#include <plannerParameters.h>

Public Types
enum	GValues { GMakespan, GCost, GTimestamp, GWeighted }
	Possible definitions of "g". More...
Public Member Functions
void	dump () const
	PlannerParameters ()
bool	readParameters (int argc, char **argv)
	Read parameters from ROS and cmd line (cmd line overrides ROS parameters).
	~PlannerParameters ()
Public Attributes
bool	anytime_search
	Perform anytime search (don't stop at first plan)
bool	cg_heuristic_fire_waiting_transitions_only_if_local_problems_matches_state
bool	cg_heuristic_zero_cost_waiting_transitions
	If false, scheduled effects are accounted.
bool	cyclic_cg_heuristic
	Use cyclic_cg heuristic.
bool	cyclic_cg_preferred_operators
	Use cyclic_cg heuristic preferred operators.
bool	disallow_concurrent_actions
	Do NOT allow any concurrent actions, i.e. do NOT plan temporally.
bool	epsilonize_externally
	Add epsilon steps in between plan steps by calling epsilonize_plan.
bool	epsilonize_internally
	add eps_time when applying an operator
enum GValues	g_values
	How g values are calculated - Default: Timestamp.
double	g_weight
	The weight w for GWeighted.
bool	greedy
	Perform greedy search.
bool	insert_let_time_pass_only_when_running_operators_not_empty
bool	keep_original_plans
	Store non-epsilonized plans as "...orig" files (if epsilonize_externally on)
bool	lazy_evaluation
	Lazy heuristic evaluation.
int	lazy_state_module_evaluation
	if > 0 evaluate modules lazy, if < 0 determine automatically
bool	makespan_heuristic
	Use makespan heuristic.
bool	makespan_heuristic_preferred_operators
	Use makespan heuristic preferred operators.
int	min_search_time_after_plan_found
	Minimum search time after a plan was found, might result in extending the time over timeout_if_plan_found (0 - 0s, not inf)
double	min_search_time_factor_after_plan_found
	Min search time after plan was found as proportion to the search time until plan found (e.g. 0.2 = 20% more)
bool	monitoring_verify_timestamps
	During monitoring only accept the monitored plan if the timestamps match the original one.
bool	no_heuristic
	Use the no heuristic.
string	plan_name
	File prefix for outputting plans.
string	planMonitorFileName
	Filename for monitoring (if set, implies monitoring mode)
BestFirstSearchEngine::QueueManagementMode	queueManagementMode
bool	reschedule_plans
	Use scheduler to reschedule found plans.
int	timeout_if_plan_found
	Timeout if a plan was found (0 - inf).
int	timeout_while_no_plan_found
	Timeout while no plan found (0 - inf).
bool	use_cost_modules_for_applicability
	if true, is_applicable checks for valid duration from cost modules
bool	use_known_by_logical_state_only
	Enable tss known filtering (might crop search space!)
bool	use_subgoals_to_break_makespan_ties
bool	verbose
	Verbose outputs.
Protected Member Functions
void	printUsage () const
bool	readCmdLineParameters (int argc, char **argv)
	Read parameters from command line.
bool	readROSParameters ()
	Read parameters from param server (ros must be initialized).

Detailed Description

Definition at line 8 of file plannerParameters.h.

Member Enumeration Documentation

enum PlannerParameters::GValues

Possible definitions of "g".

Enumerator:

GMakespan	g values by makespan (timestamp + longest duration of running operators
GCost	g values by path cost
GTimestamp	g values by timestamp
GWeighted	g values weighted by w * makespan + (1-w) * pathcost

Definition at line 51 of file plannerParameters.h.

Constructor & Destructor Documentation

PlannerParameters::PlannerParameters ( )

Definition at line 8 of file plannerParameters.cpp.

PlannerParameters::~PlannerParameters ( )

Definition at line 56 of file plannerParameters.cpp.

Member Function Documentation

void PlannerParameters::dump ( ) const

Definition at line 100 of file plannerParameters.cpp.

void PlannerParameters::printUsage ( ) const [protected]

Definition at line 263 of file plannerParameters.cpp.

bool PlannerParameters::readCmdLineParameters	(	int	argc,
		char **	argv
	)		`[protected]`

Read parameters from command line.

Definition at line 290 of file plannerParameters.cpp.

bool PlannerParameters::readParameters	(	int	argc,
		char **	argv
	)

Read parameters from ROS and cmd line (cmd line overrides ROS parameters).

Definition at line 60 of file plannerParameters.cpp.

bool PlannerParameters::readROSParameters ( ) [protected]

Read parameters from param server (ros must be initialized).

Definition at line 188 of file plannerParameters.cpp.

