A templated version of A*, based on TemplateAStar, which delays heuristic lookups as long as possible and batches them. More...

#include <DelayedHeuristicAStar.h>

Inheritance diagram for DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >:

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Collaboration diagram for DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >:

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Classes
struct	tempData

Public Member Functions
	DelayedHeuristicAStar (int batchLookupSize)

virtual	~DelayedHeuristicAStar ()

void	GetPath (environment *env, const state &from, const state &to, std::vector< state > &thePath)
	Perform an A* search between two states. More...

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

bool	InitializeSearch (environment *env, const state &from, const state &to, std::vector< state > &thePath)
	Initialize the A* search. More...

bool	DoSingleSearchStep (std::vector< state > &thePath)
	Expand a single node. More...

state	CheckNextNode ()
	Returns the next state on the open list (but doesn't pop it off the queue). More...

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

void	ExtractPathToStartFromID (uint64_t node, std::vector< state > &thePath)
	Get the path from a goal state to the start state. More...

const state &	GetParent (const state &s)

virtual const char *	GetName ()
	Return the name of the algorithm. More...

void	PrintStats ()
	A function that prints the number of states in the closed list and open queue. More...

uint64_t	GetUniqueNodesExpanded ()

void	ResetNodeCount ()

int	GetMemoryUsage ()
	Return the amount of memory used by DelayedHeuristicAStar. More...

bool	GetClosedListGCost (const state &val, double &gCost) const
	Get state from the closed list. More...

bool	GetOpenListGCost (const state &val, double &gCost) const

bool	GetHCost (const state &val, double &hCost) const

bool	GetClosedItem (const state &s, AStarOpenClosedDataWithF< state > &)

unsigned int	GetNumOpenItems ()

const AStarOpenClosedDataWithF< state > &	GetOpenItem (unsigned int which)

const int	GetNumItems ()

const AStarOpenClosedDataWithF< state > &	GetItem (unsigned int which)

bool	HaveExpandedState (const state &val)

dataLocation	GetStateLocation (const state &val)

void	SetReopenNodes (bool re)

bool	GetReopenNodes ()

void	SetDirected (bool d)

void	SetHeuristic (Heuristic< state > *h)

void	SetConstraint (Constraint< state > *c)

uint64_t	GetNodesExpanded () const

uint64_t	GetNodesTouched () const

uint64_t	GetNecessaryExpansions () const

void	LogFinalStats (StatCollection *)

void	SetStopAfterGoal (bool val)

bool	GetStopAfterGoal ()

void	FullBPMX (uint64_t nodeID, int distance)
	Perform a full bpmx propagation. More...

void	OpenGLDraw () const
	Draw the open/closed list. More...

void	Draw (Graphics::Display &disp) const
	Draw the open/closed list. More...

std::string	SVGDraw () const

std::string	SVGDrawDetailed () const

void	SetPhi (std::function< double(double, double)> p)
	Setting this function. More...

double	Phi (double h, double g)

void	SetWeight (double w)

double	GetWeight ()

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

virtual	~GenericSearchAlgorithm ()

virtual void	OpenGLDraw (const environment *env) const

Public Attributes
openList	openClosedList

state	goal

state	start

Private Member Functions
void	HandleBatchedStates ()

Private Attributes
uint64_t	nodesTouched

uint64_t	nodesExpanded

std::vector< state >	neighbors

std::vector< uint64_t >	neighborID

std::vector< double >	edgeCosts

std::vector< dataLocation >	neighborLoc

environment *	env

bool	stopAfterGoal

double	goalFCost

double	weight

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

bool	directed

bool	reopenNodes

uint64_t	uniqueNodesExpanded

environment *	radEnv

Heuristic< state > *	theHeuristic

Constraint< state > *	theConstraint

std::vector< tempData >	delayedStates

double	currentCostLimit

batchHeuristic	batch

int	batchLookupSize

Detailed Description

template<class state, class action, class environment, class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>
class DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >

A templated version of A*, based on TemplateAStar, which delays heuristic lookups as long as possible and batches them.

Definition at line 63 of file DelayedHeuristicAStar.h.

