Planner Class Reference

Searches the transition system and extracts a plan. More...

#include <planner.h>

Inheritance diagram for Planner:

Public Member Functions
virtual std::vector< vertexDescriptor >	plan (TransitionSystem &g, vertexDescriptor src, ExecutionInfo &info, bool *finished)=0
	Implements custom algorithm to search transition system for a plan. More...

Static Public Member Functions
static float	evaluationFunction (EndedResult er, const vertexDescriptor &v, std::vector< vertexDescriptor > &p)
	calculates cumulative cost phi, add discount factor if in plan More...
static EndedResult	estimateCost (const State &state, b2Transform start, Direction d, Task &_goal)
	Estimates cost (phi) of a state as a measure of: past cost (gamma): the position relative to an obstacle, if present future cost heuristic (chi): the position relative to a goal, if present. More...

Detailed Description

Searches the transition system and extracts a plan.

Member Function Documentation

estimateCost()

EndedResult Planner::estimateCost ( const State &  state, b2Transform  start, Direction  d, Task &  _goal  )

static

Estimates cost (phi) of a state as a measure of: past cost (gamma): the position relative to an obstacle, if present future cost heuristic (chi): the position relative to a goal, if present.

Parameters

state	the current state
start	where the task started from
d	task direction
_goal	the overaraching goal

Returns

EndedResult

evaluationFunction()

float Planner::evaluationFunction ( EndedResult  er, const vertexDescriptor &  v, std::vector< vertexDescriptor > &  p  )

static

calculates cumulative cost phi, add discount factor if in plan

Parameters

er	contains information on whether a Task has ended and with that cumulative cost (phi)
v	the vertex that the Task corresponds to
p	the plan

Returns

float

plan()

virtual std::vector<vertexDescriptor> Planner::plan ( TransitionSystem &  g, vertexDescriptor  src, ExecutionInfo &  info, bool *  finished  )

pure virtual

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>

Implemented in HorizonStarPlanner.

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

• src/planner.h
• src/planner.cpp