hpaStar Class Reference

HPA* algorithm as described in (Botea,Mueller,Schaeffer 2004). More...

#include <hpaStar.h>

Inheritance diagram for hpaStar:

[legend]Collaboration diagram for hpaStar:

[legend]List of all members.


Public Types
enum	Direction { NORTH, EAST, SOUTH, WEST, NE, SE, SW, NW }
enum	SmoothType { BEGIN, END, TWO_BACK }
Public Member Functions
	hpaStar ()
virtual	~hpaStar ()
virtual path *	getPath (graphAbstraction aMap, node from, node to, reservationProvider rp=0)
	Returns the HPA* path between from and to.
virtual const char *	getName ()
void	setUpSearch (node from, node to)
path *	findAbstractPath (node from, node to)
path *	findMapPath (path abPath, node from, node *to)
void	cleanUpSearch ()
	Remove the start & goal nodes from the graph.
path *	smoothPath (path *p)
	from HPA* smoothwizard.cpp
void	setSmoothing (bool smooth)
	Set whether we want to do path smoothing.
void	setPartialPathLimit (int limit)
int	getPartialPathLimit ()
void	setSmoothType (SmoothType s)
	Set the smoothing type.
void	setAbstraction (clusterAbstraction *_m)
Protected Member Functions
path *	nextPathNode (node *n, int dir)
	shoot a ray in direction dir and see if you hit the path Return the better path if you find it; 0 if you hit a wall or obstacle (ie.
node *	getNextNode (int x, int y, int dir)
	get the next node from map coordinates (x,y) in direction dir.
bool	nextInLookup (int last, int curr, std::vector< node * > lookup)
	find out whether last is the next 'real' index in the lookup table after curr.
int	backTwoNodes (int i, std::vector< node * > lookup)
	Find the index of the node two nodes back in the path.
void	findMinMax (path *p)
Protected Attributes
char	algName [30]
clusterAbstraction *	m
int	partialLimit
node *	fromnum
node *	tonum
std::vector< node * >	lookup
bool	smoothing
SmoothType	smType
int	minx
int	maxx
int	miny
int	maxy

Detailed Description

HPA* algorithm as described in (Botea,Mueller,Schaeffer 2004).

Needs a clusterAbstraction to run - use setAbstraction before doing any pathfinding

Member Enumeration Documentation

enum hpaStar::Direction

Enumeration values:

NORTH

EAST

SOUTH

WEST

NE

SE

SW

NW

enum hpaStar::SmoothType

Enumeration values:

BEGIN

END

TWO_BACK

Constructor & Destructor Documentation

hpaStar::hpaStar ( )

virtual hpaStar::~hpaStar ( ) [inline, virtual]

Member Function Documentation

int hpaStar::backTwoNodes ( int i,

std::vector< node * > lookup

) [protected]

Find the index of the node two nodes back in the path.

void hpaStar::cleanUpSearch ( )

Remove the start & goal nodes from the graph.

path * hpaStar::findAbstractPath ( node * from,

node * to

)

path * hpaStar::findMapPath ( path * abPath,

node * from,

node * to

)

void hpaStar::findMinMax ( path * p ) [protected]

virtual const char* hpaStar::getName ( ) [inline, virtual]

Implements searchAlgorithm.

node * hpaStar::getNextNode ( int x,

int y,

int dir

) [protected]

get the next node from map coordinates (x,y) in direction dir.
Will return 0 if there's no node here.

int hpaStar::getPartialPathLimit ( ) [inline]

path * hpaStar::getPath ( graphAbstraction * aMap,

node * from,

node * to,

reservationProvider * rp = 0

) [virtual]

Returns the HPA* path between from and to.
Before calling this function, set the abstraction with hpaStar::setAbstraction. The abstraction must be of type clusterAbstraction.
Reservation provider isn't used
Implements searchAlgorithm.

bool hpaStar::nextInLookup ( int last,

int curr,

std::vector< node * > lookup

) [protected]

find out whether last is the next 'real' index in the lookup table after curr.
This is to make sure we don't keep replacing little paths due to null's in the lookup table.

path * hpaStar::nextPathNode ( node * n,

int dir

) [protected]

shoot a ray in direction dir and see if you hit the path Return the better path if you find it; 0 if you hit a wall or obstacle (ie.
if you won't find the path)

void hpaStar::setAbstraction ( clusterAbstraction * _m ) [inline]

void hpaStar::setPartialPathLimit ( int limit ) [inline]

void hpaStar::setSmoothing ( bool smooth )

Set whether we want to do path smoothing.
Default is true.

void hpaStar::setSmoothType ( SmoothType s ) [inline]

Set the smoothing type.
Whenever we update the path with a better subpath, if s = BEGIN, smoothing is restarted from the beginning of this subpath if s = END, smoothing is restarted from the end of the new subpath if s = TWO_BACK, we go back two from the end of the new subpath