#include <BOAStar.h>

Classes
struct	item

struct	stateInfo

Public Member Functions
	BOAStar ()

virtual	~BOAStar ()

void	GetPath (environment env1, environment env2, Heuristic< state > h1, Heuristic< state > h2, const state &from, const state &to, std::vector< state > &thePath)

bool	InitializeSearch (environment env1, environment env2, Heuristic< state > h1, Heuristic< state > h2, const state &from, const state &to, std::vector< state > &thePath)

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

void	ExtractPathToStart (state &node, std::vector< state > &thePath)

void	ExtractPathToStartFromID (size_t node, std::vector< state > &thePath)

virtual const char *	GetName ()

uint64_t	GetUniqueNodesExpanded ()

void	ResetNodeCount ()

size_t	GetNumItems () const

bool	IsOpen (size_t item) const

state	GetItem (size_t item) const

float	GetItemGCost (size_t item) const

float	GetItemHCost (size_t item) const

uint64_t	GetNodesExpanded () const

uint64_t	GetNodesTouched () const

void	LogFinalStats (StatCollection *)

void	Draw (Graphics::Display &d) const

void	DrawFrontier (Graphics::Display &d, int selected=-1) const

void	DrawAllPaths (Graphics::Display &d) const

void	DrawGoal (Graphics::Display &d, int which, rgbColor c=Colors::blue, float width=1.0) const

int	GetClosestGoal (Graphics::point p, float limit)

void	SetPhi (std::function< double(double, double)> p)

double	Phi (double h, double g) const

void	SetOptimalityBound (double w)

double	GetOptimalityBound ()

Public Attributes
state	goal

state	start

Private Member Functions
void	GetMinFOnOpen () const

size_t	GetBestStateOnOpen () const

void	DrawOpen (Graphics::Display &d) const

void	Expand (size_t which)

void	UpdateCost (size_t next, size_t parent)

void	AddState (const state &s, size_t parent)

size_t	Lookup (const state &s)

Private Attributes
uint64_t	nodesTouched

uint64_t	nodesExpanded

std::unordered_map< uint64_t, stateInfo >	hashTable

std::vector< item >	allStates

std::vector< state >	neighbors

std::vector< item >	goals

std::vector< int >	openDrawing

std::vector< Graphics::point >	goalDrawLocs

std::vector< state >	solution

environment *	e1

environment *	e2

Heuristic< state > *	h1

Heuristic< state > *	h2

double	bound

uint64_t	uniqueNodesExpanded

std::function< double(double, double)>	phi

Detailed Description

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

Definition at line 16 of file BOAStar.h.

Constructor & Destructor Documentation

◆ BOAStar()

template<class state , class action , class environment >

BOAStar< state, action, environment >::BOAStar ( )

inline

Definition at line 19 of file BOAStar.h.

References BOAStar< state, action, environment >::ResetNodeCount().

◆ ~BOAStar()

template<class state , class action , class environment >

virtual BOAStar< state, action, environment >::~BOAStar ( )

inlinevirtual

Definition at line 20 of file BOAStar.h.

Member Function Documentation

◆ AddState()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::AddState	(	const state &	s,
		size_t	parent
	)

private

◆ DoSingleSearchStep()

template<class state , class action , class environment >

bool BOAStar< state, action, environment >::DoSingleSearchStep ( std::vector< state > & thePath )

Definition at line 164 of file BOAStar.h.

References to_string_with_precision().

◆ Draw()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::Draw ( Graphics::Display & d ) const

Definition at line 291 of file BOAStar.h.

References Colors::blue, d, Colors::green, max, and Colors::red.

◆ DrawAllPaths()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::DrawAllPaths ( Graphics::Display & d ) const

Definition at line 408 of file BOAStar.h.

References Colors::blue, and d.

◆ DrawFrontier()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::DrawFrontier	(	Graphics::Display &	d,
		int	selected = `-1`
	)		const

Definition at line 331 of file BOAStar.h.

