planner.h File Reference

#include "task.h"
#include "graphTools.h"
#include <algorithm>

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Classes
struct	Frontier
	Contains the frontier (first) and the connecting vertices. More...
struct	ComparePhi
	Predicate which compares evaluation functions in State-Frontier pairs. More...
class	ExecutionInfo
	Information about what the configurator is doing (current Task, current vertex), what it wants to do (overarching goal), and whether it has done it before (been, goal vertex) More...
class	Planner
	Searches the transition system and extracts a plan. More...
class	HorizonStarPlanner
	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...
class	NoPlanner
	Does not extract a plan. More...

Functions
std::vector< Frontier >	frontierVertices (vertexDescriptor v, TransitionSystem &g, ExecutionInfo &info)
	Performs iterative deepening search to find the frontier. More...
float	evaluationFunction (EndedResult er, const vertexDescriptor &v, std::vector< vertexDescriptor > &p)
	calculates cumulative cost phi, add discount factor if in plan More...
EndedResult	estimateCost (const State &state, b2Transform start, Direction d, Task &_goal)
	Provides a breakdown of the cost function into its components: past cost (gamma): the position relative to an obstacle, if present future cost heuristic (chi): the position relative to a goal, if present, and whether the Task. More...

Function Documentation

estimateCost()

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

Provides a breakdown of the cost function into its components: past cost (gamma): the position relative to an obstacle, if present future cost heuristic (chi): the position relative to a goal, if present, and whether the Task.

Parameters

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

Returns

EndedResult

evaluationFunction()

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

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

frontierVertices()

std::vector<Frontier> frontierVertices	(	vertexDescriptor	v,
		TransitionSystem &	g,
		ExecutionInfo &	info
	)

Performs iterative deepening search to find the frontier.

Parameters

v	source vertex: we find the frontier from here
g	the transitionSystem
d
info

Returns

std::vector <Frontier>