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

#include <PRAStar2.h>

Inheritance diagram for praStar2:

Collaboration diagram for praStar2:

Public Member Functions
	praStar2 ()

virtual	~praStar2 ()

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

virtual const char *	GetName ()

void	setPartialPathLimit (int limit)

int	getPartialPathLimit ()

void	setEnhancedAbstractPathing (bool enhance)

void	setExpandSearchRadius (bool _expandSearchRadius)
	Set whether we want to expand the corridor to search in. More...

void	setPlanFromMiddle (bool _planFromMiddle)
	Set whether we want to start planning in the middle between base and top level of abstraction. More...

void	setFixedPlanLevel (int p)
	Set the level of abstraction to start pathfinding at. More...

void	setSkipParameter (int _skip)
	Set how many abstraction layers should be skipped at each step. More...

int	getTopLevel ()

int	getNumLevelsUsed ()

Public Member Functions inherited from SearchAlgorithm
	SearchAlgorithm ()

virtual	~SearchAlgorithm ()

uint64_t	GetNodesExpanded ()

uint64_t	GetNodesTouched ()

virtual void	LogFinalStats (StatCollection *)

Protected Member Functions
void	setupSearch (GraphAbstraction aMap, std::vector< node > &fromChain, node from, std::vector< node > &toChain, node *to)

path *	buildNextAbstractPath (GraphAbstraction , path lastPath, std::vector< node * > &fromChain, std::vector< node * > &toChain, reservationProvider *)

path *	trimPath (path lastPath, node origDest)

void	selectTopAbstractionLevel (GraphAbstraction aMap, std::vector< node > &fromChain, std::vector< node * > &toChain)

Protected Attributes
int	partialLimit

bool	enhancedAbstractPathing

bool	expandSearchRadius

corridorAStar	cAStar

char	algName [30]

bool	planFromMiddle

int	fixedPlanLevel

int	skip

int	topLevel

int	numLevels

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 25 of file PRAStar2.h.

Constructor & Destructor Documentation

◆ praStar2()

praStar2::praStar2 ( )

Definition at line 18 of file PRAStar2.cpp.

References algName, enhancedAbstractPathing, expandSearchRadius, fixedPlanLevel, numLevels, partialLimit, planFromMiddle, skip, and topLevel.

◆ ~praStar2()

virtual praStar2::~praStar2 ( )

inlinevirtual

Definition at line 29 of file PRAStar2.h.

Member Function Documentation

◆ buildNextAbstractPath()

path * praStar2::buildNextAbstractPath	(	GraphAbstraction *	aMap,
		path *	lastPath,
		std::vector< node * > &	fromChain,
		std::vector< node * > &	toChain,
		reservationProvider *	rp
	)

protected

◆ GetName()

virtual const char* praStar2::GetName ( )

inlinevirtual

Implements SearchAlgorithm.

Definition at line 31 of file PRAStar2.h.

References algName.

◆ getNumLevelsUsed()

int praStar2::getNumLevelsUsed ( )

inline

Definition at line 64 of file PRAStar2.h.

References numLevels.

◆ getPartialPathLimit()

int praStar2::getPartialPathLimit ( )

inline

Definition at line 35 of file PRAStar2.h.

References partialLimit.

◆ GetPath()

path * praStar2::GetPath	(	GraphAbstraction *	aMap,
		node *	from,
		node *	to,
		reservationProvider *	rp = `0`
	)

virtual

Implements SearchAlgorithm.

Definition at line 32 of file PRAStar2.cpp.

References buildNextAbstractPath(), Graph::FindEdge(), GraphAbstraction::GetAbstractGraph(), node::GetLabelL(), node::GetNum(), GraphAbstractionConstants::kAbstractionLevel, path::n, path, and setupSearch().

◆ getTopLevel()

int praStar2::getTopLevel ( )

inline

Definition at line 63 of file PRAStar2.h.

References topLevel.

◆ selectTopAbstractionLevel()

void praStar2::selectTopAbstractionLevel	(	GraphAbstraction *	aMap,
		std::vector< node * > &	fromChain,
		std::vector< node * > &	toChain
	)

protected

Definition at line 89 of file PRAStar2.cpp.

References fixedPlanLevel, GraphAbstraction::GetAbstractGraph(), GraphAbstraction::GetAbstractionLevel(), Graph::GetNumNodes(), planFromMiddle, topLevel, and verbose.

Referenced by setupSearch().

◆ setEnhancedAbstractPathing()

void praStar2::setEnhancedAbstractPathing ( bool enhance )

inline

Definition at line 36 of file PRAStar2.h.

References enhancedAbstractPathing.

◆ setExpandSearchRadius()

void praStar2::setExpandSearchRadius ( bool _expandSearchRadius )

inline

Set whether we want to expand the corridor to search in.

Set whether we want to expand the corridor from just the parents along the path to these parents and their neighbors

Definition at line 42 of file PRAStar2.h.

References expandSearchRadius.

◆ setFixedPlanLevel()

void praStar2::setFixedPlanLevel ( int p )

inline

Set the level of abstraction to start pathfinding at.

