grail::planner::Planner Class Reference

The main class responsible for finding paths in plan space. More...

#include <Planner.hh>

Classes
struct	AbstractPlan
struct	Config

Public Member Functions
	Planner (std::unique_ptr< WorldState > initialState, const Config &config=Config{})
void	SetIterationLimit (std::size_t iterationLimit)
	SetIterationLimit - sets maximum number of plans that can be generated during calculations. More...
void	SetMaxPlanLength (int maxLength)
	SetMaxPlanLength - Limits generated plans to not exceed given number of steps to achieve goal conditions. More...
void	SetMaxPlanCost (double maxCost)
	SetMaxPlanCost - Limits generated plans cost needed to achieve goal conditions. More...
void	SetHeuristic (PlannerHeuristic heuristic)
	SetHeuristic - Gives planner a way to evaluate calculated plans. More...
void	ResetConfig (const Config &config)
	ResetConfig - Sets planner config: max iteration, cost, length, plan heuristic, and node count. More...
void	PushCondition (ConditionFunction condition)
AbstractPlan	GetPartialPlan () const
	GetPartialPlan - returns currently best plan, regardless if goal conditions are met. Will return an empty plan if no calculations were finished. More...
data::PlannerIterationSnapshot	GetPlanSnapshot (std::size_t goalNodeIndex, std::size_t iteration) const
	GetPlanSnapshot - Get debug data on a single iteration of a plan. More...
void	Iterate (std::size_t iterationCount) noexcept
	Iterate - Formulate a plan trying to meet goalConditions from initialState. Evaluates plan using nodes dijkstraScore and aStarScore. More...
void	IterateWithSnapshot (std::size_t iterationCount, data::PlannerReasonerSnapshot &snapshot, std::size_t minDebugSnapshotIteration=0, std::size_t maxDebugSnapshotIteration=std::numeric_limits< std::size_t >::max()) noexcept
	IterateWithSnapshot - Formulates a plan trying to meet goalConditions from initialState. Outputs debug data during every iteration if not limited by min or max snapshot iteration parameters. More...
void	SetPlanFoundCallback (const std::function< void(const AbstractPlan &)> callbackFunction)
	SetPlanFoundCallback - Binds a function handle to call if a sufficient plan is found. Best plan will be passed as function argument. More...
void	SetPlanningFailedCallback (const std::function< void()> callbackFunction)
	SetPlanningFailedCallback - Binds a function handle to call if no sufficient plan was found. More...
void	Reset (std::unique_ptr< WorldState > initialState)
	Reset - Resets planner to given world state. Any existing plans and goal conditions will be cleared. More...
bool	IsComputing () const
	IsComputing - Returns true if no suitable plan was found and planning hasn't failed. This does not mean that planner is currently formulating a plan. More...

Detailed Description

The main class responsible for finding paths in plan space.

Member Function Documentation

GetPartialPlan()

Planner::AbstractPlan grail::planner::Planner::GetPartialPlan

(

)

const

GetPartialPlan - returns currently best plan, regardless if goal conditions are met. Will return an empty plan if no calculations were finished.

Returns

Currently best plan

GetPlanSnapshot()

data::PlannerIterationSnapshot grail::planner::Planner::GetPlanSnapshot	(	std::size_t	goalNodeIndex,
		std::size_t	iteration
	)		const

GetPlanSnapshot - Get debug data on a single iteration of a plan.

Parameters

goalNodeIndex	Index of Planner generatedNodes
iteration	Plan iteration to gather debug data from

Returns

Plan iteration debug data

IsComputing()

bool grail::planner::Planner::IsComputing

(

)

const

IsComputing - Returns true if no suitable plan was found and planning hasn't failed. This does not mean that planner is currently formulating a plan.

Returns

Plan hasn't finished

Iterate()

void grail::planner::Planner::Iterate ( std::size_t  iterationCount )

noexcept

Iterate - Formulate a plan trying to meet goalConditions from initialState. Evaluates plan using nodes dijkstraScore and aStarScore.

Parameters

iterationCount

Max number of plan iterations to calculate

IterateWithSnapshot()

void grail::planner::Planner::IterateWithSnapshot ( std::size_t  iterationCount, data::PlannerReasonerSnapshot &  snapshot, std::size_t  minDebugSnapshotIteration = 0, std::size_t  maxDebugSnapshotIteration = std::numeric_limits<std::size_t>::max()  )

noexcept

IterateWithSnapshot - Formulates a plan trying to meet goalConditions from initialState. Outputs debug data during every iteration if not limited by min or max snapshot iteration parameters.

Parameters

iterationCount	Max number of plan iterations to calculate
snapshot	Plan debug data
minDebugSnapshotIteration	Min number of plan iterations to include in debug data from
maxDebugSnapshotIteration	Max number of plan iteration to include in debug data

PushCondition()

void grail::planner::Planner::PushCondition

(

ConditionFunction

condition

)

Adds a single goal condition to the planner

Parameters

condition

- a boolean function representing a single goal condition

Reset()

void grail::planner::Planner::Reset

(

std::unique_ptr< WorldState >

initialState

)

Reset - Resets planner to given world state. Any existing plans and goal conditions will be cleared.

Parameters

initialState

New WorldState planner will start formulating plans from

ResetConfig()

void grail::planner::Planner::ResetConfig

(

const Config &

config

)

ResetConfig - Sets planner config: max iteration, cost, length, plan heuristic, and node count.

TODO rename?

Parameters

config

New planner config

SetHeuristic()

void grail::planner::Planner::SetHeuristic

(

PlannerHeuristic

heuristic

)

SetHeuristic - Gives planner a way to evaluate calculated plans.

Parameters

heuristic

Plan evaluation heuristic

SetIterationLimit()

void grail::planner::Planner::SetIterationLimit

(

std::size_t

iterationLimit

)

SetIterationLimit - sets maximum number of plans that can be generated during calculations.

Parameters

iterationLimit

Iteration limit

SetMaxPlanCost()

void grail::planner::Planner::SetMaxPlanCost

(

double

maxCost

)

SetMaxPlanCost - Limits generated plans cost needed to achieve goal conditions.

Parameters

maxCost

Maximum plan cost

SetMaxPlanLength()

void grail::planner::Planner::SetMaxPlanLength

(

int

maxLength

)

SetMaxPlanLength - Limits generated plans to not exceed given number of steps to achieve goal conditions.

TODO unsigned or size_t ? can negative depth be useful?

Parameters

maxLength

Maximum number of plan steps

SetPlanFoundCallback()

void grail::planner::Planner::SetPlanFoundCallback

(

const std::function< void(const AbstractPlan &)>

callbackFunction

)

SetPlanFoundCallback - Binds a function handle to call if a sufficient plan is found. Best plan will be passed as function argument.

Parameters

callbackFunction

Function to call if plan is found

SetPlanningFailedCallback()

void grail::planner::Planner::SetPlanningFailedCallback

(

const std::function< void()>

callbackFunction

)

SetPlanningFailedCallback - Binds a function handle to call if no sufficient plan was found.

Parameters

callbackFunction

Function to call if planning failed

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

• GrailPlanners/Planner/Planner.hh
• GrailPlanners/Planner/Planner.cpp