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Public Member Functions |
| praStar () |
virtual | ~praStar () |
virtual path * | getPath (graphAbstraction *aMap, node *from, node *to, reservationProvider *rp=0) |
virtual const char * | getName () |
void | setPartialPathLimit (int limit) |
int | getPartialPathLimit () |
void | setPlanFromMiddle (bool _planFromMiddle) |
void | setExpandSearchRadius (bool _expandSearchRadius) |
void | setUseSmoothing (bool _smoothing) |
void | setCache (path **p) |
void | setFixedPlanLevel (int p) |
| Set a fixed level for abstraction in planning.
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void | getAbstractPathLengths (std::vector< int > &len) |
Protected Member Functions |
path * | getAbstractPath (graph *g, unsigned int source, unsigned int destParent, std::vector< unsigned int > &eligibleNodeParents, int LABEL, unsigned int dest) |
unsigned int | astar (graph *g, unsigned int source, unsigned int destParent, std::vector< unsigned int > &eligibleNodeParents, int LABEL, unsigned int dest) |
void | relaxEdge (heap *nodeHeap, graph *g, edge *e, int source, int nextNode, int dest, int LABEL) |
path * | smoothPath (path *p) |
Protected Attributes |
path ** | cache |
int | partialLimit |
int | fixedPlanLevel |
char | algName [30] |
graphAbstraction * | map |
bool | expandSearchRadius |
bool | planFromMiddle |
bool | smoothing |
reservationProvider * | rp |
std::vector< int > | lengths |