ARAPlanner Class Reference

ARA* planner. More...

#include <araplanner.h>

Inheritance diagram for ARAPlanner:

List of all members.

Public Member Functions
	ARAPlanner (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
double	get_final_eps_planning_time ()
	returns the time taken to get the final solution
double	get_final_epsilon ()
	returns the final epsilon achieved during the search
double	get_initial_eps ()
	returns the initial epsilon
double	get_initial_eps_planning_time ()
	returns the time taken to find the first solution
virtual int	get_n_expands () const
	returns the number of states expanded so far
int	get_n_expands_init_solution ()
	returns the number of expands to find the first solution
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
	~ARAPlanner ()
	destructor
Private Member Functions
void	BuildNewOPENList (ARASearchStateSpace_t *pSearchStateSpace)
int	ComputeHeuristic (CMDPSTATE *MDPstate, ARASearchStateSpace_t *pSearchStateSpace)
int	CreateSearchStateSpace (ARASearchStateSpace_t *pSearchStateSpace)
CMDPSTATE *	CreateState (int stateID, ARASearchStateSpace_t *pSearchStateSpace)
void	DeleteSearchStateData (ARAState *state)
void	DeleteSearchStateSpace (ARASearchStateSpace_t *pSearchStateSpace)
int	GetGVal (int StateID, ARASearchStateSpace_t *pSearchStateSpace)
int	getHeurValue (ARASearchStateSpace_t *pSearchStateSpace, int StateID)
vector< int >	GetSearchPath (ARASearchStateSpace_t *pSearchStateSpace, int &solcost)
CMDPSTATE *	GetState (int stateID, ARASearchStateSpace_t *pSearchStateSpace)
int	ImprovePath (ARASearchStateSpace_t *pSearchStateSpace, double MaxNumofSecs)
void	Initialize_searchinfo (CMDPSTATE *state, ARASearchStateSpace_t *pSearchStateSpace)
void	InitializeSearchStateInfo (ARAState *state, ARASearchStateSpace_t *pSearchStateSpace)
int	InitializeSearchStateSpace (ARASearchStateSpace_t *pSearchStateSpace)
void	PrintSearchPath (ARASearchStateSpace_t *pSearchStateSpace, FILE *fOut)
void	PrintSearchState (ARAState *state, FILE *fOut)
int	ReconstructPath (ARASearchStateSpace_t *pSearchStateSpace)
void	Reevaluatefvals (ARASearchStateSpace_t *pSearchStateSpace)
void	ReInitializeSearchStateInfo (ARAState *state, ARASearchStateSpace_t *pSearchStateSpace)
void	ReInitializeSearchStateSpace (ARASearchStateSpace_t *pSearchStateSpace)
int	ResetSearchStateSpace (ARASearchStateSpace_t *pSearchStateSpace)
bool	Search (ARASearchStateSpace_t *pSearchStateSpace, vector< int > &pathIds, int &PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
int	SetSearchGoalState (int SearchGoalStateID, ARASearchStateSpace_t *pSearchStateSpace)
int	SetSearchStartState (int SearchStartStateID, ARASearchStateSpace_t *pSearchStateSpace)
void	UpdatePreds (ARAState *state, ARASearchStateSpace_t *pSearchStateSpace)
void	UpdateSuccs (ARAState *state, ARASearchStateSpace_t *pSearchStateSpace)
Private Attributes
bool	bforwardsearch
bool	bsearchuntilfirstsolution
FILE *	fDeb
double	final_eps
double	final_eps_planning_time
double	finitial_eps
double	finitial_eps_planning_time
int	MaxMemoryCounter
MDPConfig *	MDPCfg_
int	num_of_expands_initial_solution
ARASearchStateSpace_t *	pSearchStateSpace_
unsigned int	searchexpands
clock_t	TimeStarted

---

Detailed Description

ARA* planner.

Definition at line 123 of file araplanner.h.

---

Constructor & Destructor Documentation

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

constructor

Definition at line 39 of file araplanner.cpp.

ARAPlanner::~ARAPlanner

(

)

destructor

Definition at line 81 of file araplanner.cpp.

