#include <RoboticArm.h>

Inheritance diagram for ArmToArmHeuristic:

Collaboration diagram for ArmToArmHeuristic:

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Public Member Functions
	ArmToArmHeuristic (RoboticArm *r, armAngles &initial, bool optimize=false)

virtual	~ArmToArmHeuristic ()

double	HCost (const armAngles &node1, const armAngles &node2) const

void	AddDiffTable ()

bool	IsLegalState (armAngles &arm)

const std::vector< armAngles > &	GetTipPositions (double x, double y)

Public Member Functions inherited from RoboticArmHeuristic
virtual	~RoboticArmHeuristic ()

Private Member Functions
armAngles	SelectStartNode ()

int	TipPositionIndex (const double x, const double y, const double minX=-1.0, const double minY=-1.0, const double width=2.0)

void	GenerateLegalStates (armAngles &init)

Private Attributes
bool	optimizeLocations

RoboticArm *	ra

std::vector< std::vector< uint16_t > >	distances

std::vector< armAngles >	canonicalStates

std::vector< std::vector< armAngles > >	tipPositionTables

std::vector< bool >	legalStates

Detailed Description

Definition at line 166 of file RoboticArm.h.

Constructor & Destructor Documentation

◆ ArmToArmHeuristic()

ArmToArmHeuristic::ArmToArmHeuristic	(	RoboticArm *	r,
		armAngles &	initial,
		bool	optimize = `false`
	)

Definition at line 1235 of file RoboticArm.cpp.

References GenerateLegalStates(), optimizeLocations, and ra.

◆ ~ArmToArmHeuristic()

virtual ArmToArmHeuristic::~ArmToArmHeuristic ( )

inlinevirtual

Definition at line 169 of file RoboticArm.h.

Member Function Documentation

◆ AddDiffTable()

void ArmToArmHeuristic::AddDiffTable ( )

Definition at line 1277 of file RoboticArm.cpp.

References canonicalStates, distances, RoboticArm::GetStateHash(), RoboticArm::GetSuccessors(), ra, and SelectStartNode().

◆ GenerateLegalStates()

void ArmToArmHeuristic::GenerateLegalStates ( armAngles & init )

private

Definition at line 1366 of file RoboticArm.cpp.

References RoboticArm::GetStateHash(), RoboticArm::GetSuccessors(), RoboticArm::GetTipPosition(), legalStates, ra, TipPositionIndex(), and tipPositionTables.

Referenced by ArmToArmHeuristic().

◆ GetTipPositions()

const std::vector<armAngles>& ArmToArmHeuristic::GetTipPositions	(	double	x,
		double	y
	)

inline

Definition at line 173 of file RoboticArm.h.

References TipPositionIndex(), and tipPositionTables.

◆ HCost()

double ArmToArmHeuristic::HCost	(	const armAngles &	node1,
		const armAngles &	node2
	)		const

virtual

Implements RoboticArmHeuristic.

Definition at line 1242 of file RoboticArm.cpp.

References distances, RoboticArm::GetStateHash(), armAngles::IsGoalState(), max, and ra.

◆ IsLegalState()

bool ArmToArmHeuristic::IsLegalState ( armAngles & arm )

Definition at line 1361 of file RoboticArm.cpp.

References RoboticArm::GetStateHash(), legalStates, and ra.

Referenced by SelectStartNode().

◆ SelectStartNode()

armAngles ArmToArmHeuristic::SelectStartNode ( )

private

Definition at line 1318 of file RoboticArm.cpp.

References canonicalStates, distances, RoboticArm::GetRandomState(), RoboticArm::GetStateHash(), RoboticArm::GetSuccessors(), IsLegalState(), optimizeLocations, and ra.

Referenced by AddDiffTable().

◆ TipPositionIndex()

int ArmToArmHeuristic::TipPositionIndex	(	const double	x,
		const double	y,
		const double	minX = `-1.0`,
		const double	minY = `-1.0`,
		const double	width = `2.0`
	)