HorizonStarPlanner Class Reference

Performs iterative deepening search over one unit of modular expansion (see below), i.e. search over one branch stops when it reaches a DEFAULT task. Each DEFAULT Task represents the frontier. The planner expands the search from the frontier with the lowest cost phi (A*-style search), which are logged into a priority queue. More...

#include <planner.h>

Inheritance diagram for HorizonStarPlanner:

Collaboration diagram for HorizonStarPlanner:

Public Member Functions
std::vector< vertexDescriptor >	plan (TransitionSystem &g, vertexDescriptor src, ExecutionInfo &info, bool *finished=NULL) override
	Implements custom algorithm to search transition system for a plan. More...

Protected Member Functions
void	path2add2 (std::vector< std::vector< vertexDescriptor >>::reverse_iterator &path, const std::vector< vertexDescriptor > &add, std::vector< std::vector< vertexDescriptor >> &paths, TransitionSystem &g)
	Finds the best path to add a frontier to (frontier found separately) More...
std::vector< vertexDescriptor >	best_path (const std::vector< std::vector< vertexDescriptor >> &paths, vertexDescriptor goal, vertexDescriptor cv, bool change, const TransitionSystem &g)
	Searches all paths for best path according to the lowest final cost phi. More...
void	addToPriorityQueue (const Frontier &f, std::vector< Frontier > &queue, TransitionSystem &g, const std::set< vertexDescriptor > &closed, vertexDescriptor goal=TransitionSystem::null_vertex())
	Adds frontier to priority queue. More...

Detailed Description

Performs iterative deepening search over one unit of modular expansion (see below), i.e. search over one branch stops when it reaches a DEFAULT task. Each DEFAULT Task represents the frontier. The planner expands the search from the frontier with the lowest cost phi (A*-style search), which are logged into a priority queue.

NB: maximum amount of nodes traversed to find a DEFAULT task is three from the start node, including the DEFAULT task

                       EXAMPLE MODULE

             q2(LEFT)---q3(DEFAULT)
            /   
          q0 --- q1(DEFAULT)
            \
             q4(RIGHT)
                      \
                       q5(RIGHT)---q6(DEFAULT)      ->  maximum depth

Member Function Documentation

addToPriorityQueue()

void HorizonStarPlanner::addToPriorityQueue ( const Frontier &  f, std::vector< Frontier > &  queue, TransitionSystem &  g, const std::set< vertexDescriptor > &  closed, vertexDescriptor  goal = TransitionSystem::null_vertex()  )

protected

Adds frontier to priority queue.

Parameters

f	the frontier
queue	the priority queue
g	the transition system
goal	the vertex where the goal is reach

best_path()

std::vector< vertexDescriptor > HorizonStarPlanner::best_path ( const std::vector< std::vector< vertexDescriptor >> &  paths, vertexDescriptor  goal, vertexDescriptor  cv, bool  change, const TransitionSystem &  g  )

protected

Searches all paths for best path according to the lowest final cost phi.

Parameters

paths	all the paths
goal	the goal vertex (if known)
cv	the current vertex
change	whether the task needs to be changed
g	the transition system

Returns

the plan!

path2add2()

void HorizonStarPlanner::path2add2 ( std::vector< std::vector< vertexDescriptor >>::reverse_iterator &  path, const std::vector< vertexDescriptor > &  add, std::vector< std::vector< vertexDescriptor >> &  paths, TransitionSystem &  g  )

protected

Finds the best path to add a frontier to (frontier found separately)

Parameters

path	the path to add to
add	the frontier
paths	all the paths
g	the transition system

plan()

std::vector< vertexDescriptor > HorizonStarPlanner::plan ( TransitionSystem &  g, vertexDescriptor  src, ExecutionInfo &  info, bool *  finished = NULL  )

overridevirtual

Implements custom algorithm to search transition system for a plan.

Parameters

g	the transitionSystem
src	vertex from which the planning start
info	execution info
finished	will return true if the planning process reaches the goal

Returns

std::vector<vertexDescriptor>

Implements Planner.

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

• src/planner.h
• src/planner.cpp