SpreadPRAStar.h

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/*
 *  $Id: spreadPRAStar.h
 *  hog2
 *
 *  Created by Nathan Sturtevant on 6/27/05.
 *  Modified by Nathan Sturtevant on 02/29/20.
 *
 * This file is part of HOG2. See https://github.com/nathansttt/hog2 for licensing information.
 *
 */
 
#include "SearchAlgorithm.h"
#include "Heap.h"
#include "CorridorAStar.h"
 
#ifndef SPREADPRASTAR_H
#define SPREADPRASTAR_H
 
#include "SpreadExecSearchAlgorithm.h"
 
class spreadPRAStar : public spreadExecSearchAlgorithm {
public:
        spreadPRAStar();
        virtual ~spreadPRAStar() {}
        void setPartialPathLimit(int limit)
        { partialLimit = limit; sprintf(algName, "SpreadPRA*(%d)", partialLimit); }
        
        virtual path *GetPath(GraphAbstraction *aMap, node *from, node *to, reservationProvider *rp = 0);
        void setTargets(GraphAbstraction *, node *, node *, reservationProvider *);
        int getNumThinkSteps(); 
        path *think(); 
private:
        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);
 
        char algName[30];
        int partialLimit;
        bool expandSearchRadius;
        path *lastPath;
        std::vector<node *> startChain, endChain;
        corridorAStar cAStar;
};
 
#endif