Racetrack Class Reference

#include <Racetrack.h>

Inheritance diagram for Racetrack:

Collaboration diagram for Racetrack:

Public Member Functions
	Racetrack (Map *map)
	~Racetrack ()
void	UpdateMap (Map *map)
void	GetSuccessors (const RacetrackState &nodeID, std::vector< RacetrackState > &neighbors) const
void	GetActions (const RacetrackState &nodeID, std::vector< RacetrackMove > &actions) const
int	GetNumSuccessors (const RacetrackState &stateID) const
void	Reset (RacetrackState &s) const
void	ApplyAction (RacetrackState &s, RacetrackMove a) const
bool	InvertAction (RacetrackMove &a) const
RacetrackMove	GetAction (const RacetrackState &s1, RacetrackState &s2) const
void	Boundaries (RacetrackState &s, RacetrackMove &v) const
bool	Legal (const RacetrackState &node1, RacetrackMove &act) const
double	HCost (const RacetrackState &node1, const RacetrackState &node2) const
	Heuristic value between two arbitrary nodes. More...
double	HCost (const RacetrackState &node) const
	Heuristic value between node and the stored goal. More...
double	GCost (const RacetrackState &node1, const RacetrackState &node2) const
double	GCost (const RacetrackState &node, const RacetrackMove &act) const
bool	GoalTest (const RacetrackState &node, const RacetrackState &goal) const
uint64_t	GetStateHash (const RacetrackState &node) const
uint64_t	GetActionHash (RacetrackMove act) const
void	OpenGLDraw () const
void	OpenGLDraw (const RacetrackState &) const
void	OpenGLDraw (const RacetrackState &, const RacetrackMove &) const
void	Draw (Graphics::Display &display) const
void	Draw (Graphics::Display &display, const RacetrackState &s) const
void	Draw (Graphics::Display &display, const RacetrackState &, RacetrackMove &) const
void	Draw (Graphics::Display &display, const RacetrackState &l1, const RacetrackState &l2, float v) const
void	DrawLine (Graphics::Display &display, const RacetrackState &x, const RacetrackState &y, float width) const
Public Member Functions inherited from SearchEnvironment< RacetrackState, RacetrackMove >
virtual	~SearchEnvironment ()
virtual RacetrackMove	GetAction (const RacetrackState &s1, const RacetrackState &s2) const
virtual void	UndoAction (RacetrackState &s, RacetrackMove a) const
virtual void	GetNextState (const RacetrackState &s1, RacetrackMove a, RacetrackState &s2) const
virtual void	StoreGoal (RacetrackState &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 RacetrackState &node1, const RacetrackState &node2, double parentHCost) const
virtual bool	GoalTest (const RacetrackState &node) const
	Goal Test if the goal is stored. More...
virtual uint64_t	GetMaxHash () const
virtual void	GetStateFromHash (uint64_t parent, RacetrackState &s) const
virtual double	GetPathLength (std::vector< RacetrackState > &neighbors)
virtual double	GetPathLength (const RacetrackState &start, std::vector< RacetrackMove > &neighbors)
virtual OccupancyInterface< RacetrackState, RacetrackMove > *	GetOccupancyInfo ()
virtual void	SetOccupancyInfo (OccupancyInterface< RacetrackState, RacetrackMove > *)
virtual void	OpenGLDraw () const
virtual void	OpenGLDraw (const RacetrackState &, const RacetrackState &, float) const
	Draw the transition at some percentage 0...1 between two states. More...
virtual void	GLLabelState (const RacetrackState &, const char *) const
virtual void	GLDrawLine (const RacetrackState &x, const RacetrackState &y) const
virtual void	GLDrawPath (const std::vector< RacetrackState > &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
Public Member Functions inherited from Heuristic< RacetrackState >
	Heuristic ()
virtual	~Heuristic ()

Private Member Functions
int	GetIndex (int x, int y) const
void	GetCarCoordinates (const RacetrackState &s, Graphics::point &center, Graphics::point &p1, Graphics::point &p2, Graphics::point &p3) const

Private Attributes
MapEnvironment *	me
Map *	map
std::vector< int >	heuristic

Additional Inherited Members
Public Attributes inherited from Heuristic< RacetrackState >
std::vector< HeuristicTreeNode >	lookups
std::vector< Heuristic * >	heuristics
uint64_t	histogram [256]
Protected Attributes inherited from SearchEnvironment< RacetrackState, RacetrackMove >
bool	bValidSearchGoal
RacetrackState	searchGoal
rgbColor	color
GLfloat	transparency

Detailed Description

Definition at line 47 of file Racetrack.h.

Constructor & Destructor Documentation

Racetrack()

Racetrack::Racetrack

(

Map *

map

)

Definition at line 40 of file Racetrack.cpp.

References map, and UpdateMap().

~Racetrack()

Racetrack::~Racetrack

(

)

Definition at line 47 of file Racetrack.cpp.

References me.

