Directional2DEnvironment Class Reference

#include <Directional2DEnvironment.h>

Inheritance diagram for Directional2DEnvironment:

Collaboration diagram for Directional2DEnvironment:

Public Member Functions
	Directional2DEnvironment (Map *m, model envType=kVehicle, heuristicType heuristic=kExtendedPerimeterHeuristic)
virtual	~Directional2DEnvironment ()
void	GetSuccessors (const xySpeedHeading &nodeID, std::vector< xySpeedHeading > &neighbors) const
void	GetActions (const xySpeedHeading &nodeID, std::vector< deltaSpeedHeading > &actions) const
deltaSpeedHeading	GetAction (const xySpeedHeading &s1, const xySpeedHeading &s2) const
virtual void	ApplyAction (xySpeedHeading &s, deltaSpeedHeading dir) const
virtual void	UndoAction (xySpeedHeading &s, deltaSpeedHeading dir) const
virtual OccupancyInterface< xySpeedHeading, deltaSpeedHeading > *	GetOccupancyInfo ()
virtual bool	InvertAction (deltaSpeedHeading &a) const
virtual double	HCost (const xySpeedHeading &node1, const xySpeedHeading &node2) const
	Heuristic value between two arbitrary nodes. More...
virtual double	HCost (const xySpeedHeading &) const
	Heuristic value between node and the stored goal. More...
virtual double	GCost (const xySpeedHeading &node1, const xySpeedHeading &node2) const
virtual double	GCost (const xySpeedHeading &node1, const deltaSpeedHeading &act) const
int	GetNumAngles ()
void	SetGoalTest (GoalTester *t)
bool	GoalTest (const xySpeedHeading &node, const xySpeedHeading &goal) const
bool	GoalTest (const xySpeedHeading &) const
	Goal Test if the goal is stored. More...
uint64_t	GetStateHash (const xySpeedHeading &node) const
uint64_t	GetActionHash (deltaSpeedHeading act) const
virtual void	OpenGLDraw () const
virtual void	OpenGLDraw (const xySpeedHeading &l) const
virtual void	OpenGLDraw (const xySpeedHeading &oldState, const xySpeedHeading &newState, float perc) const
	Draw the transition at some percentage 0...1 between two states. More...
virtual void	OpenGLDraw (const xySpeedHeading &, const deltaSpeedHeading &) const
void	GLDrawLine (const xySpeedHeading &a, const xySpeedHeading &b) const
Map *	GetMap ()
void	SetHeuristicType (heuristicType theType)
virtual void	GetNextState (const xySpeedHeading &currents, deltaSpeedHeading dir, xySpeedHeading &news) const
Public Member Functions inherited from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >
virtual	~SearchEnvironment ()
virtual int	GetNumSuccessors (const xySpeedHeading &stateID) const
virtual void	StoreGoal (xySpeedHeading &s)
	Stores the goal for use by single-state HCost. More...
virtual void	ClearGoal ()
	Clears the goal from memory. More...
virtual bool	IsGoalStored () const
	Returns true if the goal is stored and false otherwise. More...
virtual double	HCost (const xySpeedHeading &node1, const xySpeedHeading &node2, double parentHCost) const
virtual uint64_t	GetMaxHash () const
virtual void	GetStateFromHash (uint64_t parent, xySpeedHeading &s) const
virtual double	GetPathLength (std::vector< xySpeedHeading > &neighbors)
virtual double	GetPathLength (const xySpeedHeading &start, std::vector< deltaSpeedHeading > &neighbors)
virtual void	SetOccupancyInfo (OccupancyInterface< xySpeedHeading, deltaSpeedHeading > *)
virtual void	OpenGLDraw () const
virtual void	GLLabelState (const xySpeedHeading &, const char *) const
virtual void	GLDrawPath (const std::vector< xySpeedHeading > &x) const
virtual void	SetColor (const rgbColor &r) const
virtual void	SetColor (GLfloat rr, GLfloat g, GLfloat b, GLfloat t=1.0) const
virtual void	GetColor (GLfloat &rr, GLfloat &g, GLfloat &b, GLfloat &t) const
virtual rgbColor	GetColor () const
virtual void	Draw (Graphics::Display &display) const
virtual void	Draw (Graphics::Display &display, const xySpeedHeading &) const
virtual void	DrawLine (Graphics::Display &display, const xySpeedHeading &x, const xySpeedHeading &y, float width=1.0) const
Public Member Functions inherited from Heuristic< xySpeedHeading >
	Heuristic ()
virtual	~Heuristic ()

