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Public Member Functions |
| aStar () |
virtual | ~aStar () |
path * | getPath (graphAbstraction *aMap, node *from, node *to, reservationProvider *rp=0) |
virtual const char * | getName () |
double | getHVal (node *whence) |
void | setCorridor (path *corridor, int width) |
void | printStats () |
long | getNodesExpanded () |
long | getNodesTouched () |
void | resetNodeCount () |
int | getMemoryUsage () |
Private Member Functions |
node * | ABSNode (node *n) |
path * | getPathToNode (node *target) |
path * | extractPathToStart (graph *g, node *n) |
node * | getNextNode () |
void | updateWeight (node *currOpenNode, node *neighbor, edge *e) |
void | addToOpenList (node *currOpenNode, node *neighbor, edge *e) |
bool | nodeInCorridor (node *n) |
void | addNeighborsToCorridor (graph *g, node *n, int windowSize) |
void | buildCorridor (path *p, int windowSize) |
double | internalHeuristic (node *from, node *to) |
Private Attributes |
AStar3Util::PQueue | openQueue |
AStar3Util::NodeLookupTable | openList |
AStar3Util::NodeLookupTable | closedList |
node * | goal |
node * | start |
graph * | g |
graphAbstraction * | abstr |
AStar3Util::Corridor | eligibleNodes |
int | absLevel |