SteeringEnvironment Class Reference

#include <SteeringEnvironment.h>

Inheritance diagram for SteeringEnvironment:

Collaboration diagram for SteeringEnvironment:

Public Member Functions
	SteeringEnvironment ()
virtual void	GetSuccessors (const steeringState &nodeID, std::vector< steeringState > &neighbors) const
virtual void	GetActions (const steeringState &nodeID, std::vector< steeringAction > &actions) const
virtual steeringAction	GetAction (const steeringState &s1, const steeringState &s2) const
virtual void	ApplyAction (steeringState &s, steeringAction a) const
virtual void	GetNextState (const steeringState &, steeringAction, steeringState &) const
virtual bool	InvertAction (steeringAction &a) const
virtual double	HCost (const steeringState &node1, const steeringState &node2) const
	Heuristic value between two arbitrary nodes. More...
virtual double	HCost (const steeringState &node) const
	Heuristic value between node and the stored goal. More...
virtual double	GCost (const steeringState &node1, const steeringState &node2) const
virtual double	GCost (const steeringState &node, const steeringAction &act) const
virtual bool	GoalTest (const steeringState &node, const steeringState &goal) const
virtual bool	GoalTest (const steeringState &node) const
	Goal Test if the goal is stored. More...
virtual uint64_t	GetStateHash (const steeringState &node) const
virtual uint64_t	GetActionHash (steeringAction act) const
virtual void	OpenGLDraw () const
virtual void	OpenGLDraw (const steeringState &) const
virtual void	OpenGLDraw (const steeringState &, const steeringState &, float) const
	Draw the transition at some percentage 0...1 between two states. More...
virtual void	OpenGLDraw (const steeringState &, const steeringAction &) const
Public Member Functions inherited from SearchEnvironment< steeringState, steeringAction >
virtual	~SearchEnvironment ()
virtual int	GetNumSuccessors (const steeringState &stateID) const
virtual void	UndoAction (steeringState &s, steeringAction a) const
virtual void	StoreGoal (steeringState &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 steeringState &node1, const steeringState &node2, double parentHCost) const
virtual uint64_t	GetMaxHash () const
virtual void	GetStateFromHash (uint64_t parent, steeringState &s) const
virtual double	GetPathLength (std::vector< steeringState > &neighbors)
virtual double	GetPathLength (const steeringState &start, std::vector< steeringAction > &neighbors)
virtual OccupancyInterface< steeringState, steeringAction > *	GetOccupancyInfo ()
virtual void	SetOccupancyInfo (OccupancyInterface< steeringState, steeringAction > *)
virtual void	OpenGLDraw () const
virtual void	GLLabelState (const steeringState &, const char *) const
virtual void	GLDrawLine (const steeringState &x, const steeringState &y) const
virtual void	GLDrawPath (const std::vector< steeringState > &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 steeringState &) const
virtual void	DrawLine (Graphics::Display &display, const steeringState &x, const steeringState &y, float width=1.0) const
Public Member Functions inherited from Heuristic< steeringState >
	Heuristic ()
virtual	~Heuristic ()

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

Detailed Description

Definition at line 48 of file SteeringEnvironment.h.

Constructor & Destructor Documentation

SteeringEnvironment()

SteeringEnvironment::SteeringEnvironment ( )

inline

Definition at line 51 of file SteeringEnvironment.h.

Member Function Documentation

ApplyAction()

void SteeringEnvironment::ApplyAction ( steeringState &  s, steeringAction  a  ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 47 of file SteeringEnvironment.cpp.

References steeringAction::dh, steeringAction::dv, steeringState::heading, maxSpeed, TWOPI, steeringState::v, worldRadius, steeringState::x, and steeringState::y.

Referenced by GetNextState(), and GetSuccessors().

GCost() [1/2]

double SteeringEnvironment::GCost ( const steeringState &  node, const steeringAction &  act  ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 100 of file SteeringEnvironment.cpp.

GCost() [2/2]

double SteeringEnvironment::GCost ( const steeringState &  node1, const steeringState &  node2  ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 98 of file SteeringEnvironment.cpp.

GetAction()

steeringAction SteeringEnvironment::GetAction ( const steeringState &  s1, const steeringState &  s2  ) const

virtual

Reimplemented from SearchEnvironment< steeringState, steeringAction >.