References d, fequal(), Colors::lightblue, max, min(), Graphics::textAlignCenter, Graphics::textAlignLeft, Graphics::textAlignRight, Graphics::textBaselineBottom, Graphics::textBaselineMiddle, Graphics::textBaselineTop, to_string_with_precision(), and Colors::white.

◆ DrawGoal()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::DrawGoal	(	Graphics::Display &	d,
		int	which,
		rgbColor	c = `Colors::blue`,
		float	width = `1.0`
	)		const

Definition at line 425 of file BOAStar.h.

References d, and width.

◆ DrawOpen()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::DrawOpen ( Graphics::Display & d ) const

private

◆ Expand()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::Expand ( size_t which )

private

Definition at line 250 of file BOAStar.h.

References BOAStar< state, action, environment >::item::fCost2(), BOAStar< state, action, environment >::item::gCost2, and BOAStar< state, action, environment >::item::s.

◆ ExtractPathToStart()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::ExtractPathToStart	(	state &	node,
		std::vector< state > &	thePath
	)

◆ ExtractPathToStartFromID()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::ExtractPathToStartFromID	(	size_t	node,
		std::vector< state > &	thePath
	)

◆ GetBestStateOnOpen()

template<class state , class action , class environment >

size_t BOAStar< state, action, environment >::GetBestStateOnOpen

private

Definition at line 215 of file BOAStar.h.

References fequal(), and fless().

◆ GetClosestGoal()

template<class state , class action , class environment >

int BOAStar< state, action, environment >::GetClosestGoal	(	Graphics::point	p,
		float	limit
	)

Definition at line 442 of file BOAStar.h.

References d, and fless().

◆ GetItem()

template<class state , class action , class environment >

state BOAStar< state, action, environment >::GetItem ( size_t item ) const

inline

Definition at line 41 of file BOAStar.h.

References BOAStar< state, action, environment >::allStates.

◆ GetItemGCost()

template<class state , class action , class environment >

float BOAStar< state, action, environment >::GetItemGCost ( size_t item ) const

inline

Definition at line 42 of file BOAStar.h.

References BOAStar< state, action, environment >::allStates.

◆ GetItemHCost()

template<class state , class action , class environment >

float BOAStar< state, action, environment >::GetItemHCost ( size_t item ) const

inline

Definition at line 43 of file BOAStar.h.

References BOAStar< state, action, environment >::allStates.

◆ GetMinFOnOpen()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::GetMinFOnOpen ( ) const

private

◆ GetName()

template<class state , class action , class environment >

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

inlinevirtual

Definition at line 33 of file BOAStar.h.

◆ GetNodesExpanded()

template<class state , class action , class environment >

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

inline

Definition at line 47 of file BOAStar.h.

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

◆ GetNodesTouched()

template<class state , class action , class environment >

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

inline

Definition at line 48 of file BOAStar.h.

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

◆ GetNumItems()

template<class state , class action , class environment >

size_t BOAStar< state, action, environment >::GetNumItems ( ) const

inline

Definition at line 39 of file BOAStar.h.

References BOAStar< state, action, environment >::allStates.

◆ GetOptimalityBound()

template<class state , class action , class environment >

double BOAStar< state, action, environment >::GetOptimalityBound ( )

inline

Definition at line 70 of file BOAStar.h.

References BOAStar< state, action, environment >::bound.

◆ GetPath()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::GetPath	(	environment *	env1,
		environment *	env2,
		Heuristic< state > *	h1,
		Heuristic< state > *	h2,
		const state &	from,
		const state &	to,
		std::vector< state > &	thePath
	)

Definition at line 120 of file BOAStar.h.

◆ GetUniqueNodesExpanded()

template<class state , class action , class environment >

uint64_t BOAStar< state, action, environment >::GetUniqueNodesExpanded ( )

inline

Definition at line 35 of file BOAStar.h.