Constructor & Destructor Documentation

◆ DelayedHeuristicAStar()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar ( int batchLookupSize )

inline

Definition at line 65 of file DelayedHeuristicAStar.h.

◆ ~DelayedHeuristicAStar()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

virtual DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::~DelayedHeuristicAStar ( )

inlinevirtual

Definition at line 72 of file DelayedHeuristicAStar.h.

Member Function Documentation

◆ CheckNextNode()

template<class state , class action , class environment , class batchHeuristic , class openList >

state DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::CheckNextNode

Returns the next state on the open list (but doesn't pop it off the queue).

Author: Nathan Sturtevant

Date: 03/22/06

Returns: The first state in the open list.

Definition at line 450 of file DelayedHeuristicAStar.h.

◆ DoSingleSearchStep()

template<class state , class action , class environment , class batchHeuristic , class openList >

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DoSingleSearchStep ( std::vector< state > & thePath )

virtual

Expand a single node.

Author: Nathan Sturtevant

Date: 03/22/06

Parameters

thePath will contain an optimal path from start to goal if the function returns TRUE

Returns: TRUE if there is no path or if we have found the goal, FALSE otherwise

Reimplemented from GenericSearchAlgorithm< state, action, environment >.

Definition at line 295 of file DelayedHeuristicAStar.h.

References fgreater(), fless(), kClosedList, kNotFound, and kOpenList.

◆ Draw()

template<class state , class action , class environment , class batchHeuristic , class openList >

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::Draw ( Graphics::Display & disp ) const

Draw the open/closed list.

Author: Nathan Sturtevant

Date: 7/12/16

Definition at line 716 of file DelayedHeuristicAStar.h.

References Colors::blue, kClosedList, and kOpenList.

◆ ExtractPathToStart()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

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

inline

Definition at line 83 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::env, DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ExtractPathToStartFromID(), kNotFound, and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::openClosedList.

◆ ExtractPathToStartFromID()

template<class state , class action , class environment , class batchHeuristic , class openList >

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ExtractPathToStartFromID	(	uint64_t	node,
		std::vector< state > &	thePath
	)

Get the path from a goal state to the start state.

Author: Nathan Sturtevant

Date: 03/22/06

Parameters

goalNode	the goal state
thePath	will contain the path from goalNode to the start state

Definition at line 517 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ExtractPathToStart().

◆ FullBPMX()

template<class state , class action , class environment , class batchHeuristic , class openList >

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::FullBPMX	(	uint64_t	nodeID,
		int	distance
	)

Perform a full bpmx propagation.

Author: Nathan Sturtevant

Date: 6/9/9

Returns: The first state in the open list.

Definition at line 466 of file DelayedHeuristicAStar.h.

References fgreater(), kClosedList, kNotFound, and kOpenList.

◆ GetClosedItem()

template<class state , class action , class environment , class batchHeuristic , class openList >

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetClosedItem	(	const state &	s,
		AStarOpenClosedDataWithF< state > &	result
	)

Definition at line 626 of file DelayedHeuristicAStar.h.

References kClosedList.

◆ GetClosedListGCost()

template<class state , class action , class environment , class batchHeuristic , class openList >

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetClosedListGCost	(	const state &	val,
		double &	gCost
	)		const

Get state from the closed list.

Author: Nathan Sturtevant

Date: 10/09/07

Parameters

val	The state to lookup in the closed list @gCost The g-cost of the node in the closed list

Returns: success Whether we found the value or not the states

Definition at line 587 of file DelayedHeuristicAStar.h.

References kClosedList.

◆ GetHCost()

template<class state , class action , class environment , class batchHeuristic , class openList >

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetHCost	(	const state &	val,
		double &	hCost
	)		const

Definition at line 613 of file DelayedHeuristicAStar.h.

References kNotFound.

◆ GetItem()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

const AStarOpenClosedDataWithF<state>& DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetItem ( unsigned int which )

inline

Definition at line 106 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::openClosedList.

◆ GetMemoryUsage()

template<class state , class action , class environment , class batchHeuristic , class openList >

int DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetMemoryUsage

Return the amount of memory used by DelayedHeuristicAStar.

Author: Nathan Sturtevant

Date: 03/22/06

Returns: The combined number of elements in the closed list and open queue

Definition at line 571 of file DelayedHeuristicAStar.h.

