Inheritance diagram for MapPathfindingTransitions:

Public Member Functions
	MapPathfindingTransitions (bool four_dirs=true)

	MapPathfindingTransitions (std::string file_name, bool four_dirs=true)

virtual	~MapPathfindingTransitions ()

virtual bool	isApplicable (const MapLocation &state, const MapDir &action) const

virtual double	getActionCost (const MapLocation &state, const MapDir &action) const

virtual void	applyAction (MapLocation &state, const MapDir &action) const

virtual void	getActions (const MapLocation &state, std::vector< MapDir > &actions) const

virtual bool	isInvertible (const MapLocation &state, const MapDir &action) const

virtual MapDir	getInverse (const MapLocation &state, const MapDir &action) const

MapDir	getDummyAction () const

bool	isDummyAction (const MapDir &action) const

bool	loadMap (std::string file_name)

unsigned	getMapWidth () const

unsigned	getMapHeight () const

void	set4Connected ()

void	set8Connected ()

bool	setDiagonalCost (double d_cost)

bool	is4Connected () const

bool	is8Connected () const

void	clearMap ()

Public Member Functions inherited from TransitionSystem< MapLocation, MapDir >
	TransitionSystem ()

virtual	~TransitionSystem ()

virtual bool	isChildState (const MapLocation &parent, const MapLocation &child) const

virtual void	getSuccessors (const MapLocation &state, std::vector< MapLocation > &children) const

bool	applyActionSequence (MapLocation &state, const std::vector< MapDir > &actions) const

bool	isApplicableSequence (const MapLocation &state, const std::vector< MapDir > &actions) const

Protected Member Functions
bool	canNorth (const MapLocation &state) const

bool	canEast (const MapLocation &state) const

bool	canSouth (const MapLocation &state) const

bool	canWest (const MapLocation &state) const

bool	isNEEmpty (const MapLocation &state) const

bool	isSEEmpty (const MapLocation &state) const

bool	isSWEmpty (const MapLocation &state) const

bool	isNWEmpty (const MapLocation &state) const

Protected Attributes
unsigned	map_width
	The map width. More...

unsigned	map_height
	The map height. More...

bool	four_connected
	If the map is 4-connected or 8-connected. More...

double	diag_cost
	The cost of a diagonal move. More...

std::vector< std::vector< bool > >	grid_empty
	Indexed by location, indicates if it is empty or an obstacle. More...

Detailed Description

Defines the transitions for map pathfinding.

Currently sets the origin (0,0) as the upper left corner in keeping with benchmark standard. Locations are either empty or have an obstacle. If the transition system is set as 4-connected, then movement is only possible in the 4 cardinal directions (North, East, South, and West). If it is not 4-connected, it is 8-connected, which means it is possible to move in the 4 cardinal directions as well as Northeast, Southeast, Southwest, and Northwest.

Todo:

Set the bottom left corner to be (0, 0)?

Allow for different terrain types.

Allow for different terrain heights.

Constructor & Destructor Documentation

MapPathfindingTransitions::MapPathfindingTransitions ( bool four_dirs = true )

A constructor for a map pathfinding transition system. Constructs a completely empty map.

Parameters

four_dirs Whether the system is 4-connected. Set as true by default.

MapPathfindingTransitions::MapPathfindingTransitions	(	std::string	file_name,
		bool	four_dirs = `true`
	)

A constructor for a map pathfinding transition system. Loads in the map from the file from the given file name.

Parameters

file_name	The name of the file to load the map from.
four_dirs	Whether the system is 4-connected. Set as true by default.

MapPathfindingTransitions::~MapPathfindingTransitions ( )

virtual

A destructor for a map pathfinding transition system. Does nothing.

Member Function Documentation

void MapPathfindingTransitions::applyAction	(	MapLocation &	state,
		const MapDir &	action
	)		const

virtual

Applies the given action to the given state.

Assumes the given action is applicable in the given state.

Parameters

state	The state to update.
action	The action to apply.

Implements TransitionSystem< MapLocation, MapDir >.

bool MapPathfindingTransitions::canEast ( const MapLocation & state ) const

protected

Returns true of it is possible to move east from the current location.

Parameters

state The state currently located at.

Returns: If it is possible to move east from the given location.

bool MapPathfindingTransitions::canNorth ( const MapLocation & state ) const

protected

Returns true of it is possible to move north from the current location.

Parameters

state The state currently located at.

Returns: If it is possible to move north from the given location.

bool MapPathfindingTransitions::canSouth ( const MapLocation & state ) const

protected

Returns true of it is possible to move south from the current location.

Parameters

state The state currently located at.

Returns: If it is possible to move south from the given location.

bool MapPathfindingTransitions::canWest ( const MapLocation & state ) const

protected

Returns true of it is possible to move west from the current location.

Parameters

state The state currently located at.

Returns: If it is possible to move west from the given location.

void MapPathfindingTransitions::clearMap ( )

Clears the current map.

double MapPathfindingTransitions::getActionCost	(	const MapLocation &	state,
		const MapDir &	action
	)		const

virtual

Returns the cost of applying the given action in the given state.

Assumes the action is actually applicable in that state.

Parameters

state	The state to apply the action in.
action	The action to apply.

Returns: The cost of applying the action in the given state.

