praStar2 Class Reference

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

#include <praStar2.h>

Inheritance diagram for praStar2:

[legend]Collaboration diagram for praStar2:

[legend]List of all members.


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.
void	setPlanFromMiddle (bool _planFromMiddle)
	Set whether we want to start planning in the middle between base and top level of abstraction.
void	setFixedPlanLevel (int p)
	Set the level of abstraction to start pathfinding at.
void	setSkipParameter (int _skip)
	Set how many abstraction layers should be skipped at each step.
int	getTopLevel ()
int	getNumLevelsUsed ()
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

Detailed Description

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

Constructor & Destructor Documentation

praStar2::praStar2 ( )

virtual praStar2::~praStar2 ( ) [inline, virtual]

Member Function Documentation

path * praStar2::buildNextAbstractPath ( graphAbstraction * ,

path * lastPath,

std::vector< node * > & fromChain,

std::vector< node * > & toChain,

reservationProvider *

) [protected]

virtual const char* praStar2::getName ( ) [inline, virtual]

Implements searchAlgorithm.

int praStar2::getNumLevelsUsed ( ) [inline]

int praStar2::getPartialPathLimit ( ) [inline]

path * praStar2::getPath ( graphAbstraction * aMap,

node * from,

node * to,

reservationProvider * rp = 0

) [virtual]

Implements searchAlgorithm.

int praStar2::getTopLevel ( ) [inline]

void praStar2::selectTopAbstractionLevel ( graphAbstraction * aMap,

std::vector< node * > & fromChain,

std::vector< node * > & toChain

) [protected]

void praStar2::setEnhancedAbstractPathing ( bool enhance ) [inline]

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

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.

void praStar2::setPartialPathLimit ( int limit ) [inline]

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.

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.

void praStar2::setupSearch ( graphAbstraction * aMap,

std::vector< node * > & fromChain,

node * from,

std::vector< node * > & toChain,

node * to

) [protected]