Member Function Documentation

ApplyAction()

void Racetrack::ApplyAction ( RacetrackState &  s, RacetrackMove  a  ) const

virtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 165 of file Racetrack.cpp.

References RacetrackMove::hitGoal, RacetrackMove::xDelta, RacetrackMove::xGoal, RacetrackState::xLoc, RacetrackState::xVelocity, RacetrackMove::yDelta, RacetrackMove::yGoal, RacetrackState::yLoc, and RacetrackState::yVelocity.

Referenced by GetSuccessors(), and Legal().

Boundaries()

void Racetrack::Boundaries	(	RacetrackState &	s,
		RacetrackMove &	v
	)		const

Definition at line 186 of file Racetrack.cpp.

References Map::GetMapHeight(), Map::GetMapWidth(), map, RacetrackState::xLoc, RacetrackState::xVelocity, RacetrackState::yLoc, and RacetrackState::yVelocity.

Draw() [1/4]

void Racetrack::Draw ( Graphics::Display &  display ) const

virtual

Reimplemented from SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 356 of file Racetrack.cpp.

References MapEnvironment::Draw(), and me.

Draw() [2/4]

void Racetrack::Draw	(	Graphics::Display &	display,
		const RacetrackState &	s,
		RacetrackMove &	a
	)		const

Definition at line 422 of file Racetrack.cpp.

References Colors::black, Colors::blue, MapEnvironment::Draw(), MapEnvironment::DrawLine(), me, Colors::red, SearchEnvironment< state, action >::SetColor(), RacetrackMove::xDelta, RacetrackState::xLoc, RacetrackState::xVelocity, RacetrackMove::yDelta, RacetrackState::yLoc, and RacetrackState::yVelocity.

Draw() [3/4]

void Racetrack::Draw	(	Graphics::Display &	display,
		const RacetrackState &	l1,
		const RacetrackState &	l2,
		float	v
	)		const

Definition at line 438 of file Racetrack.cpp.

References Colors::blue, Graphics::Display::FillTriangle(), GetCarCoordinates(), SearchEnvironment< RacetrackState, RacetrackMove >::GetColor(), me, and SearchEnvironment< state, action >::SetColor().

Draw() [4/4]

void Racetrack::Draw ( Graphics::Display &  display, const RacetrackState &  s  ) const

virtual

Reimplemented from SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 361 of file Racetrack.cpp.

References Colors::black, MapEnvironment::DrawLine(), Graphics::Display::FillTriangle(), GetCarCoordinates(), SearchEnvironment< RacetrackState, RacetrackMove >::GetColor(), Map::GetMapHeight(), Map::GetMapWidth(), map, me, SearchEnvironment< state, action >::SetColor(), xyLoc::x, RacetrackState::xLoc, RacetrackState::xVelocity, xyLoc::y, RacetrackState::yLoc, and RacetrackState::yVelocity.

DrawLine()

void Racetrack::DrawLine ( Graphics::Display &  display, const RacetrackState &  x, const RacetrackState &  y, float  width  ) const

virtual

Reimplemented from SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 463 of file Racetrack.cpp.

References d, MapEnvironment::DrawLine(), SearchEnvironment< RacetrackState, RacetrackMove >::GetColor(), me, SearchEnvironment< state, action >::SetColor(), width, RacetrackState::xLoc, and RacetrackState::yLoc.

GCost() [1/2]

double Racetrack::GCost ( const RacetrackState &  node, const RacetrackMove &  act  ) const

inlinevirtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 74 of file Racetrack.h.

GCost() [2/2]

double Racetrack::GCost ( const RacetrackState &  node1, const RacetrackState &  node2  ) const

inlinevirtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 73 of file Racetrack.h.

GetAction()

RacetrackMove Racetrack::GetAction	(	const RacetrackState &	s1,
		RacetrackState &	s2
	)		const

Definition at line 228 of file Racetrack.cpp.

References RacetrackMove::xDelta, RacetrackState::xLoc, RacetrackState::xVelocity, RacetrackState::yLoc, and RacetrackState::yVelocity.

GetActionHash()

uint64_t Racetrack::GetActionHash ( RacetrackMove  act ) const

virtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 350 of file Racetrack.cpp.

GetActions()

void Racetrack::GetActions ( const RacetrackState &  nodeID, std::vector< RacetrackMove > &  actions  ) const

virtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 122 of file Racetrack.cpp.

References Legal().

Referenced by GetSuccessors().

GetCarCoordinates()

void Racetrack::GetCarCoordinates ( const RacetrackState &  s, Graphics::point &  center, Graphics::point &  p1, Graphics::point &  p2, Graphics::point &  p3  ) const

private

Definition at line 399 of file Racetrack.cpp.

References Map::GetOpenGLCoord(), map, Graphics::point::normalise(), RacetrackState::xLoc, RacetrackState::xVelocity, Graphics::point::y, RacetrackState::yLoc, and RacetrackState::yVelocity.

Referenced by Draw().

