PL_Astar Class Reference

#include <planners/astar/PL_Astar.h>

Inheritance diagram for PL_Astar:

[legend]Collaboration diagram for PL_Astar:


Public Member Functions
virtual	~PL_Astar ()
	PL_Astar ()
virtual bool	Plan ()
virtual void	SetStartConfig (const Configuration &config)
virtual void	SetGoalConfig (const Configuration &config)
virtual void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual void	ClearGraph ()
void	SetDefaultStepSize ()
void	SetStepSize (const VectorN &newstepsize)
VectorN	GetStepSize () const
void	SetCostWeight (const double &cost)
double	GetCostWeight () const
void	CopySettings (PlannerBase *original)
Protected Member Functions
virtual double	Astar_f (const node &n, const double &currcost) const
double	AlignJoint (const int &jointNum, const double &jointValue) const
Configuration	AlignConfig (const Configuration &config) const
void	ExpandNode (const node &n)
void	InitNewSearch ()
virtual bool	SaveContents (std::ofstream &outfile) const
virtual bool	LoadContents (std::ifstream &infile)
Protected Attributes
node_map< bool >	nodeExpanded
node_map< node >	pred
node_map< double >	dist
node_pq< double > *	openp
VectorN	stepsize
VectorN	invStepSize
bool	goalOnGrid
SuccessResultType	plan_success
double	weight
Private Member Functions
void	InvertStepSize ()

Detailed Description

Definition at line 27 of file PL_Astar.h.

Constructor & Destructor Documentation

PL_Astar::~PL_Astar ( ) [virtual]

Definition at line 59 of file PL_Astar.cpp.
References openp.

PL_Astar::PL_Astar ( )

Definition at line 36 of file PL_Astar.cpp.
References ClearGraph(), DEFAULTWEIGHT, FILEEXT, PL_GraphBase::fileext, FILEHEADER, PL_GraphBase::fileheader, openp, SetDefaultStepSize(), and weight.
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Member Function Documentation

Configuration PL_Astar::AlignConfig ( const Configuration & config ) const [protected]

Definition at line 711 of file PL_Astar.cpp.
References AlignJoint(), Configuration::DOF(), and Configuration::SetNumDOF().
Referenced by SetGoalConfig(), and SetStartConfig().
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double PL_Astar::AlignJoint ( const int & jointNum,

const double & jointValue

) const [protected]

Definition at line 662 of file PL_Astar.cpp.
References PL_HasCollisionDetector::collisionDetector, PlannerBase::GetStartConfig(), CD_BasicStyle::JointMax(), and stepsize.
Referenced by AlignConfig(), and ExpandNode().
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double PL_Astar::Astar_f ( const node & n,

const double & currcost

) const [protected, virtual]

Definition at line 580 of file PL_Astar.cpp.
References PL_GraphBase::Distance(), PL_GraphBase::goalNode, and weight.
Referenced by Plan().
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void PL_Astar::ClearGraph ( ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 76 of file PL_Astar.cpp.
References PL_GraphBase::ClearGraph(), FALSE, PL_GraphBase::G, InitNewSearch(), and nodeExpanded.
Referenced by PL_Astar(), SetStartConfig(), and SetStepSize().
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void PL_Astar::CopySettings ( PlannerBase * original )

Reimplemented from PL_GraphBase.
Definition at line 880 of file PL_Astar.cpp.
References PL_GraphBase::CopySettings(), invStepSize, stepsize, and weight.
Referenced by ServerBase::RefreshPlanner().
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void PL_Astar::ExpandNode ( const node & n ) [protected]

Definition at line 735 of file PL_Astar.cpp.
References AlignJoint(), PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), PL_GraphBase::G, CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), CD_BasicStyle::JointWraps(), nodeExpanded, and stepsize.
Referenced by Plan().
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double PL_Astar::GetCostWeight ( ) const [inline]

Definition at line 58 of file PL_Astar.h.
References weight.

VectorN PL_Astar::GetStepSize ( ) const [inline]

Definition at line 55 of file PL_Astar.h.
References stepsize.

void PL_Astar::InitNewSearch ( ) [protected]

Definition at line 93 of file PL_Astar.cpp.
References PL_GraphBase::ClearGraphPath(), dist, PL_GraphBase::G, openp, plan_success, pred, PL_GraphBase::startNode, and TIMER_EXPIRED.
Referenced by ClearGraph(), LoadContents(), SetGoalConfig(), and SetStartConfig().
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void PL_Astar::InvertStepSize ( ) [private]

Definition at line 592 of file PL_Astar.cpp.
References invStepSize, VectorN::Length(), VectorN::SetLength(), and stepsize.
Referenced by LoadContents(), and SetStepSize().
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bool PL_Astar::LoadContents ( std::ifstream & infile ) [protected, virtual]

