PotentialfieldAStarNode Class Reference

A class describing a node in an A* search tree. More...

#include <AStarSearch.h>

Collaboration diagram for PotentialfieldAStarNode:

[legend]List of all members.


Public Member Functions
	PotentialfieldAStarNode ()
	Constructor.
	PotentialfieldAStarNode (const PotentialfieldAStarNode &node)
	Copy-Constructor.
void	setParentNode (unsigned int parentNode)
	Sets the index of the parent node of this node.
unsigned int	getParentNode () const
	Returns the index of the parent node.
void	setFunctionValues (double g, double h)
	Sets the function values.
double	f () const
	Returns the value of this node.
double	g () const
	Returns the costs of the path to this node.
void	setPose (const PfPose &pose)
	Sets the pose of this node.
PfPose	getPose () const
	Returns the pose of this node.
void	setValueAtPos (const PotentialfieldAStarParameterSet &parameterSet)
	Sets the value of the potential field at the position of the node.
void	expand (std::vector< PotentialfieldAStarNode > &searchTree, const std::vector< unsigned int > &expandedNodes, const PotentialfieldAStarNode &goal, const PotentialfieldAStarParameterSet &parameterSet, unsigned int ownNodeNum)
	Expands this node.
bool	hasBeenExpanded () const
	Checks if this node has been expanded.
bool	hasReached (const PotentialfieldAStarNode &goal, const PotentialfieldAStarParameterSet &parameterSet) const
	Checks if this node has reached the goal.
double	distToOtherNode (const PotentialfieldAStarNode &other)
	Computes the distance to another node.
Protected Member Functions
double	getExpansionRadius () const
	Returns the expansion radius of the node.
double	computeCostsTo (const PotentialfieldAStarNode &node, const PotentialfieldAStarParameterSet &parameterSet) const
	Computes the path costs to another node.
double	computeHeuristicBetween (const PfPose &p1, const PfPose &p2, unsigned int currentBranchingFactor) const
	Computes the heuristic costs between two positions.
void	computeCurrentParameters (double &currentExpansionRadius, unsigned int &currentBranchingFactor, const PotentialfieldAStarParameterSet &parameterSet) const
	Computes current parameters for expansion.
bool	tooCloseToAnotherNode (std::vector< PotentialfieldAStarNode > &searchTree, const std::vector< unsigned int > &expandedNodes, const PfPose &pose) const
	Checks if a new node is too close to another previously expanded node.
Protected Attributes
PfPose	pose
	The pose of the node.
double	fValue
	The value of the node.
double	gValue
	The path costs to the node.
unsigned int	parentNode
	The index of the parent node.
bool	expanded
	Flag: true, if the node has been expanded.
double	valueAtPos
	The potential field value at the position of the node.
double	expansionRadius
	The expansion radius of the node.

Detailed Description

A class describing a node in an A* search tree.

Definition at line 71 of file AStarSearch.h.

Constructor & Destructor Documentation

PotentialfieldAStarNode::PotentialfieldAStarNode ( ) [inline]

Constructor.

Definition at line 75 of file AStarSearch.h.
References expanded, and parentNode.

PotentialfieldAStarNode::PotentialfieldAStarNode ( const PotentialfieldAStarNode & node ) [inline]

Copy-Constructor.

Parameters:

node Another node to copy data from

Definition at line 81 of file AStarSearch.h.
References expanded, expansionRadius, fValue, gValue, parentNode, pose, and valueAtPos.

Member Function Documentation

void PotentialfieldAStarNode::setParentNode ( unsigned int parentNode ) [inline]

Sets the index of the parent node of this node.

Parameters:

parentNode The index of the parent node

Definition at line 95 of file AStarSearch.h.
Referenced by expand().

unsigned int PotentialfieldAStarNode::getParentNode ( ) const [inline]

Returns the index of the parent node.

Returns:
The parent node

Definition at line 101 of file AStarSearch.h.
References parentNode.

void PotentialfieldAStarNode::setFunctionValues ( double g,

double h

) [inline]

Sets the function values.

Parameters:

g The costs of the path to this node

h The heuristic costs from this node to the goal

Definition at line 108 of file AStarSearch.h.
References fValue, and gValue.
Referenced by expand(), and Motionfield::getFieldVecFromAStarSearch().

double PotentialfieldAStarNode::f ( ) const [inline]

Returns the value of this node.

Returns:
The value f

Definition at line 114 of file AStarSearch.h.
References fValue.

double PotentialfieldAStarNode::g ( ) const [inline]

Returns the costs of the path to this node.

Returns:
The path costs g

Definition at line 120 of file AStarSearch.h.
References gValue.

void PotentialfieldAStarNode::setPose ( const PfPose & pose ) [inline]

Sets the pose of this node.

Parameters:

pose The pose

Definition at line 126 of file AStarSearch.h.
Referenced by expand(), and Motionfield::getFieldVecFromAStarSearch().

PfPose PotentialfieldAStarNode::getPose ( ) const [inline]

Returns the pose of this node.

Returns:
The pose

Definition at line 132 of file AStarSearch.h.
References pose.
Referenced by distToOtherNode(), expand(), Motionfield::getFieldVecFromAStarSearch(), and hasReached().

void PotentialfieldAStarNode::setValueAtPos ( const PotentialfieldAStarParameterSet & parameterSet )

Sets the value of the potential field at the position of the node.

Parameters:

parameterSet The parameter set

Definition at line 14 of file AStarSearch.cpp.
References Object::computeChargeAt(), PotentialfieldAStarParameterSet::field, Potentialfield::getFieldValueAt(), PotentialfieldAStarParameterSet::numberOfCalls, pose, PotentialfieldAStarParameterSet::stabilizationObject, PotentialfieldAStarParameterSet::useStabilization, and valueAtPos.
Referenced by expand(), and Motionfield::getFieldVecFromAStarSearch().