ArmToTipHeuristic Class Reference

#include <RoboticArm.h>

Inheritance diagram for ArmToTipHeuristic:

Collaboration diagram for ArmToTipHeuristic:

Public Member Functions
	ArmToTipHeuristic (RoboticArm *r)
virtual	~ArmToTipHeuristic ()
double	HCost (const armAngles &node1, const armAngles &node2) const
void	GenerateLegalStateTable (armAngles &legalArm)
void	GenerateTipPositionTables (armAngles &sampleArm)
void	GenerateRandomHeuristic (const armAngles &sampleArm)
int	GenerateHeuristic (const armAngles &sampleArm, armAngles &goal)
int	GenerateMaxDistHeuristics (const armAngles &sampleArm, const int numHeuristics)
bool	ValidGoalPosition (double goalX, double goalY)
Public Member Functions inherited from RoboticArmHeuristic
virtual	~RoboticArmHeuristic ()

Private Member Functions
void	GenerateCPDB ()
uint64_t	ArmAnglesIndex (const armAngles &arm) const
uint64_t	NumArmAnglesIndices (const armAngles &arm) const
int	TipPositionIndex (const double x, const double y, const double minX, const double minY, const double width) const
int	NumTipPositionIndices () const
int	WriteArmAngles (FILE *file, armAngles &a)
int	ReadArmAngles (FILE *file, armAngles &a)
void	UpdateTipDistances (armAngles &arm, uint16_t distance, uint16_t *minTipDistances, uint16_t *maxTipDistances)
int	GenerateHeuristicSub (const armAngles &sampleArm, const bool quiet, armAngles *goals, const int numGoals, uint16_t *distances, uint16_t *minTipDistances, uint16_t *maxTipDistances, armAngles &lastAdded)
uint64_t	GenerateNextDepth (FILE *curFile, FILE *nextFile, uint16_t curDistance, uint16_t *distances, uint16_t *minTipDistances, uint16_t *maxTipDistances, armAngles &lastAdded)
uint16_t	UseHeuristic (const armAngles &s, armAngles &g, uint16_t *distances) const
uint16_t	UseHeuristic (const armAngles &arm, double goalX, double goalY, uint16_t *distances, uint16_t *minTipDistances, uint16_t *maxTipDistances) const

Private Attributes
RoboticArm *	ra
bool	m_TableComplete
uint8_t *	legalStateTable
uint8_t *	legalGoalTable
std::vector< uint16_t * >	distancesTables
std::vector< uint16_t * >	minTipDistancesTables
std::vector< uint16_t * >	maxTipDistancesTables
std::vector< uint16_t >	tablesNumArms
std::vector< armAngles > *	tipPositionTables

Detailed Description

Definition at line 414 of file RoboticArm.h.

Constructor & Destructor Documentation

ArmToTipHeuristic()

ArmToTipHeuristic::ArmToTipHeuristic

(

RoboticArm *

r

)

Definition at line 600 of file RoboticArm.cpp.

References GenerateCPDB(), legalGoalTable, legalStateTable, m_TableComplete, ra, and tipPositionTables.

~ArmToTipHeuristic()

virtual ArmToTipHeuristic::~ArmToTipHeuristic ( )

inlinevirtual

Definition at line 417 of file RoboticArm.h.

Member Function Documentation

ArmAnglesIndex()

uint64_t ArmToTipHeuristic::ArmAnglesIndex ( const armAngles &  arm ) const

private

Definition at line 660 of file RoboticArm.cpp.

References armAngles::GetAngle(), and armAngles::GetNumArms().

Referenced by GenerateHeuristicSub(), GenerateLegalStateTable(), GenerateNextDepth(), and UseHeuristic().

GenerateCPDB()

void ArmToTipHeuristic::GenerateCPDB ( )

private

Definition at line 635 of file RoboticArm.cpp.

References RoboticArm::LegalArmConfig(), m_TableComplete, ra, armAngles::SetAngle(), and armAngles::SetNumArms().

Referenced by ArmToTipHeuristic().

GenerateHeuristic()

int ArmToTipHeuristic::GenerateHeuristic	(	const armAngles &	sampleArm,
		armAngles &	goal
	)

Definition at line 937 of file RoboticArm.cpp.

References distancesTables, GenerateHeuristicSub(), armAngles::GetNumArms(), maxTipDistancesTables, minTipDistancesTables, NumArmAnglesIndices(), NumTipPositionIndices(), and tablesNumArms.

GenerateHeuristicSub()

int ArmToTipHeuristic::GenerateHeuristicSub ( const armAngles &  sampleArm, const bool  quiet, armAngles *  goals, const int  numGoals, uint16_t *  distances, uint16_t *  minTipDistances, uint16_t *  maxTipDistances, armAngles &  lastAdded  )

private

Definition at line 794 of file RoboticArm.cpp.

