planners/astar/PL_Astar.h

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//=========================================================================
//
//  File:  PL_Astar.h
//
//  Created by Shane Schneider
//
//              Base A* Planner. 
//

#ifndef PL_ASTAR_h
#define PL_ASTAR_h 1

#pragma warning( disable : 4250 )

// Parent Classes
#include "Planners\PL_GraphBase.h"

// Additional LEDA Classes
#include <LEDA/node_map.h>
#include <LEDA/node_pq.h>

//## Class: PL_Astar%3921BC600296
//## Category: Planners%36FB140B003C
//## Persistence: Transient
//## Cardinality/Multiplicity: n

class PL_Astar : 
        public PL_GraphBase  //## Inherits: Basic graph planner
{

  public:
    //## Destructor (generated)
      virtual ~PL_Astar();

          // Default Constructor
          PL_Astar();                   

      //virtual bool DrawExplicit () const;
          //virtual bool DrawSpecific () const;

      virtual bool Plan ();

          virtual void SetStartConfig( const Configuration& config );
          virtual void SetGoalConfig ( const Configuration& config );

          virtual void SetCollisionDetector (CD_BasicStyle* collisionDetector);

          virtual void ClearGraph();
  
    // Additional Public Declarations

          // Assign the StepSize
          void SetDefaultStepSize();    // Assigns a default step size for each of the joints based on the joint limits.
          void SetStepSize( const VectorN& newstepsize );
          VectorN GetStepSize() const { return stepsize; } ;

          void SetCostWeight( const double& cost ) { weight = cost; };
          double GetCostWeight() const { return weight; };

          void CopySettings( PlannerBase* original );

  protected:
        // Additional Implementation Declarations
          //Cost Function
          virtual double Astar_f( const node& n, const double& currcost ) const;

          // Aligns a given joint value to the grid specificed by the stepsize and start config.
          double AlignJoint ( const int& jointNum, const double& jointValue ) const;
          
          // Returns the aligned configuration closest to given config.
          Configuration AlignConfig( const Configuration& config ) const;

          // Expands the node by connecting all configurations within stepsize
          void ExpandNode( const node& n );

          // Initialize a new search
          void InitNewSearch();

          // SaveContents
          //    Saves the graph and other relevent PRM parameters to the given ostream pointer
          virtual bool SaveContents( std::ofstream& outfile ) const;

          // LoadContents
          //    Load the graph and other relevent PRM parameters to the given ostream pointer
          virtual bool LoadContents( std::ifstream& infile );

          
    // Additional Protected Declarations
          node_map<bool>   nodeExpanded;  // records if node has been previously expanded

          node_map<node>   pred;    // stores the prev node for any given path of nodes
          node_map<double> dist;    // records the distance of the current calculated path upto specified node

          node_pq<double>* openp;       // pointer to open priority queue.

          VectorN stepsize;                     // Records the stepsize Astar should step for each joint
          VectorN invStepSize;          // Stores the inverse of each of the step sizes.  Needs to be recalculated each time stepsize is changed.

          bool goalOnGrid;                      // Indicates if the goal node is on the grid formed by stepsize and the start config.
          SuccessResultType plan_success;               // Indicates if the planner has been successful in finding a path

          double weight;                        // weight used in Astar Cost function.
   
  private:
    // Additional Private Declarations
          // Calculate the inverse of each of the steps sizes and assign it.
          void InvertStepSize();
          
        
  private: //## implementation
    // Additional Implementation Declarations
          
          

};


// Class PL_Astar 


#endif

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