Bench-MR
A Motion Planning Benchmark for Wheeled Mobile Robots
Classes | Public Types | Public Member Functions | Public Attributes | List of all members
ThetaStarSearch< UserState > Class Template Reference

#include <stl_thetastar.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
}
 

Public Member Functions

 ThetaStarSearch ()
 
 ThetaStarSearch (bool euclideanCostChoice)
 
 ThetaStarSearch (int MaxNodes)
 
virtual void useAstar ()
 
virtual void use_connectGrandParent ()
 
virtual void CancelSearch ()
 
virtual void SetStartAndGoalStates (UserState &Start, UserState &Goal)
 
virtual unsigned int SearchStep ()
 
virtual bool UpdateVertex (Node *n, Node *successor)
 
virtual bool UpdateVertexGrandParent (Node *n, Node *successor)
 
virtual bool AddSuccessor (UserState &State)
 
virtual void FreeSolutionNodes ()
 
virtual UserState * GetSolutionStart ()
 
virtual UserState * GetSolutionNext ()
 
virtual UserState * GetSolutionEnd ()
 
virtual UserState * GetSolutionPrev ()
 
virtual float GetSolutionCost ()
 
virtual UserState * GetOpenListStart ()
 
virtual UserState * GetOpenListStart (float &f, float &g, float &h)
 
virtual UserState * GetOpenListNext ()
 
virtual UserState * GetOpenListNext (float &f, float &g, float &h)
 
Node * GetCurrentBestRawNode ()
 
virtual UserState * GetClosedListStart ()
 
virtual UserState * GetClosedListStart (float &f, float &g, float &h)
 
virtual UserState * GetClosedListNext ()
 
virtual UserState * GetClosedListNext (float &f, float &g, float &h)
 
virtual int GetStepCount ()
 
virtual void EnsureMemoryFreed ()
 

Public Attributes

bool m_euclideanCost
 
bool m_useAstar
 
bool m_connectGrandParent
 

Member Enumeration Documentation

◆ anonymous enum

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 

Constructor & Destructor Documentation

◆ ThetaStarSearch() [1/3]

template<class UserState >
ThetaStarSearch< UserState >::ThetaStarSearch ( )
inline

◆ ThetaStarSearch() [2/3]

template<class UserState >
ThetaStarSearch< UserState >::ThetaStarSearch ( bool  euclideanCostChoice)
inline

◆ ThetaStarSearch() [3/3]

template<class UserState >
ThetaStarSearch< UserState >::ThetaStarSearch ( int  MaxNodes)
inline

Member Function Documentation

◆ AddSuccessor()

template<class UserState >
virtual bool ThetaStarSearch< UserState >::AddSuccessor ( UserState &  State)
inlinevirtual

◆ CancelSearch()

template<class UserState >
virtual void ThetaStarSearch< UserState >::CancelSearch ( )
inlinevirtual

◆ EnsureMemoryFreed()

template<class UserState >
virtual void ThetaStarSearch< UserState >::EnsureMemoryFreed ( )
inlinevirtual

◆ FreeSolutionNodes()

template<class UserState >
virtual void ThetaStarSearch< UserState >::FreeSolutionNodes ( )
inlinevirtual

◆ GetClosedListNext() [1/2]

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetClosedListNext ( )
inlinevirtual

◆ GetClosedListNext() [2/2]

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetClosedListNext ( float &  f,
float &  g,
float &  h 
)
inlinevirtual

◆ GetClosedListStart() [1/2]

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetClosedListStart ( )
inlinevirtual

◆ GetClosedListStart() [2/2]

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetClosedListStart ( float &  f,
float &  g,
float &  h 
)
inlinevirtual

◆ GetCurrentBestRawNode()

template<class UserState >
Node * ThetaStarSearch< UserState >::GetCurrentBestRawNode ( )
inline

◆ GetOpenListNext() [1/2]

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetOpenListNext ( )
inlinevirtual

◆ GetOpenListNext() [2/2]

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetOpenListNext ( float &  f,
float &  g,
float &  h 
)
inlinevirtual

◆ GetOpenListStart() [1/2]

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetOpenListStart ( )
inlinevirtual

◆ GetOpenListStart() [2/2]

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetOpenListStart ( float &  f,
float &  g,
float &  h 
)
inlinevirtual

◆ GetSolutionCost()

template<class UserState >
virtual float ThetaStarSearch< UserState >::GetSolutionCost ( )
inlinevirtual

◆ GetSolutionEnd()

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetSolutionEnd ( )
inlinevirtual

◆ GetSolutionNext()

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetSolutionNext ( )
inlinevirtual

◆ GetSolutionPrev()

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetSolutionPrev ( )
inlinevirtual

◆ GetSolutionStart()

template<class UserState >
virtual UserState * ThetaStarSearch< UserState >::GetSolutionStart ( )
inlinevirtual

◆ GetStepCount()

template<class UserState >
virtual int ThetaStarSearch< UserState >::GetStepCount ( )
inlinevirtual

◆ SearchStep()

template<class UserState >
virtual unsigned int ThetaStarSearch< UserState >::SearchStep ( )
inlinevirtual

if successor is not in closed

if successor is not in open set cost to inf

◆ SetStartAndGoalStates()

template<class UserState >
virtual void ThetaStarSearch< UserState >::SetStartAndGoalStates ( UserState &  Start,
UserState &  Goal 
)
inlinevirtual

◆ UpdateVertex()

template<class UserState >
virtual bool ThetaStarSearch< UserState >::UpdateVertex ( Node *  n,
Node *  successor 
)
inlinevirtual

◆ UpdateVertexGrandParent()

template<class UserState >
virtual bool ThetaStarSearch< UserState >::UpdateVertexGrandParent ( Node *  n,
Node *  successor 
)
inlinevirtual

◆ use_connectGrandParent()

template<class UserState >
virtual void ThetaStarSearch< UserState >::use_connectGrandParent ( )
inlinevirtual

◆ useAstar()

template<class UserState >
virtual void ThetaStarSearch< UserState >::useAstar ( )
inlinevirtual

Member Data Documentation

◆ m_connectGrandParent

template<class UserState >
bool ThetaStarSearch< UserState >::m_connectGrandParent

◆ m_euclideanCost

template<class UserState >
bool ThetaStarSearch< UserState >::m_euclideanCost

◆ m_useAstar

template<class UserState >
bool ThetaStarSearch< UserState >::m_useAstar
The documentation for this class was generated from the following file:
Generated by doxygen 1.9.4