◆ GetName()

template<class state , class action , class environment , class batchHeuristic , class openList >

const char * DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetName

virtual

Return the name of the algorithm.

Author: Nathan Sturtevant

Date: 03/22/06

Returns: The name of the algorithm

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 194 of file DelayedHeuristicAStar.h.

◆ GetNecessaryExpansions()

template<class state , class action , class environment , class batchHeuristic , class openList >

uint64_t DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNecessaryExpansions

Definition at line 537 of file DelayedHeuristicAStar.h.

References fless().

◆ GetNodesExpanded()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

uint64_t DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNodesExpanded ( ) const

inlinevirtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 121 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::nodesExpanded.

◆ GetNodesTouched()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

uint64_t DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNodesTouched ( ) const

inlinevirtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 122 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::nodesTouched.

◆ GetNumItems()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

const int DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNumItems ( )

inline

Definition at line 105 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::openClosedList.

◆ GetNumOpenItems()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

unsigned int DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNumOpenItems ( )

inline

Definition at line 103 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::openClosedList.

◆ GetOpenItem()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

const AStarOpenClosedDataWithF<state>& DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetOpenItem ( unsigned int which )

inline

Definition at line 104 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::openClosedList.

◆ GetOpenListGCost()

template<class state , class action , class environment , class batchHeuristic , class openList >

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetOpenListGCost	(	const state &	val,
		double &	gCost
	)		const

Definition at line 600 of file DelayedHeuristicAStar.h.

References kOpenList.

◆ GetParent()

template<class state , class action , class environment , class batchHeuristic , class openList >

const state & DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetParent ( const state & s )

Definition at line 528 of file DelayedHeuristicAStar.h.

◆ GetPath() [1/2]

template<class state , class action , class environment , class batchHeuristic , class openList >

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetPath	(	environment *	_env,
		const state &	from,
		const state &	to,
		std::vector< action > &	path
	)

virtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 227 of file DelayedHeuristicAStar.h.

◆ GetPath() [2/2]

template<class state , class action , class environment , class batchHeuristic , class openList >

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetPath	(	environment *	_env,
		const state &	from,
		const state &	to,
		std::vector< state > &	thePath
	)

virtual

Perform an A* search between two states.

Author: Nathan Sturtevant

Date: 03/22/06

Parameters

_env	The search environment
from	The start state
to	The goal state
thePath	A vector of states which will contain an optimal path between from and to when the function returns, if one exists.

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 213 of file DelayedHeuristicAStar.h.

◆ GetReopenNodes()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetReopenNodes ( )

inline

Definition at line 113 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::reopenNodes.

◆ GetStateLocation()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

dataLocation DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetStateLocation ( const state & val )

inline

Definition at line 109 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::env, and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::openClosedList.

◆ GetStopAfterGoal()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetStopAfterGoal ( )

inline

Definition at line 127 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::stopAfterGoal.

◆ GetUniqueNodesExpanded()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

uint64_t DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetUniqueNodesExpanded ( )

inline

Definition at line 95 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::uniqueNodesExpanded.

◆ GetWeight()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

double DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetWeight ( )

inline

Definition at line 150 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::weight.

◆ HandleBatchedStates()

template<class state , class action , class environment , class batchHeuristic , class openList >

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::HandleBatchedStates

private

Definition at line 421 of file DelayedHeuristicAStar.h.

◆ HaveExpandedState()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::HaveExpandedState ( const state & val )

inline

Definition at line 107 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::env, kNotFound, and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::openClosedList.

◆ InitializeSearch()

template<class state , class action , class environment , class batchHeuristic , class openList >

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::InitializeSearch	(	environment *	_env,
		const state &	from,
		const state &	to,
		std::vector< state > &	thePath
	)

virtual

Initialize the A* search.

Author: Nathan Sturtevant

Date: 03/22/06

Parameters

_env	The search environment
from	The start state
to	The goal state

Returns: TRUE if initialization was successful, FALSE otherwise

Reimplemented from GenericSearchAlgorithm< state, action, environment >.

Definition at line 256 of file DelayedHeuristicAStar.h.