Definition at line 41 of file SteeringEnvironment.cpp.

GetActionHash()

uint64_t SteeringEnvironment::GetActionHash ( steeringAction  act ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 109 of file SteeringEnvironment.cpp.

GetActions()

void SteeringEnvironment::GetActions ( const steeringState &  nodeID, std::vector< steeringAction > &  actions  ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 27 of file SteeringEnvironment.cpp.

Referenced by GetSuccessors().

GetNextState()

void SteeringEnvironment::GetNextState ( const steeringState &  s1, steeringAction  a, steeringState &  s2  ) const

virtual

Reimplemented from SearchEnvironment< steeringState, steeringAction >.

Definition at line 85 of file SteeringEnvironment.cpp.

References ApplyAction().

GetStateHash()

uint64_t SteeringEnvironment::GetStateHash ( const steeringState &  node ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 106 of file SteeringEnvironment.cpp.

GetSuccessors()

void SteeringEnvironment::GetSuccessors ( const steeringState &  nodeID, std::vector< steeringState > &  neighbors  ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 15 of file SteeringEnvironment.cpp.

References ApplyAction(), and GetActions().

GoalTest() [1/2]

virtual bool SteeringEnvironment::GoalTest ( const steeringState &  node ) const

inlinevirtual

Goal Test if the goal is stored.

Reimplemented from SearchEnvironment< steeringState, steeringAction >.

Definition at line 75 of file SteeringEnvironment.h.

References SearchEnvironment< steeringState, steeringAction >::bValidSearchGoal, and SearchEnvironment< steeringState, steeringAction >::searchGoal.

GoalTest() [2/2]

bool SteeringEnvironment::GoalTest ( const steeringState &  node, const steeringState &  goal  ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 102 of file SteeringEnvironment.cpp.

HCost() [1/2]

virtual double SteeringEnvironment::HCost ( const steeringState &  node ) const

inlinevirtual

Heuristic value between node and the stored goal.

Asserts that the goal is stored

Reimplemented from SearchEnvironment< steeringState, steeringAction >.

Definition at line 67 of file SteeringEnvironment.h.

References SearchEnvironment< steeringState, steeringAction >::bValidSearchGoal, HCost(), and SearchEnvironment< steeringState, steeringAction >::searchGoal.

HCost() [2/2]

double SteeringEnvironment::HCost ( const steeringState &  node1, const steeringState &  node2  ) const

virtual

Heuristic value between two arbitrary nodes.

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 95 of file SteeringEnvironment.cpp.

Referenced by HCost().

InvertAction()

bool SteeringEnvironment::InvertAction ( steeringAction &  a ) const

virtual

Implements SearchEnvironment< steeringState, steeringAction >.

Definition at line 91 of file SteeringEnvironment.cpp.

OpenGLDraw() [1/4]

void SteeringEnvironment::OpenGLDraw ( ) const

virtual

Definition at line 113 of file SteeringEnvironment.cpp.

OpenGLDraw() [2/4]

void SteeringEnvironment::OpenGLDraw ( const steeringState &  s ) const

virtual

Reimplemented from SearchEnvironment< steeringState, steeringAction >.

Definition at line 126 of file SteeringEnvironment.cpp.

References SearchEnvironment< steeringState, steeringAction >::GetColor(), steeringState::heading, recVec::normalise(), TWOPI, worldRadius, steeringState::x, recVec::x, steeringState::y, recVec::y, and recVec::z.

OpenGLDraw() [3/4]

void SteeringEnvironment::OpenGLDraw ( const steeringState &  , const steeringAction &    ) const

virtual

Reimplemented from SearchEnvironment< steeringState, steeringAction >.

Definition at line 221 of file SteeringEnvironment.cpp.

OpenGLDraw() [4/4]

void SteeringEnvironment::OpenGLDraw ( const steeringState &  s1, const steeringState &  s2, float  mix  ) const

virtual

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

Reimplemented from SearchEnvironment< steeringState, steeringAction >.

Definition at line 174 of file SteeringEnvironment.cpp.

References SearchEnvironment< steeringState, steeringAction >::GetColor(), steeringState::heading, recVec::normalise(), TWOPI, worldRadius, steeringState::x, recVec::x, steeringState::y, recVec::y, and recVec::z.

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

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