praStar Class Reference

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

#include <praStar.h>

Inheritance diagram for praStar:

[legend]Collaboration diagram for praStar:

[legend]List of all members.


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

Detailed Description

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

Constructor & Destructor Documentation

praStar::praStar ( )

virtual praStar::~praStar ( ) [inline, virtual]

Member Function Documentation

unsigned int praStar::astar ( graph * g,

unsigned int source,

unsigned int destParent,

std::vector< unsigned int > & eligibleNodeParents,

int LABEL,

unsigned int dest

) [protected]

path * praStar::getAbstractPath ( graph * g,

unsigned int source,

unsigned int destParent,

std::vector< unsigned int > & eligibleNodeParents,

int LABEL,

unsigned int dest

) [protected]

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

virtual const char* praStar::getName ( ) [inline, virtual]

Implements searchAlgorithm.

int praStar::getPartialPathLimit ( ) [inline]

path * praStar::getPath ( graphAbstraction * aMap,

node * from,

node * to,

reservationProvider * rp = 0

) [virtual]

Implements searchAlgorithm.
Reimplemented in aStar2.