Protected Attributes
std::vector< dirHeuristicTable >	heuristics
std::vector< float >	cosTable
std::vector< float >	sinTable
Map *	map
Protected Attributes inherited from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >
bool	bValidSearchGoal
xySpeedHeading	searchGoal
rgbColor	color
GLfloat	transparency

Private Member Functions
bool	Legal (const xySpeedHeading &node1, const deltaSpeedHeading &act) const
void	BuildHTable (dirHeuristicTable &t)
void	BuildAngleTables ()
float	mySin (int dir) const
float	myCos (int dir) const
float	LookupStateHash (const xySpeedHeading &s, const dirHeuristicTable &t) const
bool	LookupStateHashIndex (const xySpeedHeading &s, int &index1, int &index2) const
float	LookupStateHeuristic (const xySpeedHeading &s1, const xySpeedHeading &s2) const
void	RotateCCW (xySpeedHeading &s, unsigned int rotation) const

Private Attributes
bool	checkLegal
GoalTester *	test
model	motionModel
heuristicType	hType

Additional Inherited Members
Public Attributes inherited from Heuristic< xySpeedHeading >
std::vector< HeuristicTreeNode >	lookups
std::vector< Heuristic * >	heuristics
uint64_t	histogram [256]

Detailed Description

Definition at line 113 of file Directional2DEnvironment.h.

Constructor & Destructor Documentation

Directional2DEnvironment()

Directional2DEnvironment::Directional2DEnvironment	(	Map *	m,
		model	envType = kVehicle,
		heuristicType	heuristic = kExtendedPerimeterHeuristic
	)

Definition at line 18 of file Directional2DEnvironment.cpp.

References BuildAngleTables(), checkLegal, hType, map, motionModel, SearchEnvironment< xySpeedHeading, deltaSpeedHeading >::SetColor(), and test.

~Directional2DEnvironment()

Directional2DEnvironment::~Directional2DEnvironment ( )

virtual

Definition at line 40 of file Directional2DEnvironment.cpp.

References map.

Member Function Documentation

ApplyAction()

void Directional2DEnvironment::ApplyAction ( xySpeedHeading &  s, deltaSpeedHeading  dir  ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 273 of file Directional2DEnvironment.cpp.

References kBetterTank, kTank, motionModel, myCos(), mySin(), xySpeedHeading::rotation, deltaSpeedHeading::speed, xySpeedHeading::speed, deltaSpeedHeading::turn, xySpeedHeading::x, and xySpeedHeading::y.

Referenced by GetAction(), GetSuccessors(), and Legal().

BuildAngleTables()

void Directional2DEnvironment::BuildAngleTables ( )

private

Definition at line 1058 of file Directional2DEnvironment.cpp.

References cosTable, kBetterTank, kTank, motionModel, sinTable, and TWOPI.

Referenced by Directional2DEnvironment().

BuildHTable()

void Directional2DEnvironment::BuildHTable ( dirHeuristicTable &  t )

private

Definition at line 772 of file Directional2DEnvironment.cpp.

References checkLegal, fless(), GCost(), GetSuccessors(), dirHeuristicTable::hTable, LookupStateHash(), LookupStateHashIndex(), min(), motionModel, dirHeuristicTable::rotation, xySpeedHeading::rotation, ROW_SIZE, dirHeuristicTable::speed, xySpeedHeading::speed, TABLE_SIZE, xySpeedHeading::x, and xySpeedHeading::y.

GCost() [1/2]

double Directional2DEnvironment::GCost ( const xySpeedHeading &  node1, const deltaSpeedHeading &  act  ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 523 of file Directional2DEnvironment.cpp.

References fequal(), kBetterTank, kTank, motionModel, xySpeedHeading::rotation, deltaSpeedHeading::speed, xySpeedHeading::speed, and deltaSpeedHeading::turn.

