AStarSearch< N, P, U > Class Template Reference

An abstract implementation of the A* search algorithm. More...

#include <AStarSearch.h>

Collaboration diagram for AStarSearch< N, P, U >:

[legend]List of all members.

Public Member Functions
	AStarSearch (long minCacheSize, long maxTreeSize, P parameterSet)
	Constructor.
N	search (const N &start, const N &goal, const P &parameterSet, U &pathLength)
	The main search function.
Private Member Functions
unsigned int	findIndexOfNextNode ()
	Finds the next node to be expanded.
int	testNewNodesAgainstGoal (unsigned int firstNode, unsigned int lastNode, const N &goal)
	Tests if any node has reached the goal.
N	backtraceNode (unsigned int indexOfBestNode, U &pathLength)
	Backtraces the best node found to the first node after the start node.
void	draw (unsigned int indexOfBestNode)
	Draw all expanded paths and the selected path on the RobotControl field view.
Private Attributes
std::vector< N >	searchTree
	A container for all nodes.
std::vector< unsigned int >	expandedNodes
	Indizes of all expanded nodes.
long	maxTreeSize
	The maximum number of nodes to expand.
P	parameterSet
	The parameter set.

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Detailed Description

template<class N, class P, class U>
class AStarSearch< N, P, U >

An abstract implementation of the A* search algorithm.

Works with any appropriate type N of nodes, type P of parameter sets and type U of unit

Definition at line 241 of file AStarSearch.h.

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Constructor & Destructor Documentation

template<class N, class P, class U> AStarSearch< N, P, U >::AStarSearch (  long  minCacheSize, long  maxTreeSize, P  parameterSet )  [inline]

Constructor. Parameters: minCacheSize  The number of nodes to allocate memory for maxTreeSize  The maximum number of nodes to expand parameterSet  A parameter set to check the maximum number of nodes to expand Definition at line 249 of file AStarSearch.h.

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Member Function Documentation

template<class N, class P, class U> N AStarSearch< N, P, U >::search (  const N &  start, const N &  goal, const P &  parameterSet, U &  pathLength )  [inline]

The main search function. Parameters: start  The starting node goal  The goal node parameterSet  The current parameter set pathLength  Returns the length of the path to the goal Returns: The next node to go to Definition at line 274 of file AStarSearch.h. Referenced by Motionfield::getFieldVecFromAStarSearch().

template<class N, class P, class U> unsigned int AStarSearch< N, P, U >::findIndexOfNextNode (   )  [inline, private]

Finds the next node to be expanded. Returns: The index of the node Definition at line 333 of file AStarSearch.h. Referenced by AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::search().

template<class N, class P, class U> int AStarSearch< N, P, U >::testNewNodesAgainstGoal (  unsigned int  firstNode, unsigned int  lastNode, const N &  goal )  [inline, private]

Tests if any node has reached the goal. Parameters: firstNode  The first node to test lastNode  The last node to test goal  The goal to test against Returns: -1, if no node has reached the goal, the number of the node otherwise Definition at line 360 of file AStarSearch.h. Referenced by AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::search().

template<class N, class P, class U> N AStarSearch< N, P, U >::backtraceNode (  unsigned int  indexOfBestNode, U &  pathLength )  [inline, private]

Backtraces the best node found to the first node after the start node. Parameters: indexOfBestNode  The index of the best node found pathLength  Returns the length of the backtraced path Returns: The root node of the path to the node Definition at line 379 of file AStarSearch.h. Referenced by AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::search().

template<class N, class P, class U> void AStarSearch< N, P, U >::draw (  unsigned int  indexOfBestNode  )  [inline, private]

Draw all expanded paths and the selected path on the RobotControl field view. Parameters: indexOfBestNode  The index of the last expanded node Definition at line 395 of file AStarSearch.h. Referenced by AStarSearch< PotentialfieldAStarNode, PotentialfieldAStarParameterSet, double >::search().

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Member Data Documentation

template<class N, class P, class U> std::vector<N> AStarSearch< N, P, U >::searchTree [private]

A container for all nodes. Definition at line 321 of file AStarSearch.h.

template<class N, class P, class U> std::vector<unsigned int> AStarSearch< N, P, U >::expandedNodes [private]

Indizes of all expanded nodes. Definition at line 323 of file AStarSearch.h.

template<class N, class P, class U> long AStarSearch< N, P, U >::maxTreeSize [private]

The maximum number of nodes to expand. Definition at line 325 of file AStarSearch.h.

template<class N, class P, class U> P AStarSearch< N, P, U >::parameterSet [private]

The parameter set. Definition at line 327 of file AStarSearch.h.

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

• Tools/PotentialFields/AStarSearch.h

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