#include <stlastar.h>

Classes
class	HeapCompare_f

class	Node

Public Types
enum	{ SEARCH_STATE_NOT_INITIALISED, SEARCH_STATE_SEARCHING, SEARCH_STATE_SUCCEEDED, SEARCH_STATE_FAILED, SEARCH_STATE_OUT_OF_MEMORY, SEARCH_STATE_INVALID, SEARCH_STATE_SOLUTION_CORRUPTED }

typedef std::vector< Node * >	NodeVector

typedef NodeVector::iterator	NodeVectorIterator

Public Member Functions
	AStarSearch (int MaxNodes=1000)

bool	AddSuccessor (UserState &State)

bool	AddToSolutionList (Node *theNode)

void	CancelSearch ()

void	FreeSolutionNodes ()

UserState *	GetClosedListNext ()

UserState *	GetClosedListNext (float &f, float &g, float &h)

UserState *	GetClosedListStart ()

UserState *	GetClosedListStart (float &f, float &g, float &h)

UserState *	GetOpenListNext ()

UserState *	GetOpenListNext (float &f, float &g, float &h)

UserState *	GetOpenListStart ()

UserState *	GetOpenListStart (float &f, float &g, float &h)

UserState *	GetSolutionEnd ()

UserState *	GetSolutionNext ()

UserState *	GetSolutionPrev ()

UserState *	GetSolutionStart ()

int	GetStepCount ()

bool	InClosedList (UserState &theState)

bool	InOpenList (UserState &theState)

unsigned int	SearchStep (bool doors_block)

void	SetStartAndGoalStates (UserState &Start, UserState &Goal)

Private Member Functions
Node *	AllocateNode ()

void	FreeAllNodes ()

void	FreeNode (Node *node)

void	FreeUnusedNodes ()

Private Attributes
NodeVectorIterator	iterDbgClosed

NodeVectorIterator	iterDbgOpen

int	m_AllocateNodeCount

bool	m_CancelRequest

NodeVector	m_ClosedList

Node *	m_CurrentSolutionNode

Pol::Plib::FixedSizeAllocator< Node >	m_FixedSizeAllocator

int	m_FreeNodeCount

Node *	m_Goal

NodeVector	m_OpenList

NodeVector	m_SolutionList

Node *	m_Start

unsigned int	m_State

int	m_Steps

NodeVector	m_Successors

Detailed Description

template<class UserState>
class Pol::Plib::AStarSearch< UserState >

Definition at line 39 of file stlastar.h.

Member Typedef Documentation

template<class UserState>

typedef std::vector<Node*> Pol::Plib::AStarSearch< UserState >::NodeVector

Definition at line 72 of file stlastar.h.

template<class UserState>

typedef NodeVector::iterator Pol::Plib::AStarSearch< UserState >::NodeVectorIterator

Definition at line 73 of file stlastar.h.

Member Enumeration Documentation

template<class UserState>

anonymous enum

Enumerator
SEARCH_STATE_NOT_INITIALISED
SEARCH_STATE_SEARCHING
SEARCH_STATE_SUCCEEDED
SEARCH_STATE_FAILED
SEARCH_STATE_OUT_OF_MEMORY
SEARCH_STATE_INVALID
SEARCH_STATE_SOLUTION_CORRUPTED

Definition at line 42 of file stlastar.h.

Constructor & Destructor Documentation

template<class UserState>

Pol::Plib::AStarSearch< UserState >::AStarSearch ( int MaxNodes = 1000 )

inline

Definition at line 85 of file stlastar.h.

Member Function Documentation

template<class UserState>

bool Pol::Plib::AStarSearch< UserState >::AddSuccessor ( UserState & State )

inline

Definition at line 396 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::AllocateNode(), Pol::Plib::AStarSearch< UserState >::m_Successors, and Pol::Plib::AStarSearch< UserState >::Node::m_UserState.

Referenced by Pol::Core::UOPathState::GetSuccessors().

template<class UserState>

bool Pol::Plib::AStarSearch< UserState >::AddToSolutionList ( Node * theNode )

inline

Definition at line 163 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_SolutionList.

