#include "RTSDriver.h"
#include "common.h"
#include "aStar.h"
#include "praStar.h"
#include "searchUnit.h"
#include "sharedAMapGroup.h"
#include "mapCliqueAbstraction.h"
#include "mapFlatAbstraction.h"
#include "PRLRTSkGroup.h"
#include "PRLRTSkUnit.h"
#include "PRLRTSk.h"
#include "KoenigsGroup.h"
#include "KoenigsUnit.h"
#include "Koenigs.h"
#include "PrioritizedGroup.h"
#include "PrioritizedUnit.h"
#include "Prioritized.h"
#include "LRTAStarGroup.h"
#include "LRTAStarUnit.h"
#include "LRTAStar.h"
#include "unit.h"
#include "time.h"
#include "unitSimulation.h"
#include "unitRaceSimulation.h"
#include "statUtil.h"
#include <vector>
Include dependency graph for RTSDriver.cpp:
Functions | |
void | processStats (statCollection *sC) |
This function is called each time a unitSimulation is deallocated to allow any necessary stat processing beforehand. | |
void | createSimulation (unitSimulation *&unitSim) |
This function is used to allocate the unit simulated that you want to run. | |
void | initializeHandlers () |
Allows you to install any keyboard handlers needed for program interaction. | |
void | frameCallback (unitSimulation *us) |
This function is called once after each [time-step and frame draw] You can do any high level processing, drawing, etc in this function. | |
int | mapCLH (char *argument[], int maxNumArgs) |
Handles the -map switch. | |
int | printCLH (char *argument[], int maxNumArgs) |
Handles the -print switch. | |
int | scenarioCLH (char *argument[], int maxNumArgs) |
Handles the -scenario switch. | |
int | visradiusCLH (char *argument[], int maxNumArgs) |
Handles the -visradius switch. | |
int | prlrtskCLH (char *argument[], int maxNumArgs) |
Handles the -prlrtsk switch. | |
int | koenigsCLH (char *argument[], int maxNumArgs) |
Handles the -koenigs switch. | |
int | lrtaStarCLH (char *argument[], int maxNumArgs) |
Handles the -lrtaStar switch. | |
void | outputStat (const char *outFileName, const double &mean, const double &varianceSum, const double variance[], const int &totalSamples, const int samples[], const double rawData[], const int &distBucketFirst, const int &distBucketDelta) |
Output the specified stat in the context of running a scenario. | |
void | runScenarioKoenigs (char *scenName, int sizeLSS) |
Run the simulation for Koenig's LRTA*. | |
void | runScenarioPrioritized (char *scenName, int sizeLSS) |
Run the simulation for Prioritized LRTA*. | |
void | runScenarioPRLRTSk (char *scenName, int d, double gamma, double learningQuota, int kParam) |
Run the simulation for PR LRTS(k). | |
void | runScenarioLRTAStar (char *scenName) |
void | runScenarioStatCompare (char *collecting_stat1, char *collecting_stat2, char *scenName) |
void | simulateToConvergence (unitSimulation *unitSim) |
void | myPathfindingKeyHandler (unitSimulation *unitSim, tKeyboardModifier mod, char key) |
Key handler for Nathan's algorithms. | |
void | myDisplayHandler (unitSimulation *unitSim, tKeyboardModifier mod, char key) |
Key handler for simulation and display related stuff. | |
void | PrioritizedKeyHandler (unitSimulation *unitSim, tKeyboardModifier mod, char key) |
Prioritized RTDP key handler. | |
void | KoenigsKeyHandler (unitSimulation *unitSim, tKeyboardModifier mod, char key) |
Koenig's LRTA* key handler. | |
void | PRLRTSKeyHandler (unitSimulation *unitSim, tKeyboardModifier mod, char key) |
PR LRTS key handler. | |
void | AstarAndPRLRTSKeyHandler (unitSimulation *unitSim, tKeyboardModifier mod, char key) |
void | LRTAStarKeyHandler (unitSimulation *unitSim, tKeyboardModifier mod, char key) |
void | getStartGoalLocations (int &xs, int &ys, int &xg, int &yg, double length, unitSimulation *unitSim) |
Picks random start and end coordinates so that the optimal path between them is length+/-5. | |
void | getStartLocation (int &xs, int &ys, int &xg, int &yg, double length, unitSimulation *unitSim) |
Picks random start coordinates so that the length of the optimal path to the goal is length +/- 10 . | |
Variables | |
PRLRTSkGroup * | prlrtskGroup = NULL |
PR LRTSk Group. | |
KoenigsGroup * | koenigsGroup = NULL |
Koenigs LRTA* Group. | |
PrioritizedGroup * | prioritizedGroup = NULL |
Prioritized RTDP Group. | |
char | scenFileName [1024] = "" |
Scenario file name. | |
bool | printSimulation = false |
global flag for printing simulation in batch sim mode | |
int | visRadius = 10000 |
visibility radius |
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This function is used to allocate the unit simulated that you want to run. Any parameters or other experimental setup can be done at this time. |
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This function is called once after each [time-step and frame draw] You can do any high level processing, drawing, etc in this function.
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Picks random start and end coordinates so that the optimal path between them is length+/-5.
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Picks random start coordinates so that the length of the optimal path to the goal is length +/- 10 .
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Allows you to install any keyboard handlers needed for program interaction.
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Handles the -koenigs switch.
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Koenig's LRTA* key handler.
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Handles the -lrtaStar switch.
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Handles the -map switch.
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Key handler for simulation and display related stuff.
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Key handler for Nathan's algorithms.
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Output the specified stat in the context of running a scenario.
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Handles the -print switch.
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Prioritized RTDP key handler.
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Handles the -prlrtsk switch.
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PR LRTS key handler.
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This function is called each time a unitSimulation is deallocated to allow any necessary stat processing beforehand.
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Run the simulation for Koenig's LRTA*. A "sample" is a start and goal state that are a specified amount apart. Read through the scenario; do one problem at a time while collecting stats. We have finished the simulation; now we extract statiatics. We have exhausted the tasks in the scenario file. Now tally the statistics collected for output. We have calculated the statistics, now print them. |
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Run the simulation for Prioritized LRTA*. A "sample" is a start and goal state that are a specified amount apart. Read through the scenario; do one problem at a time while collecting stats. We have finished the simulation; now we extract statiatics. We have exhausted the tasks in the scenario file. Now tally the statistics collected for output. We have calculated the statistics, now print them. |
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Run the simulation for PR LRTS(k).
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Handles the -scenario switch.
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Handles the -visradius switch.
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Koenigs LRTA* Group.
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global flag for printing simulation in batch sim mode
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Prioritized RTDP Group.
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PR LRTSk Group.
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Scenario file name.
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visibility radius
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