◆ LogFinalStats()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::LogFinalStats ( StatCollection * )

inlinevirtual

Implements GenericSearchAlgorithm< state, action, environment >.

Definition at line 124 of file DelayedHeuristicAStar.h.

◆ OpenGLDraw()

template<class state , class action , class environment , class batchHeuristic , class openList >

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::OpenGLDraw

virtual

Draw the open/closed list.

Author: Nathan Sturtevant

Date: 03/12/09

Reimplemented from GenericSearchAlgorithm< state, action, environment >.

Definition at line 647 of file DelayedHeuristicAStar.h.

References kClosedList, and kOpenList.

◆ Phi()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

double DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::Phi	(	double	h,
		double	g
	)

inline

Definition at line 141 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::phi.

◆ PrintStats()

template<class state , class action , class environment , class batchHeuristic , class openList >

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::PrintStats

A function that prints the number of states in the closed list and open queue.

Author: Nathan Sturtevant

Date: 03/22/06

Definition at line 557 of file DelayedHeuristicAStar.h.

◆ ResetNodeCount()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ResetNodeCount ( )

inline

Definition at line 96 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::nodesExpanded, DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::nodesTouched, and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::uniqueNodesExpanded.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar().

◆ SetConstraint()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetConstraint ( Constraint< state > * c )

inline

Definition at line 119 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::theConstraint.

◆ SetDirected()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetDirected ( bool d )

inline

Definition at line 116 of file DelayedHeuristicAStar.h.

References d, and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::directed.

◆ SetHeuristic()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetHeuristic ( Heuristic< state > * h )

inline

Definition at line 118 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::theHeuristic.

◆ SetPhi()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetPhi ( std::function< double(double, double)> p )

inline

Setting this function.

Definition at line 137 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::phi.

◆ SetReopenNodes()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetReopenNodes ( bool re )

inline

Definition at line 112 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::reopenNodes.

◆ SetStopAfterGoal()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetStopAfterGoal ( bool val )

inline

Definition at line 126 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::stopAfterGoal.

◆ SetWeight()

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

void DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetWeight ( double w )

inline

Definition at line 145 of file DelayedHeuristicAStar.h.

References DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::phi, and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::weight.

◆ SVGDraw()

template<class state , class action , class environment , class batchHeuristic , class openList >

std::string DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SVGDraw

Definition at line 775 of file DelayedHeuristicAStar.h.

References kClosedList, and kOpenList.

◆ SVGDrawDetailed()

template<class state , class action , class environment , class batchHeuristic , class openList >

std::string DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SVGDrawDetailed

Definition at line 821 of file DelayedHeuristicAStar.h.

References d.

Member Data Documentation

◆ batch

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

batchHeuristic DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::batch

private

Definition at line 181 of file DelayedHeuristicAStar.h.

◆ batchLookupSize

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

int DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::batchLookupSize

private

Definition at line 182 of file DelayedHeuristicAStar.h.

◆ currentCostLimit

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

double DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::currentCostLimit

private

Definition at line 180 of file DelayedHeuristicAStar.h.

◆ delayedStates

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

std::vector<tempData> DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::delayedStates

private

Definition at line 179 of file DelayedHeuristicAStar.h.

◆ directed

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::directed

private

Definition at line 165 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetDirected().

◆ edgeCosts

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

std::vector<double> DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::edgeCosts

private

Definition at line 157 of file DelayedHeuristicAStar.h.

◆ env

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

environment* DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::env

private

Definition at line 159 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ExtractPathToStart(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetStateLocation(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::HaveExpandedState().

◆ goal

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

state DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::goal

Definition at line 77 of file DelayedHeuristicAStar.h.

◆ goalFCost

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

double DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::goalFCost

private

Definition at line 162 of file DelayedHeuristicAStar.h.

◆ neighborID

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

std::vector<uint64_t> DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::neighborID

private

Definition at line 156 of file DelayedHeuristicAStar.h.

◆ neighborLoc

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

std::vector<dataLocation> DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::neighborLoc

private

Definition at line 158 of file DelayedHeuristicAStar.h.

◆ neighbors

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

std::vector<state> DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::neighbors

private

Definition at line 155 of file DelayedHeuristicAStar.h.

