Implements the Lifelong Planning A* incremental search algorithm. More...
#include <lpastar.h>
Public Attributes | |
const Graph & | g |
Vertex | v_start |
Vertex | v_goal |
AStarHeuristic | h |
LPAStarVisitor | vis |
PredecessorMap | predecessor |
DistanceMap | distance |
DistanceLookaheadMap | distance_lookahead |
WeightMap | weight |
VertexIndexMap | index_map |
CompareFunction | compare |
CombineFunction | combine |
CostInf | inf |
CostZero | zero |
weight_type | goal_margin |
heap_indexed< std::pair < weight_type, weight_type > > | queue |
Implements the Lifelong Planning A* incremental search algorithm.
Sven Koenig, Maxim Likhachev, and David Furcy. 2004. Lifelong planning A*. Artif. Intell. 155, 1-2 (May 2004), 93-146. DOI=http://dx.doi.org/10.1016/j.artint.2003.12.001
for now, we assume an undirected graph (that is, update_edge will attempt an upate in both directions) we assume that everything is constant (graph structure)
rhs = one-step-lookahead (based on d/g) d (DynamicSWSF-FP) = g (LPA*) value = distance map rhs (DynamicSWSF-FP) = rhs (LPA*) = distance_lookahead_map