GCost() [2/2]

double Directional2DEnvironment::GCost ( const xySpeedHeading &  node1, const xySpeedHeading &  node2  ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 566 of file Directional2DEnvironment.cpp.

References GetAction(), kBetterTank, kTank, motionModel, xySpeedHeading::rotation, and xySpeedHeading::speed.

Referenced by BuildHTable().

GetAction()

deltaSpeedHeading Directional2DEnvironment::GetAction ( const xySpeedHeading &  s1, const xySpeedHeading &  s2  ) const

virtual

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 231 of file Directional2DEnvironment.cpp.

References ApplyAction(), fequal(), GetActions(), xySpeedHeading::rotation, xySpeedHeading::speed, xySpeedHeading::x, and xySpeedHeading::y.

Referenced by GCost().

GetActionHash()

uint64_t Directional2DEnvironment::GetActionHash ( deltaSpeedHeading  act ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 634 of file Directional2DEnvironment.cpp.

References deltaSpeedHeading::speed, and deltaSpeedHeading::turn.

GetActions()

void Directional2DEnvironment::GetActions ( const xySpeedHeading &  nodeID, std::vector< deltaSpeedHeading > &  actions  ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 71 of file Directional2DEnvironment.cpp.

References kBetterTank, kHumanoid, kTank, kVehicle, Legal(), motionModel, deltaSpeedHeading::speed, and deltaSpeedHeading::turn.

Referenced by GetAction(), and GetSuccessors().

GetMap()

Map* Directional2DEnvironment::GetMap ( )

inline

Definition at line 145 of file Directional2DEnvironment.h.

References map.

GetNextState()

void Directional2DEnvironment::GetNextState ( const xySpeedHeading &  currents, deltaSpeedHeading  dir, xySpeedHeading &  news  ) const

virtual

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 761 of file Directional2DEnvironment.cpp.

GetNumAngles()

int Directional2DEnvironment::GetNumAngles

(

)

Definition at line 45 of file Directional2DEnvironment.cpp.

References kBetterTank, kHumanoid, kTank, kVehicle, and motionModel.

GetOccupancyInfo()

virtual OccupancyInterface<xySpeedHeading,deltaSpeedHeading>* Directional2DEnvironment::GetOccupancyInfo ( )

inlinevirtual

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 123 of file Directional2DEnvironment.h.

GetStateHash()

uint64_t Directional2DEnvironment::GetStateHash ( const xySpeedHeading &  node ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 620 of file Directional2DEnvironment.cpp.

References kBetterTank, and motionModel.

GetSuccessors()

void Directional2DEnvironment::GetSuccessors ( const xySpeedHeading &  nodeID, std::vector< xySpeedHeading > &  neighbors  ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 58 of file Directional2DEnvironment.cpp.

References ApplyAction(), and GetActions().

Referenced by BuildHTable().

GLDrawLine()

void Directional2DEnvironment::GLDrawLine ( const xySpeedHeading &  a, const xySpeedHeading &  b  ) const

virtual

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 745 of file Directional2DEnvironment.cpp.

References SearchEnvironment< xySpeedHeading, deltaSpeedHeading >::GetColor(), Map::GetOpenGLCoord(), map, xySpeedHeading::x, and xySpeedHeading::y.

GoalTest() [1/2]

bool Directional2DEnvironment::GoalTest ( const xySpeedHeading &  node ) const

inlinevirtual

Goal Test if the goal is stored.

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 136 of file Directional2DEnvironment.h.

GoalTest() [2/2]

bool Directional2DEnvironment::GoalTest ( const xySpeedHeading &  node, const xySpeedHeading &  goal  ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 611 of file Directional2DEnvironment.cpp.

References GoalTester::goalTest(), and test.

HCost() [1/2]

virtual double Directional2DEnvironment::HCost ( const xySpeedHeading &  node ) const

inlinevirtual

Heuristic value between node and the stored goal.

Asserts that the goal is stored

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 128 of file Directional2DEnvironment.h.

