AStarSearch< UserState >::AStarNode Class Reference

Collaboration diagram for AStarSearch< UserState >::AStarNode:

[legend]List of all members.

Public Member Functions
	AStarNode (UserState *state)
	~AStarNode ()
void	createNeighbourNodes ()
bool	operator== (AStarNode &rhs) const
bool	operator== (const AStarNode &rhs) const
float	getTotalCost () const
float	getEntryCost () const
float	getEstimatedGoalCost () const
float	getTraversalCost () const
AStarNode *	getNeighbour (int index)
void	setEntryCost (float entryCost)
void	setEstimatedGoalCost (float cost)
void	setSuccessor (AStarNode *parent)
Public Attributes
UserState *	mUserState
AStarNode *	mSuccessor
Private Attributes
float	mEntryCost
float	mEstimatedGoalCost
AStarNode *	mNeighbours [8]
unsigned int	mID
Static Private Attributes
static int	mNumNodes = 0

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Detailed Description

template<class UserState>
class AStarSearch< UserState >::AStarNode

Definition at line 54 of file AStarSearch.h.

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Constructor & Destructor Documentation

template<class UserState>

AStarSearch< UserState >::AStarNode::AStarNode

(

UserState *

state

)

[inline]

Definition at line 81 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mID, AStarSearch< UserState >::AStarNode::mNeighbours, AStarSearch< UserState >::AStarNode::mNumNodes, and AStarSearch< UserState >::AStarNode::mUserState.

Referenced by AStarSearch< UserState >::AStarNode::createNeighbourNodes().

                        : mSuccessor ( NULL ), mUserState ( state),
                          mEntryCost ( 0.0 ), mEstimatedGoalCost ( 0.0 )
                {
                        mID = mNumNodes++;

                        // Create new nodes for each of the neighbours of this one
                        for ( int i = 0; i < mUserState->getNumNeighbours(); i++ )
                                mNeighbours[i] = NULL;

                        //cout << "Node Constructed: " << ++nodeCount << endl;\e
                }

template<class UserState>

AStarSearch< UserState >::AStarNode::~AStarNode

(

)

[inline]

Definition at line 96 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mNeighbours, and AStarSearch< UserState >::AStarNode::mUserState.

                {
                        //cout << "Node released: " << --nodeCount << endl;
                        // Our node may not have any neighbours created yet
                        if ( mUserState == NULL )
                                return;


                        for ( int i = 0; i < mUserState->getNumNeighbours(); i++ )
                                delete mNeighbours[i];
                }

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Member Function Documentation

template<class UserState>

void AStarSearch< UserState >::AStarNode::createNeighbourNodes

(

)

[inline]

Definition at line 110 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::AStarNode(), AStarSearch< UserState >::AStarNode::mNeighbours, and AStarSearch< UserState >::AStarNode::mUserState.

Referenced by AStarSearch< UserState >::setStartState().

                {
                        for ( int i = 0; i < mUserState->getNumNeighbours(); i++ )
                                mNeighbours[i] = new AStarNode( mUserState->getNeighbour(i) );
                }

template<class UserState>

float AStarSearch< UserState >::AStarNode::getEntryCost

(

)

const [inline]

Definition at line 140 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mEntryCost.

Referenced by AStarSearch< UserState >::_findBestOpenNode(), and AStarSearch< UserState >::advanceSearch().

                {
                        return mEntryCost;
                }

template<class UserState>

float AStarSearch< UserState >::AStarNode::getEstimatedGoalCost

(

)

const [inline]

Definition at line 146 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mEstimatedGoalCost.

Referenced by AStarSearch< UserState >::_findBestOpenNode().

                {
                        return mEstimatedGoalCost;
                }

template<class UserState>

AStarNode* AStarSearch< UserState >::AStarNode::getNeighbour

(

int

index

)

[inline]

Definition at line 158 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mNeighbours.

Referenced by AStarSearch< UserState >::advanceSearch().

                {
                        assert ( index < 8 );

                        return mNeighbours[index];
                }

template<class UserState>

float AStarSearch< UserState >::AStarNode::getTotalCost

(

)

const [inline]

Definition at line 134 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mEntryCost, and AStarSearch< UserState >::AStarNode::mEstimatedGoalCost.

