IRAStar Class Reference

#include <IRAStar.h>

Inheritance diagram for IRAStar:

Collaboration diagram for IRAStar:

Public Member Functions
	IRAStar (IRAStarConstants::Caching caching=IRAStarConstants::P_G_CACHING)
virtual	~IRAStar ()
virtual const char *	GetName ()
virtual path *	GetPath (GraphAbstraction *aMap, node *from, node *to, reservationProvider *rp=0)
path *	DoOneSearchStep ()
bool	InitializeSearch (GraphAbstraction *aMap, node *from, node *to)
void	OpenGLDraw () const
int	GetNodesRefined ()
Public Member Functions inherited from SearchAlgorithm
	SearchAlgorithm ()
virtual	~SearchAlgorithm ()
uint64_t	GetNodesExpanded ()
uint64_t	GetNodesTouched ()
virtual void	LogFinalStats (StatCollection *)

Private Member Functions
node *	FindTopLevelNode (node *one, node *two, GraphAbstraction *aMap)
void	SetInitialValues (node *gNewNode, node *aRealNode, node *gParent)
void	RefineNode (node *gNode)
node *	GetRealNode (node *gNode) const
bool	ShouldAddEdge (node *aLowerNode, node *aHigherNode)
void	GetAllSolutionNodes (node *goal, std::vector< node * > &nodes)
bool	Inconsistent (node *gNode)
void	ExpandNeighbors (node *gNode)
path *	ExtractAndRefinePath ()
path *	GetSolution (node *gNode)
void	SetHValues (int f)
double	GetHCost (node *) const
void	SetHCost (node *, double)
double	GetGCost (node *) const
	More...
void	SetGCost (node *, double)
double	GetFCost (node *) const

Private Attributes
IRAStarConstants::PQueue	q
IRAStarConstants::NodeLookupTable	closedList
node *	aStart
node *	aGoal
node *	gStart
node *	gGoal
GraphAbstraction *	absGraph
Graph *	g
int	nodesRefined
int	currentIteration
IRAStarConstants::Caching	caching
std::vector< double >	iterationLimits
bool	done

Additional Inherited Members
Public Attributes inherited from SearchAlgorithm
uint32_t	nodesExpanded
uint32_t	nodesTouched

Detailed Description

Definition at line 78 of file IRAStar.h.

Constructor & Destructor Documentation

IRAStar()

IRAStar::IRAStar

(

IRAStarConstants::Caching

caching = IRAStarConstants::P_G_CACHING

)

Definition at line 19 of file IRAStar.cpp.

References g.

~IRAStar()

IRAStar::~IRAStar ( )

virtual

Definition at line 25 of file IRAStar.cpp.

Member Function Documentation

DoOneSearchStep()

path * IRAStar::DoOneSearchStep

(

)

Definition at line 47 of file IRAStar.cpp.

References OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::Add(), caching, closedList, done, ExpandNeighbors(), ExtractAndRefinePath(), fequal(), GetFCost(), node::GetNum(), gGoal, Inconsistent(), IRAStarConstants::GNode::n, SearchAlgorithm::nodesExpanded, IRAStarConstants::OPTIMAL_PATH_CACHING, OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::pop(), q, OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::reset(), OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::size(), and OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::top().

Referenced by GetPath().

ExpandNeighbors()

void IRAStar::ExpandNeighbors ( node *  gNode )

private

Definition at line 230 of file IRAStar.cpp.

References OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::Add(), caching, closedList, OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::DecreaseKey(), Graph::FindEdge(), fless(), g, GetGCost(), node::getNeighborIter(), Graph::GetNode(), node::GetNum(), edge::GetWeight(), OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::IsIn(), node::nodeNeighborNext(), SearchAlgorithm::nodesTouched, IRAStarConstants::OPTIMAL_PATH_CACHING, q, and SetGCost().

Referenced by DoOneSearchStep().

ExtractAndRefinePath()

path * IRAStar::ExtractAndRefinePath ( )

private

Definition at line 281 of file IRAStar.cpp.

References OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::Add(), caching, closedList, currentIteration, done, GetAllSolutionNodes(), GetGCost(), GetSolution(), gGoal, gStart, iterationLimits, GraphAbstractionConstants::kAbstractionLevel, path::length(), path::next, IRAStarConstants::OPTIMAL_PATH_CACHING, IRAStarConstants::P_G_CACHING, q, RefineNode(), OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::reset(), SetGCost(), SetHCost(), and SetHValues().

Referenced by DoOneSearchStep().

FindTopLevelNode()

node * IRAStar::FindTopLevelNode ( node *  one, node *  two, GraphAbstraction *  aMap  )

private

Definition at line 132 of file IRAStar.cpp.

References GraphAbstraction::GetAbstractionLevel(), GraphAbstraction::getNumAbstractGraphs(), and GraphAbstraction::GetParent().

Referenced by InitializeSearch().

GetAllSolutionNodes()

void IRAStar::GetAllSolutionNodes ( node *  goal, std::vector< node * > &  nodes  )

private

Definition at line 335 of file IRAStar.cpp.

