File PIBT.h

Definition (server/inc/backup_planners/PIBT.h)

• Program Listing for File PIBT.h

Includes

• backup_planners/FailPolicy.h (File FailPolicy.h)

• backup_planners/SIPP.h (File SIPP.h)

• ctime

Classes

• Class PIBT

Full File Listing

class PIBT : public FailPolicy

Public Functions

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

void save_results(const std::string &fileName, const std::string &instanceName) const override

void clear() override

bool pibt_funct(int a_i, int a_j, State start_state, Task goal_locations, int from_t)

PIBT(const BasicGraph &G, SingleAgentSolver &path_planner, shared_ptr<HeuristicTableBase> heuristic_table, const boost::program_options::variables_map vm)

inline ~PIBT()

Private Functions

void print_results() const

Private Members

vector<bool> is_waiting

vector<vector<Task>> goals_mem

vector<int> curr_occupied

vector<int> next_occupied