praStar Class Reference

The pra* search algorithm which does partial pathfinding using abstraction. More...

#include <PRAStar.h>

Inheritance diagram for praStar:

Collaboration diagram for praStar:

Public Member Functions
	praStar ()
virtual	~praStar ()
virtual path *	GetPath (GraphAbstraction *aMap, node *from, node *to, reservationProvider *rp=0)
virtual const char *	GetName ()
void	setPartialPathLimit (int limit)
int	getPartialPathLimit ()
void	setPlanFromMiddle (bool _planFromMiddle)
void	setExpandSearchRadius (bool _expandSearchRadius)
void	setUseSmoothing (bool _smoothing)
void	setCache (path **p)
void	setFixedPlanLevel (int p)
	Set a fixed level for abstraction in planning. More...
void	getAbstractPathLengths (std::vector< int > &len)
Public Member Functions inherited from SearchAlgorithm
	SearchAlgorithm ()
virtual	~SearchAlgorithm ()
uint64_t	GetNodesExpanded ()
uint64_t	GetNodesTouched ()
virtual void	LogFinalStats (StatCollection *)

Protected Member Functions
path *	getAbstractPath (Graph *g, unsigned int source, unsigned int destParent, std::vector< unsigned int > &eligibleNodeParents, int LABEL, unsigned int dest)
unsigned int	astar (Graph *g, unsigned int source, unsigned int destParent, std::vector< unsigned int > &eligibleNodeParents, int LABEL, unsigned int dest)
void	relaxEdge (Heap *nodeHeap, Graph *g, edge *e, int source, int nextNode, int dest, int LABEL)
path *	smoothPath (path *p)

Protected Attributes
path **	cache
int	partialLimit
int	fixedPlanLevel
char	algName [30]
GraphAbstraction *	map
bool	expandSearchRadius
bool	planFromMiddle
bool	smoothing
reservationProvider *	rp
std::vector< int >	lengths

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

Detailed Description

The pra* search algorithm which does partial pathfinding using abstraction.

Definition at line 23 of file PRAStar.h.

Constructor & Destructor Documentation

praStar()

praStar::praStar

(

)

Definition at line 18 of file PRAStar.cpp.

References algName, cache, expandSearchRadius, fixedPlanLevel, partialLimit, and planFromMiddle.

~praStar()

virtual praStar::~praStar ( )

inlinevirtual

Definition at line 27 of file PRAStar.h.

Member Function Documentation

astar()

unsigned int praStar::astar ( Graph *  g, unsigned int  source, unsigned int  destParent, std::vector< unsigned int > &  eligibleNodeParents, int  LABEL, unsigned int  dest  )

protected

Definition at line 275 of file PRAStar.cpp.

References Heap::Add(), node::edgeIterNext(), GraphAbstraction::GetAbstractGraph(), node::getEdgeIter(), node::GetLabelF(), node::GetLabelL(), Graph::GetNode(), node::GetNum(), GraphAbstraction::h(), Heap::IsIn(), GraphAbstractionConstants::kAbstractionLevel, GraphAbstractionConstants::kEdgeCapacity, graph_object::key, GraphAbstractionConstants::kParent, map, node::markEdge(), MAXINT, reservationProvider::nodeOccupied(), SearchAlgorithm::nodesExpanded, SearchAlgorithm::nodesTouched, partialLimit, relaxEdge(), Heap::Remove(), rp, node::SetKeyLabel(), node::SetLabelF(), and verbose.

Referenced by getAbstractPath().

getAbstractPath()

path * praStar::getAbstractPath ( Graph *  g, unsigned int  source, unsigned int  destParent, std::vector< unsigned int > &  eligibleNodeParents, int  LABEL, unsigned int  dest  )

protected

Definition at line 234 of file PRAStar.cpp.

References astar(), edge::getFrom(), node::getMarkedEdge(), Graph::GetNode(), edge::getTo(), path, edge::setMarked(), and verbose.

Referenced by GetPath().

getAbstractPathLengths()

void praStar::getAbstractPathLengths ( std::vector< int > &  len )

inline

Definition at line 39 of file PRAStar.h.

References lengths.

GetName()

virtual const char* praStar::GetName ( )

inlinevirtual

Implements SearchAlgorithm.

Definition at line 29 of file PRAStar.h.

References algName.

Referenced by praStarUnit::GetName().

getPartialPathLimit()

int praStar::getPartialPathLimit ( )

inline

Definition at line 32 of file PRAStar.h.

