PRAStar2.h

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/*
 *  $Id: praStar2.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 6/23/05.
 *  Modified by Nathan Sturtevant on 02/29/20.
 *
 * This file is part of HOG2. See https://github.com/nathansttt/hog2 for licensing information.
 *
 * Skipping added by Renee Jansen on 5/15/06.
 *
 */
 
#ifndef PRASTAR2_H
#define PRASTAR2_H
 
#include "SearchAlgorithm.h"
#include "Heap.h"
#include "CorridorAStar.h"
 
class praStar2 : public SearchAlgorithm {
        
public:
        praStar2();
        virtual ~praStar2() {}
        virtual path *GetPath(GraphAbstraction *aMap, node *from, node *to, reservationProvider *rp = 0);
        virtual const char *GetName()
        { return algName; } 
        void setPartialPathLimit(int limit)
        { partialLimit = limit; sprintf(algName,"PRA2*(%d)", partialLimit); }
        int getPartialPathLimit() { return partialLimit; }
        void setEnhancedAbstractPathing(bool enhance) { enhancedAbstractPathing = enhance; }
  
  void setExpandSearchRadius(bool _expandSearchRadius) { expandSearchRadius = _expandSearchRadius; }
 
  void setPlanFromMiddle(bool _planFromMiddle) { planFromMiddle = _planFromMiddle; } 
  
  void setFixedPlanLevel(int p) { fixedPlanLevel = p; }
 
  void setSkipParameter(int _skip) { skip = _skip; }
 
  int getTopLevel() { return topLevel; }
  int getNumLevelsUsed() { return numLevels; }
 
protected:
        void setupSearch(GraphAbstraction *aMap,
                         std::vector<node *> &fromChain, node *from,
                         std::vector<node *> &toChain, node *to);
        path *buildNextAbstractPath(GraphAbstraction *, path *lastPath,
                                    std::vector<node *> &fromChain,
                                    std::vector<node *> &toChain,
                                    reservationProvider *);
        path *trimPath(path *lastPath, node *origDest);
 
  void selectTopAbstractionLevel(GraphAbstraction * aMap,
                                 std::vector<node *> &fromChain,
                                 std::vector<node *> & toChain);
 
        int partialLimit;
        bool enhancedAbstractPathing;
        bool expandSearchRadius;
        corridorAStar cAStar;
  char algName[30];
 
  bool planFromMiddle;
  int fixedPlanLevel;
  int skip; 
  int topLevel; //the highest level at which an abstract path is found
  int numLevels; // the number of levels at which an abstract path is found
};
 
 
#endif