References BOAStar< state, action, environment >::uniqueNodesExpanded.

◆ InitializeSearch()

template<class state , class action , class environment >

bool BOAStar< state, action, environment >::InitializeSearch	(	environment *	env1,
		environment *	env2,
		Heuristic< state > *	h1,
		Heuristic< state > *	h2,
		const state &	from,
		const state &	to,
		std::vector< state > &	thePath
	)

Definition at line 133 of file BOAStar.h.

References Heuristic< state >::HCost().

◆ IsOpen()

template<class state , class action , class environment >

bool BOAStar< state, action, environment >::IsOpen ( size_t item ) const

inline

Definition at line 40 of file BOAStar.h.

References BOAStar< state, action, environment >::allStates.

◆ LogFinalStats()

template<class state , class action , class environment >

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

inline

Definition at line 50 of file BOAStar.h.

◆ Lookup()

template<class state , class action , class environment >

size_t BOAStar< state, action, environment >::Lookup ( const state & s )

private

◆ Phi()

template<class state , class action , class environment >

double BOAStar< state, action, environment >::Phi	(	double	h,
		double	g
	)		const

inline

Definition at line 61 of file BOAStar.h.

References BOAStar< state, action, environment >::phi.

◆ ResetNodeCount()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::ResetNodeCount ( )

inline

Definition at line 36 of file BOAStar.h.

References BOAStar< state, action, environment >::nodesExpanded, BOAStar< state, action, environment >::nodesTouched, and BOAStar< state, action, environment >::uniqueNodesExpanded.

Referenced by BOAStar< state, action, environment >::BOAStar().

◆ SetOptimalityBound()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::SetOptimalityBound ( double w )

inline

Definition at line 65 of file BOAStar.h.

References BOAStar< state, action, environment >::bound, and BOAStar< state, action, environment >::phi.

◆ SetPhi()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::SetPhi ( std::function< double(double, double)> p )

inline

Definition at line 57 of file BOAStar.h.

References BOAStar< state, action, environment >::phi.

◆ UpdateCost()

template<class state , class action , class environment >

void BOAStar< state, action, environment >::UpdateCost	(	size_t	next,
		size_t	parent
	)

private

Member Data Documentation

◆ allStates

template<class state , class action , class environment >

std::vector<item> BOAStar< state, action, environment >::allStates

private

Definition at line 98 of file BOAStar.h.

Referenced by BOAStar< state, action, environment >::GetItem(), BOAStar< state, action, environment >::GetItemGCost(), BOAStar< state, action, environment >::GetItemHCost(), BOAStar< state, action, environment >::GetNumItems(), and BOAStar< state, action, environment >::IsOpen().

◆ bound

template<class state , class action , class environment >

double BOAStar< state, action, environment >::bound

private

Definition at line 112 of file BOAStar.h.

Referenced by BOAStar< state, action, environment >::GetOptimalityBound(), and BOAStar< state, action, environment >::SetOptimalityBound().

◆ e1

template<class state , class action , class environment >

environment* BOAStar< state, action, environment >::e1

private

Definition at line 109 of file BOAStar.h.

◆ e2

template<class state , class action , class environment >

environment * BOAStar< state, action, environment >::e2

private

Definition at line 109 of file BOAStar.h.

◆ goal

template<class state , class action , class environment >

state BOAStar< state, action, environment >::goal

Definition at line 25 of file BOAStar.h.

◆ goalDrawLocs

template<class state , class action , class environment >

std::vector<Graphics::point> BOAStar< state, action, environment >::goalDrawLocs

mutableprivate

Definition at line 107 of file BOAStar.h.

◆ goals

template<class state , class action , class environment >

std::vector<item> BOAStar< state, action, environment >::goals

private

Definition at line 105 of file BOAStar.h.

◆ h1

template<class state , class action , class environment >

Heuristic<state>* BOAStar< state, action, environment >::h1

private

Definition at line 110 of file BOAStar.h.

