anaPlanner Class Reference

ana* planner More...

#include <ANAplanner.h>

Inheritance diagram for anaPlanner:

List of all members.

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

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Detailed Description

ana* planner

Definition at line 106 of file ANAplanner.h.

---

Constructor & Destructor Documentation

anaPlanner::anaPlanner	(	DiscreteSpaceInformation *	environment,
		bool	bforwardsearch
	)

constructor

Definition at line 20 of file ANAplanner.cpp.

anaPlanner::~anaPlanner

(

)

destructor

Definition at line 51 of file ANAplanner.cpp.

---

Member Function Documentation

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 -

Note:

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

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]

set the goal state

Implements SBPLPlanner.

Definition at line 1189 of file ANAplanner.cpp.

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]

set the start state

Implements SBPLPlanner.

Definition at line 1216 of file ANAplanner.cpp.

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.

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Member Data Documentation

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.

anaSearchStateSpace_t* anaPlanner::pSearchStateSpace_ [private]

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.

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

• ANAplanner.h
• ANAplanner.cpp