A search algorithm which combines direction maps with abstraction. More...

#include <AbstractWeightedSearchAlgorithm.h>

Inheritance diagram for AbstractWeightedSearchAlgorithm< state, action, environment >:

Collaboration diagram for AbstractWeightedSearchAlgorithm< state, action, environment >:

[legend]

Public Member Functions
	AbstractWeightedSearchAlgorithm ()

virtual	~AbstractWeightedSearchAlgorithm ()

bool	InitializeSearch (environment *env, const state &from, const state &to, std::vector< state > &thePath)

virtual void	GetPath (environment *env, const state &from, const state &to, std::vector< state > &thePath)

virtual void	GetPath (environment *, const state &, const state &, std::vector< action > &)

virtual const char *	GetName ()

virtual uint64_t	GetNodesExpanded () const

virtual uint64_t	GetNodesTouched () const

virtual void	LogFinalStats (StatCollection *)

void	SetWeightedEnvironment (WeightedMap2DEnvironment *w)
	Set the weighted environment This must be set for the algorithm to work. More...

void	SetSkipAbsNode (double pathPerc)
	Set skip abstract nodes, and partial path refinement If set to 'true', the algorithm plans to the one-after-next abstract node, and cuts off the path after pathPerc. More...

Public Member Functions inherited from GenericSearchAlgorithm< state, action, environment >
	GenericSearchAlgorithm ()

virtual	~GenericSearchAlgorithm ()

virtual bool	DoSingleSearchStep (std::vector< state > &thePath)

virtual void	OpenGLDraw () const

virtual void	OpenGLDraw (const environment *env) const

Private Attributes
uint64_t	nodesExpanded

uint64_t	nodesTouched

WeightedMap2DEnvironment *	wenv

bool	partialSkip

double	refinePart

Detailed Description

template<class state, class action, class environment>
class AbstractWeightedSearchAlgorithm< state, action, environment >

A search algorithm which combines direction maps with abstraction.

This algorithm requires an abstraction environment with a MapSectorAbstraction as well as a WeightedMap2DEnvironment.

Definition at line 320 of file AbstractWeightedSearchAlgorithm.h.

Constructor & Destructor Documentation

◆ AbstractWeightedSearchAlgorithm()

template<class state , class action , class environment >

AbstractWeightedSearchAlgorithm< state, action, environment >::AbstractWeightedSearchAlgorithm

Definition at line 355 of file AbstractWeightedSearchAlgorithm.h.

◆ ~AbstractWeightedSearchAlgorithm()

template<class state , class action , class environment >

AbstractWeightedSearchAlgorithm< state, action, environment >::~AbstractWeightedSearchAlgorithm

virtual

Definition at line 361 of file AbstractWeightedSearchAlgorithm.h.

Member Function Documentation

◆ GetName()

template<class state , class action , class environment >

virtual const char* AbstractWeightedSearchAlgorithm< state, action, environment >::GetName ( )

inlinevirtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 329 of file AbstractWeightedSearchAlgorithm.h.

◆ GetNodesExpanded()

template<class state , class action , class environment >

virtual uint64_t AbstractWeightedSearchAlgorithm< state, action, environment >::GetNodesExpanded ( ) const

inlinevirtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 330 of file AbstractWeightedSearchAlgorithm.h.

References AbstractWeightedSearchAlgorithm< state, action, environment >::nodesExpanded.

◆ GetNodesTouched()

template<class state , class action , class environment >

virtual uint64_t AbstractWeightedSearchAlgorithm< state, action, environment >::GetNodesTouched ( ) const

inlinevirtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 331 of file AbstractWeightedSearchAlgorithm.h.

References AbstractWeightedSearchAlgorithm< state, action, environment >::nodesTouched.

◆ GetPath() [1/2]

template<class state , class action , class environment >

virtual void AbstractWeightedSearchAlgorithm< state, action, environment >::GetPath	(	environment *	,
		const state &	,
		const state &	,
		std::vector< action > &
	)

inlinevirtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 328 of file AbstractWeightedSearchAlgorithm.h.

◆ GetPath() [2/2]

template<class state , class action , class environment >

void AbstractWeightedSearchAlgorithm< state, action, environment >::GetPath	(	environment *	env,
		const state &	from,
		const state &	to,
		std::vector< state > &	thePath
	)

virtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 375 of file AbstractWeightedSearchAlgorithm.h.

References node::GetLabelL(), Graph::GetNode(), TemplateAStar< state, action, environment, openList >::GetNodesExpanded(), TemplateAStar< state, action, environment, openList >::GetNodesTouched(), node::GetNum(), TemplateAStar< state, action, environment, openList >::GetPath(), GraphEnvironment::GetSuccessors(), GraphAbstractionConstants::kFirstData, GraphAbstractionConstants::kParent, AbsGraphEnvironment::SetAbsGraph(), GraphEnvironment::SetDirected(), AbsGraphEnvironment::SetFindExactGoal(), AbsGraphEnvironment::SetNoDummyGoal(), AbsGraphEnvironment::SetWeightedEnvironment(), xyLoc::x, and xyLoc::y.

◆ InitializeSearch()

template<class state , class action , class environment >

bool AbstractWeightedSearchAlgorithm< state, action, environment >::InitializeSearch	(	environment *	env,
		const state &	from,
		const state &	to,
		std::vector< state > &	thePath
	)

virtual

Reimplemented from GenericSearchAlgorithm< state, action, environment >.

Definition at line 367 of file AbstractWeightedSearchAlgorithm.h.

◆ LogFinalStats()

template<class state , class action , class environment >

virtual void AbstractWeightedSearchAlgorithm< state, action, environment >::LogFinalStats ( StatCollection * )

inlinevirtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 332 of file AbstractWeightedSearchAlgorithm.h.

◆ SetSkipAbsNode()

template<class state , class action , class environment >

void AbstractWeightedSearchAlgorithm< state, action, environment >::SetSkipAbsNode ( double pathPerc )

inline

Set skip abstract nodes, and partial path refinement If set to 'true', the algorithm plans to the one-after-next abstract node, and cuts off the path after pathPerc.

0 < pathPerc <= 1

Definition at line 343 of file AbstractWeightedSearchAlgorithm.h.

References AbstractWeightedSearchAlgorithm< state, action, environment >::partialSkip, and AbstractWeightedSearchAlgorithm< state, action, environment >::refinePart.