GetIndex()

int Racetrack::GetIndex ( int  x, int  y  ) const

inlineprivate

Definition at line 96 of file Racetrack.h.

References Map::GetMapWidth(), and map.

Referenced by HCost(), and UpdateMap().

GetNumSuccessors()

int Racetrack::GetNumSuccessors ( const RacetrackState &  stateID ) const

inlinevirtual

Reimplemented from SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 54 of file Racetrack.h.

References GetSuccessors().

GetStateHash()

uint64_t Racetrack::GetStateHash ( const RacetrackState &  node ) const

virtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 345 of file Racetrack.cpp.

References maxVelocity.

GetSuccessors()

void Racetrack::GetSuccessors ( const RacetrackState &  nodeID, std::vector< RacetrackState > &  neighbors  ) const

virtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 108 of file Racetrack.cpp.

References ApplyAction(), and GetActions().

Referenced by GetNumSuccessors().

GoalTest()

bool Racetrack::GoalTest ( const RacetrackState &  node, const RacetrackState &  goal  ) const

virtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 247 of file Racetrack.cpp.

References Map::GetTerrainType(), kEndTerrain, and map.

HCost() [1/2]

double Racetrack::HCost ( const RacetrackState &  node ) const

virtual

Heuristic value between node and the stored goal.

Asserts that the goal is stored

Reimplemented from SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 329 of file Racetrack.cpp.

References GetIndex(), heuristic, and min().

HCost() [2/2]

double Racetrack::HCost ( const RacetrackState &  node1, const RacetrackState &  node2  ) const

virtual

Heuristic value between two arbitrary nodes.

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 324 of file Racetrack.cpp.

InvertAction()

bool Racetrack::InvertAction ( RacetrackMove &  a ) const

virtual

Implements SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 222 of file Racetrack.cpp.

Legal()

bool Racetrack::Legal	(	const RacetrackState &	node1,
		RacetrackMove &	act
	)		const

Definition at line 260 of file Racetrack.cpp.

References ApplyAction(), Map::GetMapHeight(), Map::GetMapWidth(), Map::GetTerrainType(), RacetrackMove::hitGoal, kEndTerrain, kObstacle, map, maxVelocity, Graphics::point::x, RacetrackMove::xDelta, RacetrackMove::xGoal, RacetrackState::xLoc, RacetrackState::xVelocity, Graphics::point::y, RacetrackMove::yDelta, RacetrackMove::yGoal, RacetrackState::yLoc, and RacetrackState::yVelocity.

Referenced by GetActions().

OpenGLDraw() [1/3]

void Racetrack::OpenGLDraw ( ) const

inline

Definition at line 81 of file Racetrack.h.

OpenGLDraw() [2/3]

void Racetrack::OpenGLDraw ( const RacetrackState &  ) const

inlinevirtual

Reimplemented from SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 82 of file Racetrack.h.

OpenGLDraw() [3/3]

void Racetrack::OpenGLDraw ( const RacetrackState &  , const RacetrackMove &    ) const

inlinevirtual

Reimplemented from SearchEnvironment< RacetrackState, RacetrackMove >.

Definition at line 83 of file Racetrack.h.

Reset()

void Racetrack::Reset

(

RacetrackState &

s

)

const

Definition at line 87 of file Racetrack.cpp.

References Map::GetMapHeight(), Map::GetMapWidth(), Map::GetTerrainType(), kStartTerrain, map, RacetrackState::xLoc, RacetrackState::xVelocity, RacetrackState::yLoc, and RacetrackState::yVelocity.

UpdateMap()

void Racetrack::UpdateMap

(

Map *

map

)

Definition at line 52 of file Racetrack.cpp.

References TemplateAStar< state, action, environment, openList >::AddAdditionalStartState(), TemplateAStar< state, action, environment, openList >::DoSingleSearchStep(), GetIndex(), TemplateAStar< state, action, environment, openList >::GetItem(), Map::GetMapHeight(), Map::GetMapWidth(), TemplateAStar< state, action, environment, openList >::GetNumItems(), TemplateAStar< state, action, environment, openList >::GetNumOpenItems(), Map::GetTerrainType(), heuristic, TemplateAStar< state, action, environment, openList >::InitializeSearch(), kEndTerrain, map, me, path, MapEnvironment::SetFourConnected(), and TemplateAStar< state, action, environment, openList >::SetStopAfterGoal().

Referenced by Racetrack().

Member Data Documentation

heuristic

std::vector<int> Racetrack::heuristic

private

Definition at line 95 of file Racetrack.h.

Referenced by HCost(), and UpdateMap().

map

Map* Racetrack::map

private

Definition at line 94 of file Racetrack.h.

Referenced by Boundaries(), Draw(), GetCarCoordinates(), GetIndex(), GoalTest(), Legal(), Racetrack(), Reset(), and UpdateMap().

me

MapEnvironment* Racetrack::me

private

Definition at line 93 of file Racetrack.h.

Referenced by Draw(), DrawLine(), UpdateMap(), and ~Racetrack().

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

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