MPL::GraphSearch< Dim, Coord > Class Template Reference

GraphSearch class. More...

#include <graph_search.h>

Public Member Functions
	GraphSearch (bool verbose=false)
	Simple empty constructor. More...
decimal_t	Astar (const Coord &start_coord, const std::shared_ptr< env_base< Dim >> &ENV, std::shared_ptr< StateSpace< Dim, Coord >> &ss_ptr, Trajectory< Dim > &traj, int max_expand=-1)
	Astar graph search. More...
decimal_t	LPAstar (const Coord &start_coord, const std::shared_ptr< env_base< Dim >> &ENV, std::shared_ptr< StateSpace< Dim, Coord >> &ss_ptr, Trajectory< Dim > &traj, int max_expand=-1)
	Lifelong Planning Astar graph search. More...

Private Member Functions
bool	recoverTraj (StatePtr< Coord > currNode_ptr, std::shared_ptr< StateSpace< Dim, Coord >> ss_ptr, const std::shared_ptr< env_base< Dim >> &ENV, const Coord &start_key, Trajectory< Dim > &traj)
	Recover trajectory.

Private Attributes
bool	verbose_ = false
	Verbose flag.

Detailed Description

template<int Dim, typename Coord>
class MPL::GraphSearch< Dim, Coord >

GraphSearch class.

Implement A* and Lifelong Planning A*

Constructor & Destructor Documentation

GraphSearch()

template<int Dim, typename Coord >

MPL::GraphSearch< Dim, Coord >::GraphSearch ( bool  verbose = false )

inline

Simple empty constructor.

Parameters

verbose

enable print out debug infos, default is set to False

Member Function Documentation

Astar()

template<int Dim, typename Coord >

decimal_t MPL::GraphSearch< Dim, Coord >::Astar ( const Coord &  start_coord, const std::shared_ptr< env_base< Dim >> &  ENV, std::shared_ptr< StateSpace< Dim, Coord >> &  ss_ptr, Trajectory< Dim > &  traj, int  max_expand = -1  )

inline

Astar graph search.

Parameters

start_coord	start state
ENV	object of `env_base' class
ss_ptr	workspace input
traj	output trajectory
max_expand	max number of expanded states, default value is -1 which means there is no limitation

Comment following if build single connected graph

Comment this block if build multiple connected graph succNode_ptr->pred_coord.front() = currNode_ptr->coord; // Assign new parent succNode_ptr->pred_action_id.front() = succ_act_id[s]; succNode_ptr->pred_action_cost.front() = succ_cost[s];

LPAstar()

template<int Dim, typename Coord >

decimal_t MPL::GraphSearch< Dim, Coord >::LPAstar ( const Coord &  start_coord, const std::shared_ptr< env_base< Dim >> &  ENV, std::shared_ptr< StateSpace< Dim, Coord >> &  ss_ptr, Trajectory< Dim > &  traj, int  max_expand = -1  )

inline

Lifelong Planning Astar graph search.

Parameters

start_coord	start state
ENV	object of `env_base' class
ss_ptr	workspace input
traj	output trajectory
max_expand	max number of expanded states, default value is -1 which means there is no limitation

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

• include/mpl_planner/common/graph_search.h