destructor
Definition at line 51 of file ANAplanner.cpp.
void anaPlanner::BuildNewOPENList | ( | anaSearchStateSpace_t * | pSearchStateSpace | ) | [private] |
int anaPlanner::ComputeHeuristic | ( | CMDPSTATE * | MDPstate, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 138 of file ANAplanner.cpp.
void anaPlanner::costs_changed | ( | StateChangeQuery const & | stateChange | ) | [virtual] |
inform the search about the new edge costs
Implements SBPLPlanner.
Definition at line 1246 of file ANAplanner.cpp.
void anaPlanner::costs_changed | ( | ) |
inform the search about the new edge costs -
Definition at line 1255 of file ANAplanner.cpp.
int anaPlanner::CreateSearchStateSpace | ( | anaSearchStateSpace_t * | pSearchStateSpace | ) | [private] |
Definition at line 544 of file ANAplanner.cpp.
CMDPSTATE * anaPlanner::CreateState | ( | int | stateID, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 75 of file ANAplanner.cpp.
void anaPlanner::DeleteSearchStateData | ( | anaState * | state | ) | [private] |
Definition at line 234 of file ANAplanner.cpp.
void anaPlanner::DeleteSearchStateSpace | ( | anaSearchStateSpace_t * | pSearchStateSpace | ) | [private] |
Definition at line 565 of file ANAplanner.cpp.
int anaPlanner::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 1264 of file ANAplanner.cpp.
double anaPlanner::get_e_value | ( | anaSearchStateSpace_t * | pSearchStateSpace, |
int | stateID | ||
) | [private] |
Definition at line 244 of file ANAplanner.cpp.
virtual int anaPlanner::get_n_expands | ( | ) | const [inline, virtual] |
returns the number of states expanded so far
Reimplemented from SBPLPlanner.
Definition at line 149 of file ANAplanner.h.
virtual double anaPlanner::get_solution_eps | ( | ) | const [inline, virtual] |
returns the suboptimality bound on the currently found solution
Reimplemented from SBPLPlanner.
Definition at line 145 of file ANAplanner.h.
int anaPlanner::GetGVal | ( | int | StateID, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 346 of file ANAplanner.cpp.
int anaPlanner::getHeurValue | ( | anaSearchStateSpace_t * | pSearchStateSpace, |
int | StateID | ||
) | [private] |
Definition at line 884 of file ANAplanner.cpp.
vector< int > anaPlanner::GetSearchPath | ( | anaSearchStateSpace_t * | pSearchStateSpace, |
int & | solcost | ||
) | [private] |
Definition at line 892 of file ANAplanner.cpp.
CMDPSTATE * anaPlanner::GetState | ( | int | stateID, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 111 of file ANAplanner.cpp.
int anaPlanner::ImprovePath | ( | anaSearchStateSpace_t * | pSearchStateSpace, |
double | MaxNumofSecs | ||
) | [private] |
Definition at line 354 of file ANAplanner.cpp.
void anaPlanner::Initialize_searchinfo | ( | CMDPSTATE * | state, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 65 of file ANAplanner.cpp.
void anaPlanner::InitializeSearchStateInfo | ( | anaState * | state, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 169 of file ANAplanner.cpp.
int anaPlanner::InitializeSearchStateSpace | ( | anaSearchStateSpace_t * | pSearchStateSpace | ) | [private] |
Definition at line 655 of file ANAplanner.cpp.
void anaPlanner::print_searchpath | ( | FILE * | fOut | ) |
prints out the search path into a file
Definition at line 1285 of file ANAplanner.cpp.
void anaPlanner::PrintSearchPath | ( | anaSearchStateSpace_t * | pSearchStateSpace, |
FILE * | fOut | ||
) | [private] |
Definition at line 801 of file ANAplanner.cpp.
void anaPlanner::PrintSearchState | ( | anaState * | state, |
FILE * | fOut | ||
) | [private] |
Definition at line 873 of file ANAplanner.cpp.
int anaPlanner::ReconstructPath | ( | anaSearchStateSpace_t * | pSearchStateSpace | ) | [private] |
Definition at line 738 of file ANAplanner.cpp.
void anaPlanner::Reevaluatefvals | ( | anaSearchStateSpace_t * | pSearchStateSpace | ) | [private] |
Definition at line 516 of file ANAplanner.cpp.
void anaPlanner::ReInitializeSearchStateInfo | ( | anaState * | state, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 199 of file ANAplanner.cpp.
void anaPlanner::ReInitializeSearchStateSpace | ( | anaSearchStateSpace_t * | pSearchStateSpace | ) | [private] |
Definition at line 608 of file ANAplanner.cpp.
int anaPlanner::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 1153 of file ANAplanner.cpp.
int anaPlanner::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 1162 of file ANAplanner.cpp.
int anaPlanner::ResetSearchStateSpace | ( | anaSearchStateSpace_t * | pSearchStateSpace | ) | [private] |
Definition at line 599 of file ANAplanner.cpp.
bool anaPlanner::Search | ( | anaSearchStateSpace_t * | pSearchStateSpace, |
vector< int > & | pathIds, | ||
int & | PathCost, | ||
bool | bFirstSolution, | ||
bool | bOptimalSolution, | ||
double | MaxNumofSecs | ||
) | [private] |
Definition at line 989 of file ANAplanner.cpp.
int anaPlanner::set_goal | ( | int | goal_stateID | ) | [virtual] |
virtual void anaPlanner::set_initialsolution_eps | ( | double | initialsolution_eps | ) | [inline, virtual] |
returns the value of the initial epsilon (suboptimality bound) used
Reimplemented from SBPLPlanner.
Definition at line 153 of file ANAplanner.h.
int anaPlanner::set_search_mode | ( | bool | bSearchUntilFirstSolution | ) | [virtual] |
you can either search forwards or backwards
Implements SBPLPlanner.
Definition at line 1274 of file ANAplanner.cpp.
int anaPlanner::set_start | ( | int | start_stateID | ) | [virtual] |
int anaPlanner::SetSearchGoalState | ( | int | SearchGoalStateID, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 689 of file ANAplanner.cpp.
int anaPlanner::SetSearchStartState | ( | int | SearchStartStateID, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 721 of file ANAplanner.cpp.
void anaPlanner::UpdatePreds | ( | anaState * | state, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 270 of file ANAplanner.cpp.
void anaPlanner::UpdateSuccs | ( | anaState * | state, |
anaSearchStateSpace_t * | pSearchStateSpace | ||
) | [private] |
Definition at line 306 of file ANAplanner.cpp.
bool anaPlanner::bforwardsearch [private] |
Definition at line 175 of file ANAplanner.h.
bool anaPlanner::bsearchuntilfirstsolution [private] |
Definition at line 177 of file ANAplanner.h.
FILE* anaPlanner::fDeb [private] |
Definition at line 184 of file ANAplanner.h.
double anaPlanner::finitial_eps [private] |
Definition at line 172 of file ANAplanner.h.
int anaPlanner::MaxMemoryCounter [private] |
Definition at line 182 of file ANAplanner.h.
MDPConfig* anaPlanner::MDPCfg_ [private] |
Definition at line 173 of file ANAplanner.h.
Definition at line 179 of file ANAplanner.h.
unsigned int anaPlanner::searchexpands [private] |
Definition at line 181 of file ANAplanner.h.
clock_t anaPlanner::TimeStarted [private] |
Definition at line 183 of file ANAplanner.h.