Setting the fixed plan level to -1 will do dynamic level selection if setPlanFromMiddle is true, and it will start at the highest possible level if setPlanFromMiddle is false. Default is -1.

Definition at line 55 of file PRAStar2.h.

References fixedPlanLevel.

◆ setPartialPathLimit()

void praStar2::setPartialPathLimit ( int limit )

inline

Definition at line 33 of file PRAStar2.h.

References algName, and partialLimit.

◆ setPlanFromMiddle()

void praStar2::setPlanFromMiddle ( bool _planFromMiddle )

inline

Set whether we want to start planning in the middle between base and top level of abstraction.

If true, sets the top level for pathfinding to be the level in the middle between the top level and the base level of abstraction. If false, top level for pathfinding is the topmost abstraction if fixedPlanLevel=-1, and the fixedPlanLevel otherwise.

Definition at line 49 of file PRAStar2.h.

References planFromMiddle.

◆ setSkipParameter()

void praStar2::setSkipParameter ( int _skip )

inline

Set how many abstraction layers should be skipped at each step.

A skip of -1 will only do pathfinding at the top level of abstraction and at the base level. A skip of 0 is the default, which will do pathfinding at each level.

Definition at line 61 of file PRAStar2.h.

References skip.

◆ setupSearch()

void praStar2::setupSearch	(	GraphAbstraction *	aMap,
		std::vector< node * > &	fromChain,
		node *	from,
		std::vector< node * > &	toChain,
		node *	to
	)

protected

Definition at line 53 of file PRAStar2.cpp.

References node::GetNum(), GraphAbstraction::GetNumAbstractGraphs(), SearchAlgorithm::nodesExpanded, SearchAlgorithm::nodesTouched, numLevels, GraphAbstraction::Pathable(), selectTopAbstractionLevel(), and verbose.

Referenced by GetPath().

◆ trimPath()

path * praStar2::trimPath	(	path *	lastPath,
		node *	origDest
	)

protected

Definition at line 244 of file PRAStar2.cpp.

References node::GetLabelL(), GraphAbstractionConstants::kParent, path::n, path::next, and partialLimit.

Member Data Documentation

◆ algName

char praStar2::algName[30]

protected

Definition at line 84 of file PRAStar2.h.

Referenced by GetName(), praStar2(), and setPartialPathLimit().

◆ cAStar

corridorAStar praStar2::cAStar

protected

Definition at line 83 of file PRAStar2.h.

Referenced by buildNextAbstractPath().

◆ enhancedAbstractPathing

bool praStar2::enhancedAbstractPathing

protected

Definition at line 81 of file PRAStar2.h.

Referenced by buildNextAbstractPath(), praStar2(), and setEnhancedAbstractPathing().

◆ expandSearchRadius

bool praStar2::expandSearchRadius

protected

Definition at line 82 of file PRAStar2.h.

Referenced by buildNextAbstractPath(), praStar2(), and setExpandSearchRadius().

◆ fixedPlanLevel

int praStar2::fixedPlanLevel

protected

Definition at line 87 of file PRAStar2.h.

Referenced by praStar2(), selectTopAbstractionLevel(), and setFixedPlanLevel().

◆ numLevels

int praStar2::numLevels

protected

Definition at line 90 of file PRAStar2.h.

Referenced by buildNextAbstractPath(), getNumLevelsUsed(), praStar2(), and setupSearch().

◆ partialLimit

int praStar2::partialLimit

protected

Definition at line 80 of file PRAStar2.h.

Referenced by buildNextAbstractPath(), getPartialPathLimit(), praStar2(), setPartialPathLimit(), and trimPath().

◆ planFromMiddle

bool praStar2::planFromMiddle

protected

Definition at line 86 of file PRAStar2.h.

Referenced by praStar2(), selectTopAbstractionLevel(), and setPlanFromMiddle().

◆ skip

int praStar2::skip

protected

Definition at line 88 of file PRAStar2.h.

Referenced by buildNextAbstractPath(), praStar2(), and setSkipParameter().

◆ topLevel

int praStar2::topLevel

protected

Definition at line 89 of file PRAStar2.h.

Referenced by getTopLevel(), praStar2(), and selectTopAbstractionLevel().

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

/home/sturtevant/nightly/hog2/abstractionalgorithms/PRAStar2.h
/home/sturtevant/nightly/hog2/abstractionalgorithms/PRAStar2.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ praStar2()

◆ ~praStar2()

Member Function Documentation

◆ buildNextAbstractPath()

◆ GetName()

◆ getNumLevelsUsed()

◆ getPartialPathLimit()

◆ GetPath()

◆ getTopLevel()

◆ selectTopAbstractionLevel()

◆ setEnhancedAbstractPathing()

◆ setExpandSearchRadius()

◆ setFixedPlanLevel()

◆ setPartialPathLimit()

◆ setPlanFromMiddle()

◆ setSkipParameter()

◆ setupSearch()

◆ trimPath()

Member Data Documentation

◆ algName

◆ cAStar

◆ enhancedAbstractPathing

◆ expandSearchRadius

◆ fixedPlanLevel

◆ numLevels

◆ partialLimit

◆ planFromMiddle

◆ skip

◆ topLevel