Reimplemented from PL_GraphBase.
Definition at line 130 of file PL_Astar.cpp.
References PL_GraphBase::G, goalOnGrid, InitNewSearch(), InvertStepSize(), PL_GraphBase::LoadContents(), nodeExpanded, stepsize, and weight.
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bool PL_Astar::Plan ( ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 200 of file PL_Astar.cpp.
References Astar_f(), dist, ExpandNode(), FAIL, PL_GraphBase::G, PL_GraphBase::goalNode, PL_GraphBase::graphPath, PlannerBase::guid, PlannerBase::HasTimeLimitExpired(), Semaphore::Lock(), openp, PASS, plan_success, pred, PL_GraphBase::startNode, PlannerBase::StartTimer(), TIMER_EXPIRED, and PL_GraphBase::TranslatePath().
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bool PL_Astar::SaveContents ( std::ofstream & outfile ) const [protected, virtual]

Reimplemented from PL_GraphBase.
Definition at line 169 of file PL_Astar.cpp.
References PL_GraphBase::G, goalOnGrid, nodeExpanded, PL_GraphBase::SaveContents(), stepsize, and weight.
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void PL_Astar::SetCollisionDetector ( CD_BasicStyle * collisionDetector ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 559 of file PL_Astar.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), VectorN::Length(), PL_GraphBase::SetCollisionDetector(), SetDefaultStepSize(), and stepsize.
Referenced by ServerBase::RefreshPlanner().
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void PL_Astar::SetCostWeight ( const double & cost ) [inline]

Definition at line 57 of file PL_Astar.h.
References weight.

void PL_Astar::SetDefaultStepSize ( )

Definition at line 635 of file PL_Astar.cpp.
References PL_HasCollisionDetector::collisionDetector, DEFAULTNUMSTEPS, CD_BasicStyle::DOF(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), VectorN::SetLength(), and stepsize.
Referenced by PL_Astar(), and SetCollisionDetector().
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void PL_Astar::SetGoalConfig ( const Configuration & config ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 474 of file PL_Astar.cpp.
References AlignConfig(), COMPTOL, dist, PL_GraphBase::Distance(), FAIL, FALSE, PL_GraphBase::G, PlannerBase::GetGoalConfig(), PL_GraphBase::goalNode, goalOnGrid, InitNewSearch(), invStepSize, PL_GraphBase::IsInterfering(), PL_GraphBase::NodeCount(), nodeExpanded, plan_success, PL_GraphBase::SetGoalConfig(), and TRUE.
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void PL_Astar::SetStartConfig ( const Configuration & config ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 397 of file PL_Astar.cpp.
References AlignConfig(), ClearGraph(), COMPTOL, FAIL, FALSE, PL_GraphBase::G, PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), PL_GraphBase::goalNode, goalOnGrid, InitNewSearch(), PL_GraphBase::IsInterfering(), nodeExpanded, plan_success, PL_GraphBase::SetGoalConfig(), PL_GraphBase::SetStartConfig(), VectorN::Size(), PL_GraphBase::startNode, and TRUE.
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void PL_Astar::SetStepSize ( const VectorN & newstepsize )

Definition at line 612 of file PL_Astar.cpp.
References ClearGraph(), InvertStepSize(), and stepsize.
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Member Data Documentation

node_map<double> PL_Astar::dist [protected]

Definition at line 92 of file PL_Astar.h.
Referenced by InitNewSearch(), Plan(), and SetGoalConfig().

bool PL_Astar::goalOnGrid [protected]

Definition at line 99 of file PL_Astar.h.
Referenced by LoadContents(), SaveContents(), SetGoalConfig(), and SetStartConfig().

VectorN PL_Astar::invStepSize [protected]

Definition at line 97 of file PL_Astar.h.
Referenced by CopySettings(), InvertStepSize(), and SetGoalConfig().

node_map<bool> PL_Astar::nodeExpanded [protected]

Definition at line 89 of file PL_Astar.h.
Referenced by ClearGraph(), ExpandNode(), LoadContents(), SaveContents(), SetGoalConfig(), and SetStartConfig().

node_pq<double>* PL_Astar::openp [protected]

Definition at line 94 of file PL_Astar.h.
Referenced by InitNewSearch(), PL_Astar(), Plan(), and ~PL_Astar().

SuccessResultType PL_Astar::plan_success [protected]

Definition at line 100 of file PL_Astar.h.
Referenced by InitNewSearch(), Plan(), SetGoalConfig(), and SetStartConfig().

node_map<node> PL_Astar::pred [protected]

Definition at line 91 of file PL_Astar.h.
Referenced by InitNewSearch(), and Plan().

VectorN PL_Astar::stepsize [protected]

Definition at line 96 of file PL_Astar.h.
Referenced by AlignJoint(), CopySettings(), ExpandNode(), GetStepSize(), InvertStepSize(), LoadContents(), SaveContents(), SetCollisionDetector(), SetDefaultStepSize(), and SetStepSize().

double PL_Astar::weight [protected]

Definition at line 102 of file PL_Astar.h.
Referenced by Astar_f(), CopySettings(), GetCostWeight(), LoadContents(), PL_Astar(), SaveContents(), and SetCostWeight().

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

planners/astar/PL_Astar.h
planners/astar/PL_Astar.cpp

Generated on Sat Apr 1 21:53:12 2006 for Motion Planning Kernel by

1.4.6-NO

PL_Astar Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation