File StateTimeAStar.h

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

• Program Listing for File StateTimeAStar.h

Includes

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

Included By

• File SIPP.h

Classes

• Struct StateTimeAStarNode::compare_node

• Struct StateTimeAStarNode::EqNode

• Struct StateTimeAStarNode::Hasher

• Struct StateTimeAStarNode::secondary_compare_node

• Class StateTimeAStar

• Class StateTimeAStarNode

Full File Listing

class StateTimeAStarNode

Subclassed by SIPPNode

Public Functions

inline StateTimeAStarNode()

inline StateTimeAStarNode(const State &state, double g_val, double h_val, StateTimeAStarNode *parent, int conflicts)

inline double getFVal() const

Public Members

State state

double g_val

double h_val

StateTimeAStarNode *parent

int conflicts

int depth

bool in_openlist

int goal_id

fibonacci_heap<StateTimeAStarNode*, compare<StateTimeAStarNode::compare_node>>::handle_type open_handle

fibonacci_heap<StateTimeAStarNode*, compare<StateTimeAStarNode::secondary_compare_node>>::handle_type focal_handle

struct compare_node

Public Functions

inline bool operator()(const StateTimeAStarNode *n1, const StateTimeAStarNode *n2) const

struct EqNode

Public Functions

inline bool operator()(const StateTimeAStarNode *n1, const StateTimeAStarNode *n2) const

struct Hasher

Public Functions

inline std::size_t operator()(const StateTimeAStarNode *n) const

struct secondary_compare_node

Public Functions

inline bool operator()(const StateTimeAStarNode *n1, const StateTimeAStarNode *n2) const

class StateTimeAStar : public SingleAgentSolver

Public Functions

Path run(const BasicGraph &G, shared_ptr<HeuristicTableBase> heuristic_table, const State &start, const vector<Task> &goal_location, ReservationTable &RT, const int agent_waited_time = 0) override

inline string getName() const override

void findTrajectory(const BasicGraph &G, shared_ptr<HeuristicTableBase> heuristic_table, const State &start, const vector<Task> &goal_locations, const unordered_map<int, double> &travel_times, list<pair<int, int>> &path)

inline StateTimeAStar()

Private Functions

inline void releaseClosedListNodes()

Path updatePath(const StateTimeAStarNode *goal)

list<pair<int, int>> updateTrajectory(const StateTimeAStarNode *goal)

Private Members

fibonacci_heap<StateTimeAStarNode*, compare<StateTimeAStarNode::compare_node>> open_list

fibonacci_heap<StateTimeAStarNode*, compare<StateTimeAStarNode::secondary_compare_node>> focal_list

unordered_set<StateTimeAStarNode*, StateTimeAStarNode::Hasher, StateTimeAStarNode::EqNode> allNodes_table