HCost() [2/2]

double Directional2DEnvironment::HCost ( const xySpeedHeading &  node1, const xySpeedHeading &  node2  ) const

virtual

Heuristic value between two arbitrary nodes.

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 486 of file Directional2DEnvironment.cpp.

References kHumanoid, kVehicle, LookupStateHeuristic(), max, motionModel, xySpeedHeading::x, and xySpeedHeading::y.

InvertAction()

bool Directional2DEnvironment::InvertAction ( deltaSpeedHeading &  a ) const

virtual

Implements SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 251 of file Directional2DEnvironment.cpp.

References kBetterTank, motionModel, deltaSpeedHeading::speed, and deltaSpeedHeading::turn.

Legal()

bool Directional2DEnvironment::Legal ( const xySpeedHeading &  node1, const deltaSpeedHeading &  act  ) const

private

Definition at line 500 of file Directional2DEnvironment.cpp.

References ApplyAction(), checkLegal, Map::GetTerrainType(), kBetterTank, kGround, kTank, map, motionModel, xySpeedHeading::x, and xySpeedHeading::y.

Referenced by GetActions().

LookupStateHash()

float Directional2DEnvironment::LookupStateHash ( const xySpeedHeading &  s, const dirHeuristicTable &  t  ) const

private

Definition at line 908 of file Directional2DEnvironment.cpp.

References dirHeuristicTable::hTable, motionModel, xySpeedHeading::rotation, ROW_SIZE, xySpeedHeading::speed, TABLE_SIZE, xySpeedHeading::x, and xySpeedHeading::y.

Referenced by BuildHTable(), and LookupStateHeuristic().

LookupStateHashIndex()

bool Directional2DEnvironment::LookupStateHashIndex ( const xySpeedHeading &  s, int &  index1, int &  index2  ) const

private

Definition at line 890 of file Directional2DEnvironment.cpp.

References motionModel, xySpeedHeading::rotation, ROW_SIZE, xySpeedHeading::speed, TABLE_SIZE, xySpeedHeading::x, and xySpeedHeading::y.

Referenced by BuildHTable().

LookupStateHeuristic()

float Directional2DEnvironment::LookupStateHeuristic ( const xySpeedHeading &  s1, const xySpeedHeading &  s2  ) const

private

Definition at line 927 of file Directional2DEnvironment.cpp.

References heuristics, hType, kOctileHeuristic, kPerimeterHeuristic, kVehicle, LookupStateHash(), motionModel, RotateCCW(), rotation, xySpeedHeading::rotation, xySpeedHeading::x, and xySpeedHeading::y.

Referenced by HCost().

myCos()

float Directional2DEnvironment::myCos ( int  dir ) const

private

Definition at line 1077 of file Directional2DEnvironment.cpp.

References cosTable.

Referenced by ApplyAction(), OpenGLDraw(), RotateCCW(), and UndoAction().

mySin()

float Directional2DEnvironment::mySin ( int  dir ) const

private

Definition at line 1072 of file Directional2DEnvironment.cpp.

References sinTable.

Referenced by ApplyAction(), OpenGLDraw(), RotateCCW(), and UndoAction().

OpenGLDraw() [1/4]

void Directional2DEnvironment::OpenGLDraw ( ) const

virtual

Definition at line 639 of file Directional2DEnvironment.cpp.

References map, and Map::OpenGLDraw().

OpenGLDraw() [2/4]

void Directional2DEnvironment::OpenGLDraw ( const xySpeedHeading &  l, const deltaSpeedHeading &    ) const

virtual

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 736 of file Directional2DEnvironment.cpp.

References DrawSphere(), Map::GetOpenGLCoord(), map, xySpeedHeading::x, and xySpeedHeading::y.

OpenGLDraw() [3/4]

void Directional2DEnvironment::OpenGLDraw ( const xySpeedHeading &  l ) const

virtual

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 691 of file Directional2DEnvironment.cpp.

References SearchEnvironment< xySpeedHeading, deltaSpeedHeading >::GetColor(), Map::GetOpenGLCoord(), map, myCos(), mySin(), recVec::normalise(), xySpeedHeading::rotation, xySpeedHeading::x, recVec::x, xySpeedHeading::y, recVec::y, and recVec::z.

