Public Member Functions
	StateSpace (decimal_t eps=1)
	Simple constructor.

decimal_t	getInitTime () const

void	getSubStateSpace (int time_step)
	Get the subtree. More...

void	increaseCost (std::vector< std::pair< Coord, int >> states)
	Increase the cost of actions.

void	decreaseCost (std::vector< std::pair< Coord, int >> states, const std::shared_ptr< env_base< Dim >> &ENV)
	Decrease the cost of actions.

void	updateNode (StatePtr< Coord > &currNode_ptr)
	Update the node in the graph.

decimal_t	calculateKey (const StatePtr< Coord > &node)
	Calculate the fval as min(rhs, g) + h.

void	checkValidation (const hashMap< Coord > hm)
	Internal function to check if the graph is valid.

Public Attributes
priorityQueue< State< Coord > >	pq_
	Priority queue, open set.

hashMap< Coord >	hm_
	Hashmap, stores all the nodes.

decimal_t	eps_
	Heuristic weight, default as 1.

decimal_t	dt_
	Execution time for each primitive.

vec_E< StatePtr< Coord > >	best_child_
	The best trajectory from previous plan.

int	expand_iteration_ = 0
	Number of expansion iteration.

decimal_t	start_t_ {0}
	Start time.

decimal_t	start_g_ {0}
	Start g value.

decimal_t	start_rhs_ {0}
	Start rhs value.

Detailed Description

State space.

Member Function Documentation

template<int Dim, typename Coord >

void MPL::StateSpace< Dim, Coord >::getSubStateSpace ( int time_step )

inline

Get the subtree.

Parameters

time_step indicates the root of the subtree (best_child_[time_step])

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