◆ h2

template<class state , class action , class environment >

Heuristic<state> * BOAStar< state, action, environment >::h2

private

Definition at line 110 of file BOAStar.h.

◆ hashTable

template<class state , class action , class environment >

std::unordered_map<uint64_t, stateInfo> BOAStar< state, action, environment >::hashTable

private

Definition at line 97 of file BOAStar.h.

◆ neighbors

template<class state , class action , class environment >

std::vector<state> BOAStar< state, action, environment >::neighbors

private

Definition at line 99 of file BOAStar.h.

◆ nodesExpanded

template<class state , class action , class environment >

uint64_t BOAStar< state, action, environment >::nodesExpanded

private

Definition at line 80 of file BOAStar.h.

Referenced by BOAStar< state, action, environment >::GetNodesExpanded(), and BOAStar< state, action, environment >::ResetNodeCount().

◆ nodesTouched

template<class state , class action , class environment >

uint64_t BOAStar< state, action, environment >::nodesTouched

private

Definition at line 80 of file BOAStar.h.

Referenced by BOAStar< state, action, environment >::GetNodesTouched(), and BOAStar< state, action, environment >::ResetNodeCount().

◆ openDrawing

template<class state , class action , class environment >

std::vector<int> BOAStar< state, action, environment >::openDrawing

private

Definition at line 106 of file BOAStar.h.

◆ phi

template<class state , class action , class environment >

std::function<double(double, double)> BOAStar< state, action, environment >::phi

private

Definition at line 116 of file BOAStar.h.

Referenced by BOAStar< state, action, environment >::Phi(), BOAStar< state, action, environment >::SetOptimalityBound(), and BOAStar< state, action, environment >::SetPhi().

◆ solution

template<class state , class action , class environment >

std::vector<state> BOAStar< state, action, environment >::solution

private

Definition at line 108 of file BOAStar.h.

◆ start

template<class state , class action , class environment >

state BOAStar< state, action, environment >::start

Definition at line 25 of file BOAStar.h.

◆ uniqueNodesExpanded

template<class state , class action , class environment >

uint64_t BOAStar< state, action, environment >::uniqueNodesExpanded

private

Definition at line 113 of file BOAStar.h.

Referenced by BOAStar< state, action, environment >::GetUniqueNodesExpanded(), and BOAStar< state, action, environment >::ResetNodeCount().

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

/home/sturtevant/nightly/hog2/generic/BOAStar.h

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ BOAStar()

◆ ~BOAStar()

Member Function Documentation

◆ AddState()

◆ DoSingleSearchStep()

◆ Draw()

◆ DrawAllPaths()

◆ DrawFrontier()

◆ DrawGoal()

◆ DrawOpen()

◆ Expand()

◆ ExtractPathToStart()

◆ ExtractPathToStartFromID()

◆ GetBestStateOnOpen()

◆ GetClosestGoal()

◆ GetItem()

◆ GetItemGCost()

◆ GetItemHCost()

◆ GetMinFOnOpen()

◆ GetName()

◆ GetNodesExpanded()

◆ GetNodesTouched()

◆ GetNumItems()

◆ GetOptimalityBound()

◆ GetPath()

◆ GetUniqueNodesExpanded()

◆ InitializeSearch()

◆ IsOpen()

◆ LogFinalStats()

◆ Lookup()

◆ Phi()

◆ ResetNodeCount()

◆ SetOptimalityBound()

◆ SetPhi()

◆ UpdateCost()

Member Data Documentation

◆ allStates

◆ bound

◆ e1

◆ e2

◆ goal

◆ goalDrawLocs

◆ goals

◆ h1

◆ h2

◆ hashTable

◆ neighbors

◆ nodesExpanded

◆ nodesTouched

◆ openDrawing

◆ phi

◆ solution

◆ start

◆ uniqueNodesExpanded

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