References RoboticArm::ApplyAction(), ArmAnglesIndex(), GenerateNextDepth(), armAngles::GetAngle(), armAngles::GetNumArms(), RoboticArm::GoalTest(), kRotateCW, RoboticArm::LegalState(), NumArmAnglesIndices(), NumTipPositionIndices(), ra, armAngles::SetAngle(), armAngles::SetNumArms(), armRotations::SetRotation(), UpdateTipDistances(), and WriteArmAngles().

Referenced by GenerateHeuristic(), GenerateMaxDistHeuristics(), and GenerateRandomHeuristic().

GenerateLegalStateTable()

void ArmToTipHeuristic::GenerateLegalStateTable

(

armAngles &

legalArm

)

Definition at line 1115 of file RoboticArm.cpp.

References ArmAnglesIndex(), GenerateNextDepth(), legalGoalTable, legalStateTable, NumArmAnglesIndices(), NumTipPositionIndices(), UpdateTipDistances(), and WriteArmAngles().

GenerateMaxDistHeuristics()

int ArmToTipHeuristic::GenerateMaxDistHeuristics	(	const armAngles &	sampleArm,
		const int	numHeuristics
	)

Definition at line 965 of file RoboticArm.cpp.

References distancesTables, GenerateHeuristicSub(), armAngles::GetNumArms(), RoboticArm::GetTipPosition(), maxTipDistancesTables, minTipDistancesTables, NumArmAnglesIndices(), NumTipPositionIndices(), ra, armAngles::SetGoal(), and tablesNumArms.

GenerateNextDepth()

uint64_t ArmToTipHeuristic::GenerateNextDepth ( FILE *  curFile, FILE *  nextFile, uint16_t  curDistance, uint16_t *  distances, uint16_t *  minTipDistances, uint16_t *  maxTipDistances, armAngles &  lastAdded  )

private

Definition at line 752 of file RoboticArm.cpp.

References RoboticArm::ApplyAction(), ArmAnglesIndex(), RoboticArm::GetActions(), ra, ReadArmAngles(), UpdateTipDistances(), and WriteArmAngles().

Referenced by GenerateHeuristicSub(), and GenerateLegalStateTable().

GenerateRandomHeuristic()

void ArmToTipHeuristic::GenerateRandomHeuristic

(

const armAngles &

sampleArm

)

Definition at line 913 of file RoboticArm.cpp.

References distancesTables, GenerateHeuristicSub(), armAngles::GetNumArms(), maxTipDistancesTables, minTipDistancesTables, NumArmAnglesIndices(), NumTipPositionIndices(), armAngles::SetGoal(), and tablesNumArms.

GenerateTipPositionTables()

void ArmToTipHeuristic::GenerateTipPositionTables

(

armAngles &

sampleArm

)

Definition at line 1187 of file RoboticArm.cpp.

References RoboticArm::ApplyAction(), armAngles::GetAngle(), armAngles::GetNumArms(), RoboticArm::GetTipPosition(), kRotateCW, RoboticArm::LegalState(), NumTipPositionIndices(), ra, armAngles::SetAngle(), armAngles::SetNumArms(), armRotations::SetRotation(), TipPositionIndex(), and tipPositionTables.

HCost()

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

virtual

Implements RoboticArmHeuristic.

Definition at line 610 of file RoboticArm.cpp.

References distancesTables, armAngles::GetGoal(), armAngles::GetNumArms(), maxTipDistancesTables, minTipDistancesTables, tablesNumArms, and UseHeuristic().

NumArmAnglesIndices()

uint64_t ArmToTipHeuristic::NumArmAnglesIndices ( const armAngles &  arm ) const

inlineprivate

Definition at line 451 of file RoboticArm.h.

References armAngles::GetNumArms().

Referenced by GenerateHeuristic(), GenerateHeuristicSub(), GenerateLegalStateTable(), GenerateMaxDistHeuristics(), and GenerateRandomHeuristic().

NumTipPositionIndices()

int ArmToTipHeuristic::NumTipPositionIndices ( ) const

inlineprivate

Definition at line 459 of file RoboticArm.h.

References RoboticArm::GetTolerance(), and ra.

Referenced by GenerateHeuristic(), GenerateHeuristicSub(), GenerateLegalStateTable(), GenerateMaxDistHeuristics(), GenerateRandomHeuristic(), and GenerateTipPositionTables().

ReadArmAngles()

int ArmToTipHeuristic::ReadArmAngles ( FILE *  file, armAngles &  a  )

private

Definition at line 708 of file RoboticArm.cpp.

References armAngles::GetNumArms(), armAngles::SetAngle(), and armAngles::SetNumArms().

Referenced by GenerateNextDepth().

TipPositionIndex()

int ArmToTipHeuristic::TipPositionIndex ( const double  x, const double  y, const double  minX, const double  minY, const double  width  ) const

private

Definition at line 674 of file RoboticArm.cpp.

