Public Types | Public Member Functions | Public Attributes | Protected Member Functions
PlannerParameters Class Reference

#include <plannerParameters.h>

List of all members.

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

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

Definition at line 8 of file plannerParameters.cpp.

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.

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

Definition at line 188 of file plannerParameters.cpp.


Member Data Documentation

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

Definition at line 20 of file plannerParameters.h.

Definition at line 48 of file plannerParameters.h.

If false, scheduled effects are accounted.

Definition at line 47 of file plannerParameters.h.

Use cyclic_cg heuristic.

Definition at line 41 of file plannerParameters.h.

Use cyclic_cg heuristic preferred operators.

Definition at line 42 of file plannerParameters.h.

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

Definition at line 21 of file plannerParameters.h.

Add epsilon steps in between plan steps by calling epsilonize_plan.

Definition at line 70 of file plannerParameters.h.

add eps_time when applying an operator

Definition at line 69 of file plannerParameters.h.

How g values are calculated - Default: Timestamp.

Definition at line 57 of file plannerParameters.h.

The weight w for GWeighted.

Definition at line 58 of file plannerParameters.h.

Perform greedy search.

Definition at line 28 of file plannerParameters.h.

Definition at line 31 of file plannerParameters.h.

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

Definition at line 71 of file plannerParameters.h.

Lazy heuristic evaluation.

Definition at line 29 of file plannerParameters.h.

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

Definition at line 33 of file plannerParameters.h.

Use makespan heuristic.

Definition at line 43 of file plannerParameters.h.

Use makespan heuristic preferred operators.

Definition at line 44 of file plannerParameters.h.

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.

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.

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

Definition at line 76 of file plannerParameters.h.

Use the no heuristic.

Definition at line 45 of file plannerParameters.h.

File prefix for outputting plans.

Definition at line 73 of file plannerParameters.h.

Filename for monitoring (if set, implies monitoring mode)

Definition at line 74 of file plannerParameters.h.

Definition at line 60 of file plannerParameters.h.

Use scheduler to reschedule found plans.

Definition at line 68 of file plannerParameters.h.

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

Definition at line 23 of file plannerParameters.h.

Timeout while no plan found (0 - inf).

Definition at line 24 of file plannerParameters.h.

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.

Enable tss known filtering (might crop search space!)

Definition at line 62 of file plannerParameters.h.

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.

Verbose outputs.

Definition at line 30 of file plannerParameters.h.


The documentation for this class was generated from the following files:
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tfd_modules
Author(s): Maintained by Christian Dornhege (see AUTHORS file).
autogenerated on Tue Jan 22 2013 12:25:04