◆ nodesExpanded

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

uint64_t DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::nodesExpanded

private

Definition at line 153 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNodesExpanded(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ResetNodeCount().

◆ nodesTouched

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

uint64_t DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::nodesTouched

private

Definition at line 153 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNodesTouched(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ResetNodeCount().

◆ openClosedList

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

openList DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::openClosedList

Definition at line 76 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ExtractPathToStart(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetItem(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNumItems(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetNumOpenItems(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetOpenItem(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetStateLocation(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::HaveExpandedState().

◆ phi

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

std::function<double(double, double)> DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::phi

private

Definition at line 164 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::Phi(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetPhi(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetWeight().

◆ radEnv

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

environment* DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::radEnv

private

Definition at line 168 of file DelayedHeuristicAStar.h.

◆ reopenNodes

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::reopenNodes

private

Definition at line 166 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetReopenNodes(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetReopenNodes().

◆ start

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

state DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::start

Definition at line 77 of file DelayedHeuristicAStar.h.

◆ stopAfterGoal

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

bool DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::stopAfterGoal

private

Definition at line 160 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetStopAfterGoal(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetStopAfterGoal().

◆ theConstraint

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

Constraint<state>* DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::theConstraint

private

Definition at line 170 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetConstraint().

◆ theHeuristic

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

Heuristic<state>* DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::theHeuristic

private

Definition at line 169 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetHeuristic().

◆ uniqueNodesExpanded

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

uint64_t DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::uniqueNodesExpanded

private

Definition at line 167 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetUniqueNodesExpanded(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::ResetNodeCount().

◆ weight

template<class state , class action , class environment , class batchHeuristic = HeuristicLookupBuffer<state, environment>, class openList = AStarOpenClosed<state, AStarCompareWithF<state>, AStarOpenClosedDataWithF<state>>>

double DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::weight

private

Definition at line 163 of file DelayedHeuristicAStar.h.

Referenced by DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::DelayedHeuristicAStar(), DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::GetWeight(), and DelayedHeuristicAStar< state, action, environment, batchHeuristic, openList >::SetWeight().

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

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

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DelayedHeuristicAStar()

◆ ~DelayedHeuristicAStar()

Member Function Documentation

◆ CheckNextNode()

◆ DoSingleSearchStep()

◆ Draw()

◆ ExtractPathToStart()

◆ ExtractPathToStartFromID()

◆ FullBPMX()

◆ GetClosedItem()

◆ GetClosedListGCost()

◆ GetHCost()

◆ GetItem()

◆ GetMemoryUsage()

◆ GetName()

◆ GetNecessaryExpansions()

◆ GetNodesExpanded()

◆ GetNodesTouched()

◆ GetNumItems()

◆ GetNumOpenItems()

◆ GetOpenItem()

◆ GetOpenListGCost()

◆ GetParent()

◆ GetPath() [1/2]

◆ GetPath() [2/2]

◆ GetReopenNodes()

◆ GetStateLocation()

◆ GetStopAfterGoal()

◆ GetUniqueNodesExpanded()

◆ GetWeight()

◆ HandleBatchedStates()

◆ HaveExpandedState()

◆ InitializeSearch()

◆ LogFinalStats()

◆ OpenGLDraw()

◆ Phi()

◆ PrintStats()

◆ ResetNodeCount()

◆ SetConstraint()

◆ SetDirected()

◆ SetHeuristic()

◆ SetPhi()

◆ SetReopenNodes()

◆ SetStopAfterGoal()

◆ SetWeight()

◆ SVGDraw()

◆ SVGDrawDetailed()

Member Data Documentation

◆ batch

◆ batchLookupSize

◆ currentCostLimit

◆ delayedStates

◆ directed

◆ edgeCosts

◆ env

◆ goal

◆ goalFCost

◆ neighborID

◆ neighborLoc

◆ neighbors

◆ nodesExpanded

◆ nodesTouched

◆ openClosedList

◆ phi

◆ radEnv

◆ reopenNodes

◆ start

◆ stopAfterGoal

◆ theConstraint

◆ theHeuristic

◆ uniqueNodesExpanded

◆ weight