References closedList, fgreater(), g, GetGCost(), node::getNeighborIter(), Graph::GetNode(), node::GetNum(), and node::nodeNeighborNext().

Referenced by ExtractAndRefinePath().

GetFCost()

double IRAStar::GetFCost ( node *  n ) const

private

Definition at line 667 of file IRAStar.cpp.

References node::GetLabelF(), CFOptimalRefinementConstants::kGCost, and CFOptimalRefinementConstants::kHCost.

Referenced by DoOneSearchStep().

GetGCost()

double IRAStar::GetGCost ( node *  n ) const

private

• if ( gStart->GetLabelL(kAbstractionLevel)%2 == 0 ) // Always switch diretions on base level

Definition at line 657 of file IRAStar.cpp.

References node::GetLabelF(), and CFOptimalRefinementConstants::kGCost.

Referenced by ExpandNeighbors(), ExtractAndRefinePath(), GetAllSolutionNodes(), GetSolution(), and SetHValues().

GetHCost()

double IRAStar::GetHCost ( node *  n ) const

private

Definition at line 619 of file IRAStar.cpp.

References node::GetLabelF(), and CFOptimalRefinementConstants::kHCost.

Referenced by Inconsistent(), OpenGLDraw(), and SetInitialValues().

GetName()

const char * IRAStar::GetName ( )

virtual

Implements SearchAlgorithm.

Definition at line 29 of file IRAStar.cpp.

GetNodesRefined()

int IRAStar::GetNodesRefined ( )

inline

Definition at line 88 of file IRAStar.h.

References nodesRefined.

GetPath()

path * IRAStar::GetPath ( GraphAbstraction *  aMap, node *  from, node *  to, reservationProvider *  rp = 0  )

virtual

Implements SearchAlgorithm.

Definition at line 34 of file IRAStar.cpp.

References DoOneSearchStep(), and InitializeSearch().

GetRealNode()

node * IRAStar::GetRealNode ( node *  gNode ) const

private

Definition at line 470 of file IRAStar.cpp.

References absGraph, GraphAbstraction::GetAbstractGraph(), node::GetLabelL(), Graph::GetNode(), GraphAbstractionConstants::kAbstractionLevel, and CFOptimalRefinementConstants::kCorrespondingNode.

Referenced by OpenGLDraw(), and RefineNode().

GetSolution()

path * IRAStar::GetSolution ( node *  gNode )

private

Definition at line 363 of file IRAStar.cpp.

References closedList, fequal(), Graph::FindEdge(), g, GetGCost(), node::getNeighborIter(), Graph::GetNode(), node::GetNum(), edge::GetWeight(), node::nodeNeighborNext(), and path.

Referenced by ExtractAndRefinePath().

Inconsistent()

bool IRAStar::Inconsistent ( node *  gNode )

private

Definition at line 192 of file IRAStar.cpp.

References OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::DecreaseKey(), Graph::FindEdge(), fless(), g, GetHCost(), node::getNeighborIter(), Graph::GetNode(), node::GetNum(), edge::GetWeight(), OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::IsIn(), node::nodeNeighborNext(), q, and SetHCost().

Referenced by DoOneSearchStep().

InitializeSearch()

bool IRAStar::InitializeSearch	(	GraphAbstraction *	aMap,
		node *	from,
		node *	to
	)

Definition at line 106 of file IRAStar.cpp.

References absGraph, OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::Add(), Graph::AddNode(), aGoal, aStart, closedList, currentIteration, FindTopLevelNode(), g, gGoal, gStart, SearchAlgorithm::nodesExpanded, nodesRefined, SearchAlgorithm::nodesTouched, q, OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::reset(), and SetInitialValues().

Referenced by GetPath().

OpenGLDraw()

void IRAStar::OpenGLDraw

(

)

const

Definition at line 487 of file IRAStar.cpp.

References absGraph, closedList, Graph::edgeIterNext(), g, Graph::getEdgeIter(), GetHCost(), Graph::GetNode(), GraphAbstraction::GetNodeLoc(), node::GetNum(), Graph::GetNumNodes(), GetRealNode(), gGoal, gStart, OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::IsIn(), MAX_HEURISTIC_VALUE, IRAStarConstants::GNode::n, OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::peek(), q, OpenClosedList< OBJ, HashKey, EqKey, CmpKey >::top(), recVec::x, recVec::y, and recVec::z.

RefineNode()

void IRAStar::RefineNode ( node *  gNode )

private

Definition at line 383 of file IRAStar.cpp.

References absGraph, Graph::AddEdge(), Graph::AddNode(), aGoal, aStart, Graph::findDirectedEdge(), Graph::FindEdge(), g, GraphAbstraction::GetAbstractGraph(), GraphAbstraction::GetAbstractionLevel(), node::GetLabelL(), node::getNeighborIter(), Graph::GetNode(), GraphAbstraction::GetNthChild(), node::GetNum(), GraphAbstraction::GetNumChildren(), GetRealNode(), gStart, GraphAbstractionConstants::kAbstractionLevel, node::nodeNeighborNext(), nodesRefined, Graph::RemoveNode(), SetInitialValues(), and ShouldAddEdge().

