fawkes::AStarState Class Reference

This is the abstract(!) class for an A* State. More...

#include <>>

Inheritance diagram for fawkes::AStarState:

Public Member Functions
	AStarState (float cost_sofar, AStarState *parent)
	Constructor. More...
virtual	~AStarState ()
	Destructor. More...
virtual size_t	key ()=0
	Generates a unique key for this state. More...
virtual float	estimate ()=0
	Estimate the heuristic cost to the goal. More...
virtual bool	is_goal ()=0
	Check, wether we reached a goal or not. More...
virtual std::vector< AStarState * >	children ()=0
	Generate all successors and put them to this vector. More...
	AStarState ()
	This is the standard constructor. More...
	AStarState (int x, int y, int past_cost, AStarState *father)
	This is another standard constuctor, this time parametrized. More...

Public Attributes
AStarState *	parent
	Predecessor. More...
float	path_cost
	Cost of path leading to this search state. More...
float	total_estimated_cost
	Total estimated cost. More...
int	x_
	x coordinate of the state More...
int	y_
	y coordinate of the state More...
AStarState *	father_
	The predecessor state. More...
int	past_cost_
	The past cost. More...
int	total_cost_
	The total cost. More...

Detailed Description

This is the abstract(!) class for an A* State.

This is the class for an A* State.

Author

Stefan Jacobs

Definition at line 38 of file astar_state.h.

Constructor & Destructor Documentation

AStarState() [1/3]

fawkes::AStarState::AStarState ( float  cost_sofar, AStarState *  parent  )

inline

Constructor.

Parameters

cost_sofar	costs for the path so far
parent	parent search state (maybe NULL for first state)

Definition at line 45 of file astar_state.h.

~AStarState()

fawkes::AStarState::~AStarState ( )

inlinevirtual

Destructor.

Standard Destructor.

Definition at line 48 of file astar_state.h.

AStarState() [2/3]

fawkes::AStarState::AStarState ( )

inline

This is the standard constructor.

Definition at line 52 of file astar_state.h.

References father_, past_cost_, total_cost_, x_, and y_.

AStarState() [3/3]

fawkes::AStarState::AStarState ( int  x, int  y, int  past_cost, AStarState *  father  )

inline

This is another standard constuctor, this time parametrized.

Parameters

x	is the x coordinate.
y	is the y coordinate.
past_cost	is the total left cost.
father	is a pointer to the predecessor of this AStarState.

Definition at line 66 of file astar_state.h.

References father_, past_cost_, x_, and y_.

Member Function Documentation

children()

virtual std::vector<AStarState *> fawkes::AStarState::children ( )

pure virtual

Generate all successors and put them to this vector.

Returns

a vector of pointers of AStarState to a successor

estimate()

virtual float fawkes::AStarState::estimate ( )

pure virtual

Estimate the heuristic cost to the goal.

Returns

estimated cost

Implemented in fawkes::NavGraphSearchState.

is_goal()

virtual bool fawkes::AStarState::is_goal ( )

pure virtual

Check, wether we reached a goal or not.

Returns

true, if this state is a goal, else false

Implemented in fawkes::NavGraphSearchState.

key()

virtual size_t fawkes::AStarState::key ( )

pure virtual

Generates a unique key for this state.

There has to be a unique key for each state (fast closed list -> bottleneck!)

Returns

unique key

Implemented in fawkes::NavGraphSearchState.

Member Data Documentation

father_

AStarState* fawkes::AStarState::father_

The predecessor state.

Definition at line 41 of file astar_state.h.

Referenced by AStarState(), and fawkes::AStarColli::solve().

parent

AStarState* fawkes::AStarState::parent

Predecessor.

Definition at line 75 of file astar_state.h.

past_cost_

int fawkes::AStarState::past_cost_

The past cost.

Definition at line 43 of file astar_state.h.

Referenced by AStarState(), and fawkes::AStarColli::solve().

path_cost

float fawkes::AStarState::path_cost

Cost of path leading to this search state.

Definition at line 78 of file astar_state.h.

Referenced by fawkes::NavGraphSearchState::NavGraphSearchState().

total_cost_

int fawkes::AStarState::total_cost_

The total cost.

Definition at line 44 of file astar_state.h.

Referenced by AStarState(), fawkes::AStarColli::remove_target_from_obstacle(), and fawkes::AStarColli::solve().

total_estimated_cost

float fawkes::AStarState::total_estimated_cost

Total estimated cost.

Definition at line 81 of file astar_state.h.

Referenced by fawkes::NavGraphSearchState::NavGraphSearchState().

x_

int fawkes::AStarState::x_

x coordinate of the state

Definition at line 38 of file astar_state.h.

Referenced by AStarState(), fawkes::AStarColli::remove_target_from_obstacle(), and fawkes::AStarColli::solve().

y_

int fawkes::AStarState::y_

y coordinate of the state

Definition at line 39 of file astar_state.h.

Referenced by AStarState(), fawkes::AStarColli::remove_target_from_obstacle(), and fawkes::AStarColli::solve().

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

• src/libs/utils/search/astar_state.h