Referenced by Pol::Plib::AStarSearch< UserState >::SearchStep().

template<class UserState>

Node* Pol::Plib::AStarSearch< UserState >::AllocateNode ( )

inlineprivate

Definition at line 658 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_AllocateNodeCount, Pol::Plib::AStarSearch< UserState >::m_FixedSizeAllocator, and Pol::Plib::AStarSearch< UserState >::Node::Node().

Referenced by Pol::Plib::AStarSearch< UserState >::AddSuccessor(), and Pol::Plib::AStarSearch< UserState >::SetStartAndGoalStates().

template<class UserState>

void Pol::Plib::AStarSearch< UserState >::CancelSearch ( )

inline

Definition at line 99 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_CancelRequest.

template<class UserState>

void Pol::Plib::AStarSearch< UserState >::FreeAllNodes ( )

inlineprivate

Definition at line 589 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::FreeNode(), Pol::Plib::AStarSearch< UserState >::m_ClosedList, Pol::Plib::AStarSearch< UserState >::m_Goal, and Pol::Plib::AStarSearch< UserState >::m_OpenList.

Referenced by Pol::Plib::AStarSearch< UserState >::SearchStep().

template<class UserState>

void Pol::Plib::AStarSearch< UserState >::FreeNode ( Node * node )

inlineprivate

Definition at line 676 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_FixedSizeAllocator, and Pol::Plib::AStarSearch< UserState >::m_FreeNodeCount.

Referenced by Pol::Plib::AStarSearch< UserState >::FreeAllNodes(), Pol::Plib::AStarSearch< UserState >::FreeSolutionNodes(), Pol::Plib::AStarSearch< UserState >::FreeUnusedNodes(), and Pol::Plib::AStarSearch< UserState >::SearchStep().

template<class UserState>

void Pol::Plib::AStarSearch< UserState >::FreeSolutionNodes ( )

inline

Definition at line 412 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::Node::child, Pol::Plib::AStarSearch< UserState >::FreeNode(), Pol::Plib::AStarSearch< UserState >::m_Goal, and Pol::Plib::AStarSearch< UserState >::m_Start.

Referenced by Pol::Module::UOExecutorModule::mf_FindPath().

template<class UserState>

void Pol::Plib::AStarSearch< UserState >::FreeUnusedNodes ( )

inlineprivate

Definition at line 623 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::Node::child, Pol::Plib::AStarSearch< UserState >::FreeNode(), Pol::Plib::AStarSearch< UserState >::m_ClosedList, and Pol::Plib::AStarSearch< UserState >::m_OpenList.

Referenced by Pol::Plib::AStarSearch< UserState >::SearchStep().

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetClosedListNext ( )

inline

Definition at line 562 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::Node::f, Pol::Plib::AStarSearch< UserState >::Node::g, and Pol::Plib::AStarSearch< UserState >::Node::h.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetClosedListNext	(	float &	f,
		float &	g,
		float &	h
	)

inline

Definition at line 568 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::iterDbgClosed, and Pol::Plib::AStarSearch< UserState >::m_ClosedList.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetClosedListStart ( )

inline

Definition at line 541 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::Node::f, Pol::Plib::AStarSearch< UserState >::Node::g, and Pol::Plib::AStarSearch< UserState >::Node::h.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetClosedListStart	(	float &	f,
		float &	g,
		float &	h
	)

inline

Definition at line 547 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::iterDbgClosed, and Pol::Plib::AStarSearch< UserState >::m_ClosedList.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetOpenListNext ( )

inline

Definition at line 522 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::Node::f, Pol::Plib::AStarSearch< UserState >::Node::g, and Pol::Plib::AStarSearch< UserState >::Node::h.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetOpenListNext	(	float &	f,
		float &	g,
		float &	h
	)

inline

Definition at line 528 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::iterDbgOpen, and Pol::Plib::AStarSearch< UserState >::m_OpenList.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetOpenListStart ( )