OpenGLDraw() [4/4]

void Directional2DEnvironment::OpenGLDraw ( const xySpeedHeading &  , const xySpeedHeading &  , float    ) const

virtual

Draw the transition at some percentage 0...1 between two states.

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 646 of file Directional2DEnvironment.cpp.

References SearchEnvironment< xySpeedHeading, deltaSpeedHeading >::GetColor(), Map::GetOpenGLCoord(), if(), kBetterTank, kTank, map, motionModel, xySpeedHeading::rotation, TWOPI, xySpeedHeading::x, and xySpeedHeading::y.

RotateCCW()

void Directional2DEnvironment::RotateCCW ( xySpeedHeading &  s, unsigned int  rotation  ) const

private

Definition at line 263 of file Directional2DEnvironment.cpp.

References kBetterTank, kTank, motionModel, myCos(), mySin(), rotation, xySpeedHeading::rotation, xySpeedHeading::x, and xySpeedHeading::y.

Referenced by LookupStateHeuristic().

SetGoalTest()

void Directional2DEnvironment::SetGoalTest ( GoalTester *  t )

inline

Definition at line 134 of file Directional2DEnvironment.h.

References test.

SetHeuristicType()

void Directional2DEnvironment::SetHeuristicType ( heuristicType  theType )

inline

Definition at line 146 of file Directional2DEnvironment.h.

References hType.

UndoAction()

void Directional2DEnvironment::UndoAction ( xySpeedHeading &  s, deltaSpeedHeading  dir  ) const

virtual

Reimplemented from SearchEnvironment< xySpeedHeading, deltaSpeedHeading >.

Definition at line 380 of file Directional2DEnvironment.cpp.

References kBetterTank, kTank, motionModel, myCos(), mySin(), xySpeedHeading::rotation, deltaSpeedHeading::speed, xySpeedHeading::speed, deltaSpeedHeading::turn, xySpeedHeading::x, and xySpeedHeading::y.

Member Data Documentation

checkLegal

bool Directional2DEnvironment::checkLegal

private

Definition at line 160 of file Directional2DEnvironment.h.

Referenced by BuildHTable(), Directional2DEnvironment(), and Legal().

cosTable

std::vector<float> Directional2DEnvironment::cosTable

protected

Definition at line 168 of file Directional2DEnvironment.h.

Referenced by BuildAngleTables(), and myCos().

heuristics

std::vector<dirHeuristicTable> Directional2DEnvironment::heuristics

protected

Definition at line 165 of file Directional2DEnvironment.h.

Referenced by LookupStateHeuristic().

hType

heuristicType Directional2DEnvironment::hType

private

Definition at line 163 of file Directional2DEnvironment.h.

Referenced by Directional2DEnvironment(), LookupStateHeuristic(), and SetHeuristicType().

map

Map* Directional2DEnvironment::map

protected

Definition at line 170 of file Directional2DEnvironment.h.

Referenced by Directional2DEnvironment(), GetMap(), GLDrawLine(), Legal(), OpenGLDraw(), and ~Directional2DEnvironment().

motionModel

model Directional2DEnvironment::motionModel

private

Definition at line 162 of file Directional2DEnvironment.h.

Referenced by ApplyAction(), BuildAngleTables(), BuildHTable(), Directional2DEnvironment(), GCost(), GetActions(), GetNumAngles(), GetStateHash(), HCost(), InvertAction(), Legal(), LookupStateHash(), LookupStateHashIndex(), LookupStateHeuristic(), OpenGLDraw(), RotateCCW(), and UndoAction().

sinTable

std::vector<float> Directional2DEnvironment::sinTable

protected

Definition at line 169 of file Directional2DEnvironment.h.

Referenced by BuildAngleTables(), and mySin().

test

GoalTester* Directional2DEnvironment::test

private

Definition at line 161 of file Directional2DEnvironment.h.

Referenced by Directional2DEnvironment(), GoalTest(), and SetGoalTest().

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

• /home/sturtevant/nightly/hog2/environments/Directional2DEnvironment.h
• /home/sturtevant/nightly/hog2/environments/Directional2DEnvironment.cpp