Public Member Functions | Protected Attributes
SBPLPlanner Class Reference

pure virtual base class for a generic planner More...

#include <planner.h>

Inheritance diagram for SBPLPlanner:
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List of all members.

Public Member Functions

virtual void costs_changed (StateChangeQuery const &stateChange)=0
 Notifies the planner that costs have changed. May need to be specialized for different subclasses in terms of what to do here.
virtual int force_planning_from_scratch ()=0
 forgets previous planning efforts and starts planning from scratch next time replan is called
virtual double get_final_eps_planning_time ()
 returns the time taken to get the final solution
virtual double get_final_epsilon ()
 returns the final epsilon achieved during the search
virtual double get_initial_eps ()
 returns the initial epsilon
virtual double get_initial_eps_planning_time ()
 returns the time taken to find the first solution
virtual int get_n_expands () const
virtual int get_n_expands_init_solution ()
 returns the number of expands to find the first solution
virtual double get_solution_eps () const
virtual int replan (double allocated_time_sec, std::vector< int > *solution_stateIDs_V)=0
 returns 1 if solution is found, 0 otherwise will replan incrementally if possible (e.g., as supported by the planner and not forced to replan from scratch) takes in the time available for planner and returns a sequence of stateIDs that corresponds to the solution
virtual int replan (double allocated_time_sec, std::vector< int > *solution_stateIDs_V, int *solcost)=0
 works same as replan function with two parameters, but also returns the cost of the solution
virtual int set_goal (int goal_stateID)=0
 sets the goal of search (planner will automatically decide whether it needs to replan from scratch)
virtual void set_initialsolution_eps (double initialsolution_eps)
 setting initial solution eps This parameter is ignored in planners that don't have a notion of eps In ARA* / AD*: (cost(initialsolution) <= eps*cost(optimalsolution))
virtual int set_search_mode (bool bSearchUntilFirstSolution)=0
 sets the mode for searching
virtual int set_start (int start_stateID)=0
 sets the start of search (planner will automatically decide whether it needs to replan from scratch)
virtual ~SBPLPlanner ()

Protected Attributes

DiscreteSpaceInformationenvironment_

Detailed Description

pure virtual base class for a generic planner

Definition at line 102 of file planner.h.


Constructor & Destructor Documentation

virtual SBPLPlanner::~SBPLPlanner ( ) [inline, virtual]

Definition at line 180 of file planner.h.


Member Function Documentation

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

Notifies the planner that costs have changed. May need to be specialized for different subclasses in terms of what to do here.

Implemented in RSTARPlanner, PPCPPlanner, ADPlanner, ARAPlanner, and anaPlanner.

virtual int SBPLPlanner::force_planning_from_scratch ( ) [pure virtual]

forgets previous planning efforts and starts planning from scratch next time replan is called

Implemented in RSTARPlanner, ARAPlanner, PPCPPlanner, ADPlanner, and anaPlanner.

virtual double SBPLPlanner::get_final_eps_planning_time ( ) [inline, virtual]

returns the time taken to get the final solution

Reimplemented in ARAPlanner, and ADPlanner.

Definition at line 162 of file planner.h.

virtual double SBPLPlanner::get_final_epsilon ( ) [inline, virtual]

returns the final epsilon achieved during the search

Reimplemented in ARAPlanner, and ADPlanner.

Definition at line 170 of file planner.h.

virtual double SBPLPlanner::get_initial_eps ( ) [inline, virtual]

returns the initial epsilon

Reimplemented in ARAPlanner, and ADPlanner.

Definition at line 154 of file planner.h.

virtual double SBPLPlanner::get_initial_eps_planning_time ( ) [inline, virtual]

returns the time taken to find the first solution

Reimplemented in ARAPlanner, and ADPlanner.

Definition at line 158 of file planner.h.

virtual int SBPLPlanner::get_n_expands ( ) const [inline, virtual]
Returns:
The number of states expanded during the last replan() operation, or -1 if this information is not available.

Reimplemented in ADPlanner, ARAPlanner, and anaPlanner.

Definition at line 150 of file planner.h.

virtual int SBPLPlanner::get_n_expands_init_solution ( ) [inline, virtual]

returns the number of expands to find the first solution

Reimplemented in ARAPlanner, and ADPlanner.

Definition at line 166 of file planner.h.

virtual double SBPLPlanner::get_solution_eps ( ) const [inline, virtual]
Returns:
The "epsilon" value of the solution last computed by replan(), if such an epsilon is used by the planner. The base class implementation returns -1 to express that it has no such thing.

Reimplemented in ADPlanner, ARAPlanner, and anaPlanner.

Definition at line 146 of file planner.h.

virtual int SBPLPlanner::replan ( double  allocated_time_sec,
std::vector< int > *  solution_stateIDs_V 
) [pure virtual]

returns 1 if solution is found, 0 otherwise will replan incrementally if possible (e.g., as supported by the planner and not forced to replan from scratch) takes in the time available for planner and returns a sequence of stateIDs that corresponds to the solution

virtual int SBPLPlanner::replan ( double  allocated_time_sec,
std::vector< int > *  solution_stateIDs_V,
int *  solcost 
) [pure virtual]

works same as replan function with two parameters, but also returns the cost of the solution

virtual int SBPLPlanner::set_goal ( int  goal_stateID) [pure virtual]

sets the goal of search (planner will automatically decide whether it needs to replan from scratch)

Implemented in RSTARPlanner, ADPlanner, ARAPlanner, PPCPPlanner, and anaPlanner.

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

setting initial solution eps This parameter is ignored in planners that don't have a notion of eps In ARA* / AD*: (cost(initialsolution) <= eps*cost(optimalsolution))

Reimplemented in RSTARPlanner, ADPlanner, ARAPlanner, and anaPlanner.

Definition at line 177 of file planner.h.

virtual int SBPLPlanner::set_search_mode ( bool  bSearchUntilFirstSolution) [pure virtual]

sets the mode for searching

if bSearchUntilFirstSolution is false, then planner searches for at most allocatime_time_sec, independently of whether it finds a solution or not (default mode) if bSearchUntilFirstSolution is true, then planner searches until it finds the first solution. It may be faster than allocated_time or it may be longer In other words, in the latter case, the planner does not spend time on improving the solution even if time permits, but may also take longer than allocated_time before returning So, normally bSearchUntilFirstSolution should be set to false.

Implemented in RSTARPlanner, ARAPlanner, PPCPPlanner, ADPlanner, and anaPlanner.

virtual int SBPLPlanner::set_start ( int  start_stateID) [pure virtual]

sets the start of search (planner will automatically decide whether it needs to replan from scratch)

Implemented in RSTARPlanner, ADPlanner, ARAPlanner, PPCPPlanner, and anaPlanner.


Member Data Documentation

Definition at line 180 of file planner.h.


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