inline

Definition at line 502 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::Node::f, Pol::Plib::AStarSearch< UserState >::Node::g, and Pol::Plib::AStarSearch< UserState >::Node::h.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetOpenListStart	(	float &	f,
		float &	g,
		float &	h
	)

inline

Definition at line 508 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::iterDbgOpen, and Pol::Plib::AStarSearch< UserState >::m_OpenList.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetSolutionEnd ( )

inline

Definition at line 470 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_CurrentSolutionNode, Pol::Plib::AStarSearch< UserState >::m_Goal, and Pol::Plib::AStarSearch< UserState >::Node::m_UserState.

Referenced by Pol::Core::UOPathState::GetSuccessors().

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetSolutionNext ( )

inline

Definition at line 454 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::Node::child, Pol::Plib::AStarSearch< UserState >::m_CurrentSolutionNode, and Pol::Plib::AStarSearch< UserState >::Node::m_UserState.

Referenced by Pol::Module::UOExecutorModule::mf_FindPath().

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetSolutionPrev ( )

inline

Definition at line 484 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_CurrentSolutionNode, Pol::Plib::AStarSearch< UserState >::Node::m_UserState, and Pol::Plib::AStarSearch< UserState >::Node::parent.

template<class UserState>

UserState* Pol::Plib::AStarSearch< UserState >::GetSolutionStart ( )

inline

Definition at line 440 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_CurrentSolutionNode, Pol::Plib::AStarSearch< UserState >::m_Start, and Pol::Plib::AStarSearch< UserState >::Node::m_UserState.

Referenced by Pol::Core::UOPathState::GetSuccessors(), and Pol::Module::UOExecutorModule::mf_FindPath().

template<class UserState>

int Pol::Plib::AStarSearch< UserState >::GetStepCount ( )

inline

Definition at line 584 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_Steps.

template<class UserState>

bool Pol::Plib::AStarSearch< UserState >::InClosedList ( UserState & theState )

inline

Definition at line 146 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_ClosedList, Pol::Plib::AStarSearch< UserState >::m_Goal, and Pol::Plib::AStarSearch< UserState >::Node::m_UserState.

Referenced by Pol::Plib::AStarSearch< UserState >::SearchStep().

template<class UserState>

bool Pol::Plib::AStarSearch< UserState >::InOpenList ( UserState & theState )

inline

Definition at line 132 of file stlastar.h.

References Pol::Plib::AStarSearch< UserState >::m_OpenList.

template<class UserState>

unsigned int Pol::Plib::AStarSearch< UserState >::SearchStep ( bool doors_block )

inline

Definition at line 178 of file stlastar.h.

Referenced by Pol::Module::UOExecutorModule::mf_FindPath().

template<class UserState>

void Pol::Plib::AStarSearch< UserState >::SetStartAndGoalStates	(	UserState &	Start,
		UserState &	Goal
	)

inline

Definition at line 101 of file stlastar.h.

Referenced by Pol::Module::UOExecutorModule::mf_FindPath().

Member Data Documentation

template<class UserState>

NodeVectorIterator Pol::Plib::AStarSearch< UserState >::iterDbgClosed

private

Definition at line 718 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::GetClosedListNext(), and Pol::Plib::AStarSearch< UserState >::GetClosedListStart().

template<class UserState>

NodeVectorIterator Pol::Plib::AStarSearch< UserState >::iterDbgOpen

private

Definition at line 717 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::GetOpenListNext(), and Pol::Plib::AStarSearch< UserState >::GetOpenListStart().

template<class UserState>

int Pol::Plib::AStarSearch< UserState >::m_AllocateNodeCount

private

Definition at line 721 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::AllocateNode().

template<class UserState>

bool Pol::Plib::AStarSearch< UserState >::m_CancelRequest

private

Definition at line 724 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::CancelSearch(), Pol::Plib::AStarSearch< UserState >::SearchStep(), and Pol::Plib::AStarSearch< UserState >::SetStartAndGoalStates().

