Public Member Functions | Protected Member Functions | Protected Attributes | Friends
dpNode Class Reference

#include <dp.h>

Inheritance diagram for dpNode:
Inheritance graph
[legend]

List of all members.

Public Member Functions

double AstarCost ()
dpNodeBrother ()
dpNodeChild ()
double Cost ()
int Depth (dpNode *target_p=0)
 dpNode ()
dpNodeGetParent (int id)
int ID ()
dpNodeParent ()
dpQueueQueue ()
double TotalAstarCost ()
double TotalCost ()
virtual ~dpNode ()

Protected Member Functions

void add_child (dpNode *n)
virtual void dump (ostream &ost)
void dump_all (ostream &ost)
void dump_trajectory (ostream &ost)
dpNodenext_breadth (dpNode *refnode)
dpNodenext_depth (dpNode *first_child=0)
int open (int _max_nodes, int _max_goals)
void remove ()
void remove_single ()
Virtual functions to be defined by subclass.
virtual int create_child_nodes (dpNode **&nodes)=0
 Create (potential) child nodes.
virtual double calc_cost ()=0
 Compute the local cost at the node.
virtual double calc_astar_cost (dpNode *potential_parent)
 Compute the A-star cost at the node (optional).
virtual int same_state (dpNode *refnode)=0
 Check if the node's state is the same as refnode. (to remove duplicates)
virtual int is_goal ()=0
 Check if the state is goal.

Protected Attributes

int active
double astar_cost
dpNodebrother
dpNodechild
double cost
int depth
dpMaindp_main
int id
dpNodeparent
dpQueuequeue
double total_astar_cost
double total_cost

Friends

class dpMain
class dpQueue

Detailed Description

Base class for search nodes.

Definition at line 29 of file dp.h.


Constructor & Destructor Documentation

dpNode::dpNode ( ) [inline]

Definition at line 34 of file dp.h.

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

Definition at line 47 of file dp.h.


Member Function Documentation

void dpNode::add_child ( dpNode n) [protected]

Definition at line 169 of file dp.cpp.

double dpNode::AstarCost ( ) [inline]

Definition at line 85 of file dp.h.

dpNode* dpNode::Brother ( ) [inline]

Definition at line 55 of file dp.h.

virtual double dpNode::calc_astar_cost ( dpNode potential_parent) [inline, protected, virtual]

Compute the A-star cost at the node (optional).

Reimplemented in LCPNode, and dpScheduleNode.

Definition at line 111 of file dp.h.

virtual double dpNode::calc_cost ( ) [protected, pure virtual]

Compute the local cost at the node.

Implemented in LCPNode, and dpScheduleNode.

dpNode* dpNode::Child ( ) [inline]

Definition at line 58 of file dp.h.

double dpNode::Cost ( ) [inline]

Definition at line 79 of file dp.h.

virtual int dpNode::create_child_nodes ( dpNode **&  nodes) [protected, pure virtual]

Create (potential) child nodes.

Create (potential) child nodes.

Parameters:
[out]nodesarray of pointers to the child nodes

Implemented in LCPNode, and dpScheduleNode.

int dpNode::Depth ( dpNode target_p = 0) [inline]

Definition at line 62 of file dp.h.

virtual void dpNode::dump ( ostream &  ost) [inline, protected, virtual]

Definition at line 143 of file dp.h.

void dpNode::dump_all ( ostream &  ost) [inline, protected]

Definition at line 149 of file dp.h.

void dpNode::dump_trajectory ( ostream &  ost) [inline, protected]

Definition at line 145 of file dp.h.

dpNode* dpNode::GetParent ( int  id) [inline]

Definition at line 69 of file dp.h.

int dpNode::ID ( ) [inline]

Definition at line 93 of file dp.h.

virtual int dpNode::is_goal ( ) [protected, pure virtual]

Check if the state is goal.

Implemented in LCPNode, and dpScheduleNode.

dpNode* dpNode::next_breadth ( dpNode refnode) [inline, protected]

Definition at line 136 of file dp.h.

dpNode* dpNode::next_depth ( dpNode first_child = 0) [inline, protected]

Definition at line 125 of file dp.h.

int dpNode::open ( int  _max_nodes,
int  _max_goals 
) [protected]

Definition at line 92 of file dp.cpp.

dpNode* dpNode::Parent ( ) [inline]

Definition at line 52 of file dp.h.

dpQueue* dpNode::Queue ( ) [inline]

Definition at line 89 of file dp.h.

void dpNode::remove ( ) [protected]

Definition at line 184 of file dp.cpp.

void dpNode::remove_single ( ) [protected]

Definition at line 178 of file dp.cpp.

virtual int dpNode::same_state ( dpNode refnode) [protected, pure virtual]

Check if the node's state is the same as refnode. (to remove duplicates)

Implemented in LCPNode, and dpScheduleNode.

double dpNode::TotalAstarCost ( ) [inline]

Definition at line 82 of file dp.h.

double dpNode::TotalCost ( ) [inline]

Definition at line 76 of file dp.h.


Friends And Related Function Documentation

friend class dpMain [friend]

Definition at line 32 of file dp.h.

friend class dpQueue [friend]

Definition at line 31 of file dp.h.


Member Data Documentation

int dpNode::active [protected]

Definition at line 169 of file dp.h.

double dpNode::astar_cost [protected]

Definition at line 157 of file dp.h.

dpNode* dpNode::brother [protected]

Definition at line 161 of file dp.h.

dpNode* dpNode::child [protected]

Definition at line 162 of file dp.h.

double dpNode::cost [protected]

Definition at line 156 of file dp.h.

int dpNode::depth [protected]

Definition at line 168 of file dp.h.

dpMain* dpNode::dp_main [protected]

Definition at line 165 of file dp.h.

int dpNode::id [protected]

Definition at line 167 of file dp.h.

dpNode* dpNode::parent [protected]

Definition at line 160 of file dp.h.

dpQueue* dpNode::queue [protected]

Definition at line 166 of file dp.h.

double dpNode::total_astar_cost [protected]

Definition at line 164 of file dp.h.

double dpNode::total_cost [protected]

Definition at line 163 of file dp.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:59