Referenced by ExtractAndRefinePath().

SetGCost()

void IRAStar::SetGCost ( node *  n, double  val  )

private

Definition at line 662 of file IRAStar.cpp.

References CFOptimalRefinementConstants::kGCost, and node::SetLabelF().

Referenced by ExpandNeighbors(), ExtractAndRefinePath(), and SetInitialValues().

SetHCost()

void IRAStar::SetHCost ( node *  n, double  val  )

private

Definition at line 629 of file IRAStar.cpp.

References CFOptimalRefinementConstants::kHCost, and node::SetLabelF().

Referenced by ExtractAndRefinePath(), Inconsistent(), SetHValues(), and SetInitialValues().

SetHValues()

void IRAStar::SetHValues ( int  f )

private

Definition at line 599 of file IRAStar.cpp.

References closedList, GetGCost(), and SetHCost().

Referenced by ExtractAndRefinePath().

SetInitialValues()

void IRAStar::SetInitialValues ( node *  gNewNode, node *  aRealNode, node *  gParent  )

private

Definition at line 155 of file IRAStar.cpp.

References absGraph, aGoal, aStart, GraphAbstraction::GetAbstractionLevel(), GetHCost(), node::GetNum(), gGoal, gStart, GraphAbstraction::IsParentOf(), GraphAbstractionConstants::kAbstractionLevel, CFOptimalRefinementConstants::kCorrespondingNode, SetGCost(), SetHCost(), and node::SetLabelL().

Referenced by InitializeSearch(), and RefineNode().

ShouldAddEdge()

bool IRAStar::ShouldAddEdge ( node *  aLowerNode, node *  aHigherNode  )

private

Definition at line 475 of file IRAStar.cpp.

References absGraph, GraphAbstraction::GetAbstractGraph(), GraphAbstraction::GetAbstractionLevel(), node::getNeighborIter(), Graph::GetNode(), GraphAbstraction::IsParentOf(), and node::nodeNeighborNext().

Referenced by RefineNode().

Member Data Documentation

absGraph

GraphAbstraction* IRAStar::absGraph

private

Definition at line 119 of file IRAStar.h.

Referenced by GetRealNode(), InitializeSearch(), OpenGLDraw(), RefineNode(), SetInitialValues(), and ShouldAddEdge().

aGoal

node * IRAStar::aGoal

private

Definition at line 117 of file IRAStar.h.

Referenced by InitializeSearch(), RefineNode(), and SetInitialValues().

aStart

node* IRAStar::aStart

private

Definition at line 117 of file IRAStar.h.

Referenced by InitializeSearch(), RefineNode(), and SetInitialValues().

caching

IRAStarConstants::Caching IRAStar::caching

private

Definition at line 123 of file IRAStar.h.

Referenced by DoOneSearchStep(), ExpandNeighbors(), and ExtractAndRefinePath().

closedList

IRAStarConstants::NodeLookupTable IRAStar::closedList

private

Definition at line 116 of file IRAStar.h.

Referenced by DoOneSearchStep(), ExpandNeighbors(), ExtractAndRefinePath(), GetAllSolutionNodes(), GetSolution(), InitializeSearch(), OpenGLDraw(), and SetHValues().

currentIteration

int IRAStar::currentIteration

private

Definition at line 122 of file IRAStar.h.

Referenced by ExtractAndRefinePath(), and InitializeSearch().

done

bool IRAStar::done

private

Definition at line 125 of file IRAStar.h.

Referenced by DoOneSearchStep(), and ExtractAndRefinePath().

g

Graph* IRAStar::g

private

Definition at line 120 of file IRAStar.h.

Referenced by ExpandNeighbors(), GetAllSolutionNodes(), GetSolution(), Inconsistent(), InitializeSearch(), IRAStar(), OpenGLDraw(), and RefineNode().

gGoal

node * IRAStar::gGoal

private

Definition at line 118 of file IRAStar.h.

Referenced by DoOneSearchStep(), ExtractAndRefinePath(), InitializeSearch(), OpenGLDraw(), and SetInitialValues().

gStart

node* IRAStar::gStart

private

Definition at line 118 of file IRAStar.h.

Referenced by ExtractAndRefinePath(), InitializeSearch(), OpenGLDraw(), RefineNode(), and SetInitialValues().

iterationLimits

std::vector<double> IRAStar::iterationLimits

private

Definition at line 124 of file IRAStar.h.

Referenced by ExtractAndRefinePath().

nodesRefined

int IRAStar::nodesRefined

private

Definition at line 121 of file IRAStar.h.

Referenced by GetNodesRefined(), InitializeSearch(), and RefineNode().

q

IRAStarConstants::PQueue IRAStar::q

private

Definition at line 115 of file IRAStar.h.

Referenced by DoOneSearchStep(), ExpandNeighbors(), ExtractAndRefinePath(), Inconsistent(), InitializeSearch(), and OpenGLDraw().

---

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

• /home/sturtevant/nightly/hog2/abstractionalgorithms/IRAStar.h
• /home/sturtevant/nightly/hog2/abstractionalgorithms/IRAStar.cpp