Member Data Documentation

bool PlannerParameters::anytime_search

Perform anytime search (don't stop at first plan)

Definition at line 20 of file plannerParameters.h.

bool PlannerParameters::cg_heuristic_fire_waiting_transitions_only_if_local_problems_matches_state

Definition at line 48 of file plannerParameters.h.

bool PlannerParameters::cg_heuristic_zero_cost_waiting_transitions

If false, scheduled effects are accounted.

Definition at line 47 of file plannerParameters.h.

bool PlannerParameters::cyclic_cg_heuristic

Use cyclic_cg heuristic.

Definition at line 41 of file plannerParameters.h.

bool PlannerParameters::cyclic_cg_preferred_operators

Use cyclic_cg heuristic preferred operators.

Definition at line 42 of file plannerParameters.h.

bool PlannerParameters::disallow_concurrent_actions

Do NOT allow any concurrent actions, i.e. do NOT plan temporally.

Definition at line 21 of file plannerParameters.h.

bool PlannerParameters::epsilonize_externally

Add epsilon steps in between plan steps by calling epsilonize_plan.

Definition at line 70 of file plannerParameters.h.

bool PlannerParameters::epsilonize_internally

add eps_time when applying an operator

Definition at line 69 of file plannerParameters.h.

enum GValues PlannerParameters::g_values

How g values are calculated - Default: Timestamp.

Definition at line 57 of file plannerParameters.h.

double PlannerParameters::g_weight

The weight w for GWeighted.

Definition at line 58 of file plannerParameters.h.

bool PlannerParameters::greedy

Perform greedy search.

Definition at line 28 of file plannerParameters.h.

bool PlannerParameters::insert_let_time_pass_only_when_running_operators_not_empty

Definition at line 31 of file plannerParameters.h.

bool PlannerParameters::keep_original_plans

Store non-epsilonized plans as "...orig" files (if epsilonize_externally on)

Definition at line 71 of file plannerParameters.h.

bool PlannerParameters::lazy_evaluation

Lazy heuristic evaluation.

Definition at line 29 of file plannerParameters.h.

int PlannerParameters::lazy_state_module_evaluation

if > 0 evaluate modules lazy, if < 0 determine automatically

Definition at line 33 of file plannerParameters.h.

bool PlannerParameters::makespan_heuristic

Use makespan heuristic.

Definition at line 43 of file plannerParameters.h.

bool PlannerParameters::makespan_heuristic_preferred_operators

Use makespan heuristic preferred operators.

Definition at line 44 of file plannerParameters.h.

int PlannerParameters::min_search_time_after_plan_found

Minimum search time after a plan was found, might result in extending the time over timeout_if_plan_found (0 - 0s, not inf)

Definition at line 25 of file plannerParameters.h.

double PlannerParameters::min_search_time_factor_after_plan_found

Min search time after plan was found as proportion to the search time until plan found (e.g. 0.2 = 20% more)

Definition at line 26 of file plannerParameters.h.

bool PlannerParameters::monitoring_verify_timestamps

During monitoring only accept the monitored plan if the timestamps match the original one.

Definition at line 76 of file plannerParameters.h.

bool PlannerParameters::no_heuristic

Use the no heuristic.

Definition at line 45 of file plannerParameters.h.

string PlannerParameters::plan_name

File prefix for outputting plans.

Definition at line 73 of file plannerParameters.h.

string PlannerParameters::planMonitorFileName

Filename for monitoring (if set, implies monitoring mode)

Definition at line 74 of file plannerParameters.h.

BestFirstSearchEngine::QueueManagementMode PlannerParameters::queueManagementMode

Definition at line 60 of file plannerParameters.h.

bool PlannerParameters::reschedule_plans

Use scheduler to reschedule found plans.

Definition at line 68 of file plannerParameters.h.

int PlannerParameters::timeout_if_plan_found

Timeout if a plan was found (0 - inf).

Definition at line 23 of file plannerParameters.h.

int PlannerParameters::timeout_while_no_plan_found

Timeout while no plan found (0 - inf).

Definition at line 24 of file plannerParameters.h.

bool PlannerParameters::use_cost_modules_for_applicability

if true, is_applicable checks for valid duration from cost modules

if false the cost module for an applicable operator should always provide a valid cost for applicable operators (possibly in conjunction with an appropriate (pre-)condition module)

Definition at line 39 of file plannerParameters.h.

bool PlannerParameters::use_known_by_logical_state_only

Enable tss known filtering (might crop search space!)

Definition at line 62 of file plannerParameters.h.

bool PlannerParameters::use_subgoals_to_break_makespan_ties

when enabled: if two plans have the same makespan, consider one better if it has lower number of subgoals, otherwise same

Definition at line 66 of file plannerParameters.h.

bool PlannerParameters::verbose

Verbose outputs.

Definition at line 30 of file plannerParameters.h.

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