---

Member Function Documentation

void ARAPlanner::BuildNewOPENList

(

ARASearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 502 of file araplanner.cpp.

int ARAPlanner::ComputeHeuristic	(	CMDPSTATE *	MDPstate,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 161 of file araplanner.cpp.

void ARAPlanner::costs_changed

(

StateChangeQuery const &

stateChange

)

[virtual]

inform the search about the new edge costs

Implements SBPLPlanner.

Definition at line 1215 of file araplanner.cpp.

void ARAPlanner::costs_changed

(

)

inform the search about the new edge costs -

Note:

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

Definition at line 1224 of file araplanner.cpp.

int ARAPlanner::CreateSearchStateSpace

(

ARASearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 550 of file araplanner.cpp.

CMDPSTATE * ARAPlanner::CreateState	(	int	stateID,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 102 of file araplanner.cpp.

void ARAPlanner::DeleteSearchStateData

(

ARAState *

state

)

[private]

Definition at line 257 of file araplanner.cpp.

void ARAPlanner::DeleteSearchStateSpace

(

ARASearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 571 of file araplanner.cpp.

int ARAPlanner::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 1233 of file araplanner.cpp.

double ARAPlanner::get_final_eps_planning_time

(

)

[inline, virtual]

returns the time taken to get the final solution

Reimplemented from SBPLPlanner.

Definition at line 194 of file araplanner.h.

double ARAPlanner::get_final_epsilon

(

)

[inline, virtual]

returns the final epsilon achieved during the search

Reimplemented from SBPLPlanner.

Definition at line 202 of file araplanner.h.

double ARAPlanner::get_initial_eps

(

)

[inline, virtual]

returns the initial epsilon

Reimplemented from SBPLPlanner.

Definition at line 186 of file araplanner.h.

double ARAPlanner::get_initial_eps_planning_time

(

)

[inline, virtual]

returns the time taken to find the first solution

Reimplemented from SBPLPlanner.

Definition at line 190 of file araplanner.h.

virtual int ARAPlanner::get_n_expands

(

)

const [inline, virtual]

returns the number of states expanded so far

Reimplemented from SBPLPlanner.

Definition at line 166 of file araplanner.h.

int ARAPlanner::get_n_expands_init_solution

(

)

[inline, virtual]

returns the number of expands to find the first solution

Reimplemented from SBPLPlanner.

Definition at line 198 of file araplanner.h.

virtual double ARAPlanner::get_solution_eps

(

)

const [inline, virtual]

returns the suboptimality bound on the currently found solution

Reimplemented from SBPLPlanner.

Definition at line 162 of file araplanner.h.

int ARAPlanner::GetGVal	(	int	StateID,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 362 of file araplanner.cpp.

int ARAPlanner::getHeurValue	(	ARASearchStateSpace_t *	pSearchStateSpace,
		int	StateID
	)		[private]

Definition at line 880 of file araplanner.cpp.

vector< int > ARAPlanner::GetSearchPath	(	ARASearchStateSpace_t *	pSearchStateSpace,
		int &	solcost
	)		[private]

Definition at line 888 of file araplanner.cpp.

CMDPSTATE * ARAPlanner::GetState	(	int	stateID,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 138 of file araplanner.cpp.

int ARAPlanner::ImprovePath	(	ARASearchStateSpace_t *	pSearchStateSpace,
		double	MaxNumofSecs
	)		[private]

Definition at line 370 of file araplanner.cpp.

void ARAPlanner::Initialize_searchinfo	(	CMDPSTATE *	state,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 92 of file araplanner.cpp.

void ARAPlanner::InitializeSearchStateInfo	(	ARAState *	state,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 192 of file araplanner.cpp.

int ARAPlanner::InitializeSearchStateSpace

(

ARASearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 656 of file araplanner.cpp.

void ARAPlanner::print_searchpath

(

FILE *

fOut

)

prints out the search path into a file

Definition at line 1254 of file araplanner.cpp.

void ARAPlanner::PrintSearchPath	(	ARASearchStateSpace_t *	pSearchStateSpace,
		FILE *	fOut
	)		[private]