Referenced by AStarSearch< UserState >::_findBestOpenNode(), and AStarSearch< UserState >::HeapCompare::operator()().

                {
                        return mEntryCost + mEstimatedGoalCost;
                }

template<class UserState>

float AStarSearch< UserState >::AStarNode::getTraversalCost

(

)

const [inline]

Definition at line 152 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mUserState.

                {
                        return mUserState->getTraversalCost();
                }

template<class UserState>

bool AStarSearch< UserState >::AStarNode::operator==

(

const AStarNode &

rhs

)

const [inline]

Definition at line 125 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mUserState.

                {
                        return ( mUserState == rhs.mUserState );
                }

template<class UserState>

bool AStarSearch< UserState >::AStarNode::operator==

(

AStarNode &

rhs

)

const [inline]

Definition at line 118 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mUserState.

                {
                        return ( mUserState == rhs.mUserState );
                }

template<class UserState>

void AStarSearch< UserState >::AStarNode::setEntryCost

(

float

entryCost

)

[inline]

Definition at line 169 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mEntryCost.

                {
                        mEntryCost = entryCost;
                }

template<class UserState>

void AStarSearch< UserState >::AStarNode::setEstimatedGoalCost

(

float

cost

)

[inline]

Definition at line 175 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mEstimatedGoalCost.

Referenced by AStarSearch< UserState >::setStartState().

                {
                        mEstimatedGoalCost = cost;
                }

template<class UserState>

void AStarSearch< UserState >::AStarNode::setSuccessor

(

AStarNode *

parent

)

[inline]

Definition at line 181 of file AStarSearch.h.

References AStarSearch< UserState >::AStarNode::mSuccessor.

                {
                        mSuccessor = parent;
                }

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Member Data Documentation

template<class UserState>

float AStarSearch< UserState >::AStarNode::mEntryCost [private]

Definition at line 67 of file AStarSearch.h.

Referenced by AStarSearch< UserState >::AStarNode::getEntryCost(), AStarSearch< UserState >::AStarNode::getTotalCost(), and AStarSearch< UserState >::AStarNode::setEntryCost().

template<class UserState>

float AStarSearch< UserState >::AStarNode::mEstimatedGoalCost [private]

Definition at line 68 of file AStarSearch.h.

Referenced by AStarSearch< UserState >::AStarNode::getEstimatedGoalCost(), AStarSearch< UserState >::AStarNode::getTotalCost(), and AStarSearch< UserState >::AStarNode::setEstimatedGoalCost().

template<class UserState>

unsigned int AStarSearch< UserState >::AStarNode::mID [private]

Definition at line 75 of file AStarSearch.h.

Referenced by AStarSearch< UserState >::AStarNode::AStarNode().

template<class UserState>

AStarNode* AStarSearch< UserState >::AStarNode::mNeighbours[8] [private]

Definition at line 72 of file AStarSearch.h.

Referenced by AStarSearch< UserState >::AStarNode::AStarNode(), AStarSearch< UserState >::AStarNode::createNeighbourNodes(), AStarSearch< UserState >::AStarNode::getNeighbour(), and AStarSearch< UserState >::AStarNode::~AStarNode().

template<class UserState>

int AStarSearch< UserState >::AStarNode::mNumNodes = 0 [static, private]

Definition at line 74 of file AStarSearch.h.

Referenced by AStarSearch< UserState >::AStarNode::AStarNode().

template<class UserState>

AStarNode* AStarSearch< UserState >::AStarNode::mSuccessor

Definition at line 62 of file AStarSearch.h.

Referenced by AStarSearch< UserState >::AStarNode::setSuccessor().

template<class UserState>

UserState* AStarSearch< UserState >::AStarNode::mUserState

Definition at line 59 of file AStarSearch.h.

Referenced by AStarSearch< UserState >::advanceSearch(), AStarSearch< UserState >::AStarNode::AStarNode(), AStarSearch< UserState >::AStarNode::createNeighbourNodes(), AStarSearch< UserState >::AStarNode::getTraversalCost(), AStarSearch< UserState >::AStarNode::operator==(), AStarSearch< UserState >::setStartState(), and AStarSearch< UserState >::AStarNode::~AStarNode().

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

• D:/simple_rts/include/AStarSearch.h

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