References RoboticArm::GetTolerance(), ra, and width.

Referenced by GenerateTipPositionTables(), UpdateTipDistances(), UseHeuristic(), and ValidGoalPosition().

UpdateTipDistances()

void ArmToTipHeuristic::UpdateTipDistances ( armAngles &  arm, uint16_t  distance, uint16_t *  minTipDistances, uint16_t *  maxTipDistances  )

private

Definition at line 729 of file RoboticArm.cpp.

References RoboticArm::GetTipPosition(), ra, and TipPositionIndex().

Referenced by GenerateHeuristicSub(), GenerateLegalStateTable(), and GenerateNextDepth().

UseHeuristic() [1/2]

uint16_t ArmToTipHeuristic::UseHeuristic ( const armAngles &  arm, double  goalX, double  goalY, uint16_t *  distances, uint16_t *  minTipDistances, uint16_t *  maxTipDistances  ) const

private

Definition at line 1035 of file RoboticArm.cpp.

References ArmAnglesIndex(), RoboticArm::GetTolerance(), ra, and TipPositionIndex().

UseHeuristic() [2/2]

uint16_t ArmToTipHeuristic::UseHeuristic ( const armAngles &  s, armAngles &  g, uint16_t *  distances  ) const

private

Definition at line 1022 of file RoboticArm.cpp.

References ArmAnglesIndex().

Referenced by HCost().

ValidGoalPosition()

bool ArmToTipHeuristic::ValidGoalPosition	(	double	goalX,
		double	goalY
	)

Definition at line 1076 of file RoboticArm.cpp.

References RoboticArm::GetTolerance(), legalGoalTable, ra, and TipPositionIndex().

WriteArmAngles()

int ArmToTipHeuristic::WriteArmAngles ( FILE *  file, armAngles &  a  )

private

Definition at line 690 of file RoboticArm.cpp.

References armAngles::GetAngle(), and armAngles::GetNumArms().

Referenced by GenerateHeuristicSub(), GenerateLegalStateTable(), and GenerateNextDepth().

Member Data Documentation

distancesTables

std::vector<uint16_t *> ArmToTipHeuristic::distancesTables

private

Definition at line 441 of file RoboticArm.h.

Referenced by GenerateHeuristic(), GenerateMaxDistHeuristics(), GenerateRandomHeuristic(), and HCost().

legalGoalTable

uint8_t* ArmToTipHeuristic::legalGoalTable

private

Definition at line 439 of file RoboticArm.h.

Referenced by ArmToTipHeuristic(), GenerateLegalStateTable(), and ValidGoalPosition().

legalStateTable

uint8_t* ArmToTipHeuristic::legalStateTable

private

Definition at line 438 of file RoboticArm.h.

Referenced by ArmToTipHeuristic(), and GenerateLegalStateTable().

m_TableComplete

bool ArmToTipHeuristic::m_TableComplete

private

Definition at line 436 of file RoboticArm.h.

Referenced by ArmToTipHeuristic(), and GenerateCPDB().

maxTipDistancesTables

std::vector<uint16_t *> ArmToTipHeuristic::maxTipDistancesTables

private

Definition at line 443 of file RoboticArm.h.

Referenced by GenerateHeuristic(), GenerateMaxDistHeuristics(), GenerateRandomHeuristic(), and HCost().

minTipDistancesTables

std::vector<uint16_t *> ArmToTipHeuristic::minTipDistancesTables

private

Definition at line 442 of file RoboticArm.h.

Referenced by GenerateHeuristic(), GenerateMaxDistHeuristics(), GenerateRandomHeuristic(), and HCost().

ra

RoboticArm* ArmToTipHeuristic::ra

private

Definition at line 435 of file RoboticArm.h.

Referenced by ArmToTipHeuristic(), GenerateCPDB(), GenerateHeuristicSub(), GenerateMaxDistHeuristics(), GenerateNextDepth(), GenerateTipPositionTables(), NumTipPositionIndices(), TipPositionIndex(), UpdateTipDistances(), UseHeuristic(), and ValidGoalPosition().

tablesNumArms

std::vector<uint16_t> ArmToTipHeuristic::tablesNumArms

private

Definition at line 444 of file RoboticArm.h.

Referenced by GenerateHeuristic(), GenerateMaxDistHeuristics(), GenerateRandomHeuristic(), and HCost().

tipPositionTables

std::vector<armAngles>* ArmToTipHeuristic::tipPositionTables

private

Definition at line 446 of file RoboticArm.h.

Referenced by ArmToTipHeuristic(), and GenerateTipPositionTables().

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The documentation for this class was generated from the following files:

• /home/sturtevant/nightly/hog2/environments/RoboticArm.h
• /home/sturtevant/nightly/hog2/environments/RoboticArm.cpp