References partialLimit.

GetPath()

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

virtual

Implements SearchAlgorithm.

Reimplemented in aStar2.

Definition at line 33 of file PRAStar.cpp.

References cache, expandSearchRadius, Graph::FindEdge(), fixedPlanLevel, GraphAbstraction::GetAbstractGraph(), GraphAbstraction::GetAbstractionLevel(), getAbstractPath(), node::GetLabelL(), node::GetNum(), GraphAbstraction::GetNumAbstractGraphs(), Graph::GetNumNodes(), GraphAbstractionConstants::kAbstractionLevel, GraphAbstractionConstants::kFirstData, GraphAbstractionConstants::kParent, GraphAbstractionConstants::kTemporaryLabel, path::length(), lengths, map, path::n, path::next, SearchAlgorithm::nodesExpanded, SearchAlgorithm::nodesTouched, partialLimit, path, GraphAbstraction::Pathable(), planFromMiddle, rp, and verbose.

relaxEdge()

void praStar::relaxEdge ( Heap *  nodeHeap, Graph *  g, edge *  e, int  source, int  nextNode, int  dest, int  LABEL  )

protected

Definition at line 421 of file PRAStar.cpp.

References d, Heap::DecreaseKey(), fless(), node::GetLabelF(), Graph::GetNode(), edge::GetWeight(), GraphAbstraction::h(), map, node::markEdge(), node::SetLabelF(), and verbose.

Referenced by astar().

setCache()

void praStar::setCache

(

path **

p

)

Definition at line 28 of file PRAStar.cpp.

References cache.

Referenced by praStarUnit::makeMove().

setExpandSearchRadius()

void praStar::setExpandSearchRadius ( bool  _expandSearchRadius )

inline

Definition at line 34 of file PRAStar.h.

References expandSearchRadius.

Referenced by praStarUnit::makeMove().

setFixedPlanLevel()

void praStar::setFixedPlanLevel ( int  p )

inline

Set a fixed level for abstraction in planning.

-1 to return to dynamic level selection

Definition at line 38 of file PRAStar.h.

References fixedPlanLevel.

setPartialPathLimit()

void praStar::setPartialPathLimit ( int  limit )

inline

Definition at line 30 of file PRAStar.h.

References algName, and partialLimit.

setPlanFromMiddle()

void praStar::setPlanFromMiddle ( bool  _planFromMiddle )

inline

Definition at line 33 of file PRAStar.h.

References planFromMiddle.

setUseSmoothing()

void praStar::setUseSmoothing ( bool  _smoothing )

inline

Definition at line 35 of file PRAStar.h.

References smoothing.

smoothPath()

path * praStar::smoothPath ( path *  p )

protected

Definition at line 267 of file PRAStar.cpp.

Member Data Documentation

algName

char praStar::algName[30]

protected

Definition at line 57 of file PRAStar.h.

Referenced by GetName(), praStar(), and setPartialPathLimit().

cache

path** praStar::cache

protected

Definition at line 54 of file PRAStar.h.

Referenced by GetPath(), praStar(), and setCache().

expandSearchRadius

bool praStar::expandSearchRadius

protected

Definition at line 59 of file PRAStar.h.

Referenced by GetPath(), praStar(), and setExpandSearchRadius().

fixedPlanLevel

int praStar::fixedPlanLevel

protected

Definition at line 56 of file PRAStar.h.

Referenced by GetPath(), praStar(), and setFixedPlanLevel().

lengths

std::vector<int> praStar::lengths

protected

Definition at line 63 of file PRAStar.h.

Referenced by getAbstractPathLengths(), and GetPath().

map

GraphAbstraction* praStar::map

protected

Definition at line 58 of file PRAStar.h.

Referenced by astar(), GetPath(), and relaxEdge().

partialLimit

int praStar::partialLimit

protected

Definition at line 55 of file PRAStar.h.

Referenced by astar(), getPartialPathLimit(), GetPath(), praStar(), and setPartialPathLimit().

planFromMiddle

bool praStar::planFromMiddle

protected

Definition at line 60 of file PRAStar.h.

Referenced by GetPath(), praStar(), and setPlanFromMiddle().

rp

reservationProvider* praStar::rp

protected

Definition at line 62 of file PRAStar.h.

Referenced by astar(), and GetPath().

smoothing

bool praStar::smoothing

protected

Definition at line 61 of file PRAStar.h.

Referenced by setUseSmoothing().

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

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