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Public Member Functions |
| praStar2 () |
virtual | ~praStar2 () |
virtual path * | getPath (graphAbstraction *aMap, node *from, node *to, reservationProvider *rp=0) |
virtual const char * | getName () |
void | setPartialPathLimit (int limit) |
int | getPartialPathLimit () |
void | setEnhancedAbstractPathing (bool enhance) |
void | setExpandSearchRadius (bool _expandSearchRadius) |
| Set whether we want to expand the corridor to search in.
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void | setPlanFromMiddle (bool _planFromMiddle) |
| Set whether we want to start planning in the middle between base and top level of abstraction.
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void | setFixedPlanLevel (int p) |
| Set the level of abstraction to start pathfinding at.
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void | setSkipParameter (int _skip) |
| Set how many abstraction layers should be skipped at each step.
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int | getTopLevel () |
int | getNumLevelsUsed () |
Protected Member Functions |
void | setupSearch (graphAbstraction *aMap, std::vector< node * > &fromChain, node *from, std::vector< node * > &toChain, node *to) |
path * | buildNextAbstractPath (graphAbstraction *, path *lastPath, std::vector< node * > &fromChain, std::vector< node * > &toChain, reservationProvider *) |
path * | trimPath (path *lastPath, node *origDest) |
void | selectTopAbstractionLevel (graphAbstraction *aMap, std::vector< node * > &fromChain, std::vector< node * > &toChain) |
Protected Attributes |
int | partialLimit |
bool | enhancedAbstractPathing |
bool | expandSearchRadius |
corridorAStar | cAStar |
char | algName [30] |
bool | planFromMiddle |
int | fixedPlanLevel |
int | skip |
int | topLevel |
int | numLevels |