Definition at line 797 of file araplanner.cpp.

void ARAPlanner::PrintSearchState	(	ARAState *	state,
		FILE *	fOut
	)		[private]

Definition at line 869 of file araplanner.cpp.

int ARAPlanner::ReconstructPath

(

ARASearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 736 of file araplanner.cpp.

void ARAPlanner::Reevaluatefvals

(

ARASearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 526 of file araplanner.cpp.

void ARAPlanner::ReInitializeSearchStateInfo	(	ARAState *	state,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 222 of file araplanner.cpp.

void ARAPlanner::ReInitializeSearchStateSpace

(

ARASearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 614 of file araplanner.cpp.

int ARAPlanner::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 1123 of file araplanner.cpp.

int ARAPlanner::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 1132 of file araplanner.cpp.

int ARAPlanner::ResetSearchStateSpace

(

ARASearchStateSpace_t *

pSearchStateSpace

)

[private]

Definition at line 605 of file araplanner.cpp.

bool ARAPlanner::Search	(	ARASearchStateSpace_t *	pSearchStateSpace,
		vector< int > &	pathIds,
		int &	PathCost,
		bool	bFirstSolution,
		bool	bOptimalSolution,
		double	MaxNumofSecs
	)		[private]

Definition at line 989 of file araplanner.cpp.

int ARAPlanner::set_goal

(

int

goal_stateID

)

[virtual]

set the goal state

Implements SBPLPlanner.

Definition at line 1158 of file araplanner.cpp.

virtual void ARAPlanner::set_initialsolution_eps

(

double

initialsolution_eps

)

[inline, virtual]

returns the value of the initial epsilon (suboptimality bound) used

Reimplemented from SBPLPlanner.

Definition at line 170 of file araplanner.h.

int ARAPlanner::set_search_mode

(

bool

bSearchUntilFirstSolution

)

[virtual]

you can either search forwards or backwards

Implements SBPLPlanner.

Definition at line 1243 of file araplanner.cpp.

int ARAPlanner::set_start

(

int

start_stateID

)

[virtual]

set the start state

Implements SBPLPlanner.

Definition at line 1185 of file araplanner.cpp.

int ARAPlanner::SetSearchGoalState	(	int	SearchGoalStateID,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 687 of file araplanner.cpp.

int ARAPlanner::SetSearchStartState	(	int	SearchStartStateID,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 719 of file araplanner.cpp.

void ARAPlanner::UpdatePreds	(	ARAState *	state,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 267 of file araplanner.cpp.

void ARAPlanner::UpdateSuccs	(	ARAState *	state,
		ARASearchStateSpace_t *	pSearchStateSpace
	)		[private]

Definition at line 312 of file araplanner.cpp.

---

Member Data Documentation

bool ARAPlanner::bforwardsearch [private]

Definition at line 213 of file araplanner.h.

bool ARAPlanner::bsearchuntilfirstsolution [private]

Definition at line 215 of file araplanner.h.

FILE* ARAPlanner::fDeb [private]

Definition at line 222 of file araplanner.h.

double ARAPlanner::final_eps [private]

Definition at line 202 of file araplanner.h.

double ARAPlanner::final_eps_planning_time [private]

Definition at line 202 of file araplanner.h.

double ARAPlanner::finitial_eps [private]

Definition at line 202 of file araplanner.h.

double ARAPlanner::finitial_eps_planning_time [private]

Definition at line 202 of file araplanner.h.

int ARAPlanner::MaxMemoryCounter [private]

Definition at line 220 of file araplanner.h.

MDPConfig* ARAPlanner::MDPCfg_ [private]

Definition at line 211 of file araplanner.h.

int ARAPlanner::num_of_expands_initial_solution [private]

Definition at line 209 of file araplanner.h.

ARASearchStateSpace_t* ARAPlanner::pSearchStateSpace_ [private]

Definition at line 217 of file araplanner.h.

unsigned int ARAPlanner::searchexpands [private]

Definition at line 219 of file araplanner.h.

clock_t ARAPlanner::TimeStarted [private]

Definition at line 221 of file araplanner.h.

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

• araplanner.h
• araplanner.cpp