template<class UserState>

NodeVector Pol::Plib::AStarSearch< UserState >::m_ClosedList

private

Definition at line 692 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::FreeAllNodes(), Pol::Plib::AStarSearch< UserState >::FreeUnusedNodes(), Pol::Plib::AStarSearch< UserState >::GetClosedListNext(), Pol::Plib::AStarSearch< UserState >::GetClosedListStart(), Pol::Plib::AStarSearch< UserState >::InClosedList(), and Pol::Plib::AStarSearch< UserState >::SearchStep().

template<class UserState>

Node* Pol::Plib::AStarSearch< UserState >::m_CurrentSolutionNode

private

Definition at line 710 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::GetSolutionEnd(), Pol::Plib::AStarSearch< UserState >::GetSolutionNext(), Pol::Plib::AStarSearch< UserState >::GetSolutionPrev(), and Pol::Plib::AStarSearch< UserState >::GetSolutionStart().

template<class UserState>

Pol::Plib::FixedSizeAllocator<Node> Pol::Plib::AStarSearch< UserState >::m_FixedSizeAllocator

private

Definition at line 713 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::AllocateNode(), and Pol::Plib::AStarSearch< UserState >::FreeNode().

template<class UserState>

int Pol::Plib::AStarSearch< UserState >::m_FreeNodeCount

private

Definition at line 722 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::FreeNode().

template<class UserState>

Node* Pol::Plib::AStarSearch< UserState >::m_Goal

private

Definition at line 708 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::FreeAllNodes(), Pol::Plib::AStarSearch< UserState >::FreeSolutionNodes(), Pol::Plib::AStarSearch< UserState >::GetSolutionEnd(), Pol::Plib::AStarSearch< UserState >::InClosedList(), Pol::Plib::AStarSearch< UserState >::SearchStep(), and Pol::Plib::AStarSearch< UserState >::SetStartAndGoalStates().

template<class UserState>

NodeVector Pol::Plib::AStarSearch< UserState >::m_OpenList

private

Definition at line 689 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::FreeAllNodes(), Pol::Plib::AStarSearch< UserState >::FreeUnusedNodes(), Pol::Plib::AStarSearch< UserState >::GetOpenListNext(), Pol::Plib::AStarSearch< UserState >::GetOpenListStart(), Pol::Plib::AStarSearch< UserState >::InOpenList(), Pol::Plib::AStarSearch< UserState >::SearchStep(), and Pol::Plib::AStarSearch< UserState >::SetStartAndGoalStates().

template<class UserState>

NodeVector Pol::Plib::AStarSearch< UserState >::m_SolutionList

private

Definition at line 694 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::AddToSolutionList().

template<class UserState>

Node* Pol::Plib::AStarSearch< UserState >::m_Start

private

Definition at line 707 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::FreeSolutionNodes(), Pol::Plib::AStarSearch< UserState >::GetSolutionStart(), Pol::Plib::AStarSearch< UserState >::SearchStep(), and Pol::Plib::AStarSearch< UserState >::SetStartAndGoalStates().

template<class UserState>

unsigned int Pol::Plib::AStarSearch< UserState >::m_State

private

Definition at line 701 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::SearchStep(), and Pol::Plib::AStarSearch< UserState >::SetStartAndGoalStates().

template<class UserState>

int Pol::Plib::AStarSearch< UserState >::m_Steps

private

Definition at line 704 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::GetStepCount(), Pol::Plib::AStarSearch< UserState >::SearchStep(), and Pol::Plib::AStarSearch< UserState >::SetStartAndGoalStates().

template<class UserState>

NodeVector Pol::Plib::AStarSearch< UserState >::m_Successors

private

Definition at line 698 of file stlastar.h.

Referenced by Pol::Plib::AStarSearch< UserState >::AddSuccessor(), and Pol::Plib::AStarSearch< UserState >::SearchStep().

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

plib/stlastar.h

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<class UserState> class Pol::Plib::AStarSearch< UserState >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class UserState>
class Pol::Plib::AStarSearch< UserState >