Implements the Lifelong Planning A* incremental search algorithm. More...

#include <lpastar.h>

Public Types
typedef boost::graph_traits < Graph >::vertex_descriptor	Vertex

typedef boost::graph_traits < Graph >::vertex_iterator	VertexIter

typedef boost::graph_traits < Graph >::edge_descriptor	Edge

typedef boost::graph_traits < Graph >::out_edge_iterator	OutEdgeIter

typedef boost::graph_traits < Graph >::in_edge_iterator	InEdgeIter

typedef boost::property_traits < WeightMap >::value_type	weight_type

Public Member Functions
	lpastar (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)

void	reset ()

std::pair< weight_type, weight_type >	calculate_key (Vertex u, bool do_goal_margin=false)

bool	update_predecessor (Vertex u, Vertex v, weight_type uv_weight)

void	update_vertex (Vertex u)

void	compute_shortest_path ()

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

Detailed Description

template<typename Graph, typename AStarHeuristic, typename LPAStarVisitor, typename PredecessorMap, typename DistanceMap, typename DistanceLookaheadMap, typename WeightMap, typename VertexIndexMap, typename CompareFunction, typename CombineFunction, typename CostInf, typename CostZero>
class pr_bgl::lpastar< Graph, AStarHeuristic, LPAStarVisitor, PredecessorMap, DistanceMap, DistanceLookaheadMap, WeightMap, VertexIndexMap, CompareFunction, CombineFunction, CostInf, CostZero >

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

The documentation for this class was generated from the following file:

pr_bgl/include/pr_bgl/lpastar.h

Public Types

Public Member Functions

Public Attributes

Detailed Description