Implements TransitionSystem< MapLocation, MapDir >.

void MapPathfindingTransitions::getActions	(	const MapLocation &	state,
		std::vector< MapDir > &	actions
	)		const

virtual

Gets the actions applicable in a given state and appends them to the given list.

Parameters

state	The state to generate actions in.
actions	The list of actions to append to.

Implements TransitionSystem< MapLocation, MapDir >.

MapDir MapPathfindingTransitions::getDummyAction ( ) const

virtual

Returns the dummy action for this domain.

The dummy action should never actually be applicable and is not invertible.

Returns: The domain's dummy action.

Implements TransitionSystem< MapLocation, MapDir >.

MapDir MapPathfindingTransitions::getInverse	(	const MapLocation &	state,
		const MapDir &	action
	)		const

virtual

Returns the inverse of a given action.

If no inverse exists, returns the dummy action.

Parameters

state	The state the action is being applied in.
action	The action to invert.

Returns: The inverse of the given action.

Reimplemented from TransitionSystem< MapLocation, MapDir >.

unsigned MapPathfindingTransitions::getMapHeight ( ) const

Returns the height of the map.

Returns: The height of the map.

unsigned MapPathfindingTransitions::getMapWidth ( ) const

Returns the width of the map.

Returns: The width of the map.

bool MapPathfindingTransitions::is4Connected ( ) const

Checks if the given map is 4-connected.

Returns: If the map is set as 4-connected or 8-connected.

bool MapPathfindingTransitions::is8Connected ( ) const

Checks if the given map is 8-connected.

Returns: If the map is set as 8-connected or not.

bool MapPathfindingTransitions::isApplicable	(	const MapLocation &	state,
		const MapDir &	action
	)		const

virtual

Checks if the action is applicable in the given state.

Parameters

state	The state in the domain.
action	The action to test for applicability.

Returns: If the given action is applicable in the given state.

Reimplemented from TransitionSystem< MapLocation, MapDir >.

bool MapPathfindingTransitions::isDummyAction ( const MapDir & action ) const

virtual

Checks if the given action is the dummy action for this domain.

Parameters

action The action to check.

Returns: If the given action is the dummy action.

Implements TransitionSystem< MapLocation, MapDir >.

bool MapPathfindingTransitions::isInvertible	(	const MapLocation &	state,
		const MapDir &	action
	)		const

virtual

Checks if the given action is invertible in the given state.

Assumes the action is either the dummy action, or is applicable in the given state.

Parameters

state	The state the action is being applied in.
action	The action to check.

Returns: If the action is invertible.

Reimplemented from TransitionSystem< MapLocation, MapDir >.

bool MapPathfindingTransitions::isNEEmpty ( const MapLocation & state ) const

protected

Checks if the location northeast of the given location is empty.

Parameters

state The state currently located at.

Returns: If the location northeast of the given location is empty.

bool MapPathfindingTransitions::isNWEmpty ( const MapLocation & state ) const

protected

Checks if the location northwest of the given location is empty.

Parameters

state The state currently located at.

Returns: If the location northwest of the given location is empty.

bool MapPathfindingTransitions::isSEEmpty ( const MapLocation & state ) const

protected

Checks if the location southeast of the given location is empty.

Parameters

state The state currently located at.

Returns: If the location southeast of the given location is empty.

bool MapPathfindingTransitions::isSWEmpty ( const MapLocation & state ) const

protected

Checks if the location southwest of the given location is empty.

Parameters

state The state currently located at.

Returns: If the location southwest of the given location is empty.

bool MapPathfindingTransitions::loadMap ( std::string file_name )

Loads the map from the file with the given file name.

If reading fails, the map is cleared and false is returned.

The file format is as follows. There must be a line that contains only the word "map", which indicates that the remainder of the file is a representation of the map. An empty location is indicated by any of the symbols '.' 'G' or 'S'. An obstacle is indicated by any of the symbols '@', 'O', 'W', or 'T.' Any other symbol will cause an error.

Prior to the line that says map, there must be at least two lines, one of which is of the form "width n" and the other of which is "height m", where n and m are positive integers. These indicate the size of the map. The reading will fail if these are not included.

All other lines before the "map" line will be discarded.

Parameters

file_name The name of the file to read.

Returns: If the map loading succeeding or not.

void MapPathfindingTransitions::set4Connected ( )

Sets the map to be 4-connected.

void MapPathfindingTransitions::set8Connected ( )

Sets the map to be 8-connected.

bool MapPathfindingTransitions::setDiagonalCost ( double d_cost )

Sets the cost of diagonal move (ie. northeast, southeast, southwest, or northwest). By default, set as square root two, as defined in floating_point_utils.h.

Ignores the given value if it is non-positive.

Parameters

d_cost The cost of a diagonal move.

Returns: If the diagonal value was set properly.

Member Data Documentation

double MapPathfindingTransitions::diag_cost

protected

The cost of a diagonal move.

bool MapPathfindingTransitions::four_connected

protected

If the map is 4-connected or 8-connected.

std::vector<std::vector<bool> > MapPathfindingTransitions::grid_empty

protected

Indexed by location, indicates if it is empty or an obstacle.

unsigned MapPathfindingTransitions::map_height

protected

The map height.

unsigned MapPathfindingTransitions::map_width

protected

The map width.

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

domains/map_pathfinding/map_pathfinding_transitions.h
domains/map_pathfinding/map_pathfinding_transitions.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation