PRAStar.h

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/*
 *  $Id: praStar.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 9/28/04.
 *  Modified by Nathan Sturtevant on 02/29/20.
 *
 * This file is part of HOG2. See https://github.com/nathansttt/hog2 for licensing information.
 *
 */
 
#ifndef PRASTAR_H
#define PRASTAR_H
 
#include <iostream>
#include "SearchAlgorithm.h"
#include "Heap.h"
 
class praStar : public SearchAlgorithm {
 
public:
        praStar();
        virtual ~praStar() {}
        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,"PRA*(%d)",partialLimit); }
        int getPartialPathLimit() { return partialLimit; }
        void setPlanFromMiddle(bool _planFromMiddle) { planFromMiddle = _planFromMiddle; }
        void setExpandSearchRadius(bool _expandSearchRadius) { expandSearchRadius = _expandSearchRadius; }
        void setUseSmoothing(bool _smoothing) { smoothing = _smoothing; }
        void setCache(path **p);
        void setFixedPlanLevel(int p) { fixedPlanLevel = p; }
        void getAbstractPathLengths(std::vector<int> &len) { len = lengths; }
protected:
 
  path *getAbstractPath(Graph *g, unsigned int source, unsigned int destParent,
                        std::vector<unsigned int> &eligibleNodeParents, int LABEL,
                        unsigned int dest);
  
  unsigned int astar(Graph *g, unsigned int source, unsigned int destParent,
                     std::vector<unsigned int> &eligibleNodeParents, int LABEL,
                     unsigned int dest);
  
  void relaxEdge(Heap *nodeHeap, Graph *g, edge *e, int source, int nextNode, int dest,
                 int LABEL);
        path *smoothPath(path *p);
        
        path **cache;
  int partialLimit;
        int fixedPlanLevel;
  char algName[30];
  GraphAbstraction *map;
        bool expandSearchRadius;
        bool planFromMiddle;
        bool smoothing;
        reservationProvider *rp;
        std::vector<int> lengths;
};
 
 
#endif