File LRAStar.h#

Definition (server/inc/backup_planners/LRAStar.h)#

Includes#

Classes#

Full File Listing#

class LRAStar : public FailPolicy#

Public Functions

void resolve_conflicts(const vector<Path> &paths)#
void save_results(const std::string &fileName, const std::string &instanceName) const override#
LRAStar(const BasicGraph &G, SingleAgentSolver &path_planner, shared_ptr<HeuristicTableBase> heuristic_table, const boost::program_options::variables_map vm)#
bool run(const vector<State> &starts, const vector<vector<Task>> &goal_locations, const vector<Path> &guide_paths = vector<Path>(), int time_limit = 60, const vector<int> &waited_time = vector<int>()) override#
inline string get_name() const override#
inline void clear() override#

Public Members

uint64_t num_wait_commands#
uint64_t num_expanded#
uint64_t num_generated#

Private Functions

void print_results() const#
void wait_command(int agent, int timestep, vector<int> &path_pointers)#
Path find_shortest_path(const State &start, const vector<Task> &goal_location)#

Private Members

unordered_map<int, int> curr_locations#
unordered_map<int, int> next_locations#