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Public Member Functions |
| spreadPRAStar () |
virtual | ~spreadPRAStar () |
void | setPartialPathLimit (int limit) |
virtual path * | getPath (graphAbstraction *aMap, node *from, node *to, reservationProvider *rp=0) |
void | setTargets (graphAbstraction *, node *, node *, reservationProvider *) |
int | getNumThinkSteps () |
| how many times do we have to "think" to find the solution, return -1 if unknown
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path * | think () |
| do next processing for path, returns avaliability of path moves
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Private 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) |
Private Attributes |
char | algName [30] |
int | partialLimit |
bool | expandSearchRadius |
path * | lastPath |
std::vector< node * > | startChain |
std::vector< node * > | endChain |
corridorAStar | cAStar |