railAStarNode.h File Reference

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Functions
*	DtRailAStarNode (const DtPoint &point, double cost, DtRailPathPlanner *pathPlanner)
	This class is used by the DtRailPathPlanner class.
*virtual	~DtRailAStarNode ()
*****virtual bool	expand (double valueLimit=1e255)
	Expands this branch of the tree until there is no A* value less.
****virtual void	generateChildNodes ()
	Generates new nodes for the immediate children of this node.
**virtual void	sortNodes ()
*virtual bool	generateOpenEdges (DtNetworkNode *node)
**virtual void	generateNewNode (DtNetworkNode *node, double cost, DtNetworkEdge *edge,*DtNetworkEdge::DtTraversalDirection direction)
*virtual void	removeDeadEnds ()
**virtual double	aStarValue () const
**virtual const DtPoint &	point ()
**virtual bool	deadEnd ()
****virtual bool	visited ()
	Check if this node has been marked as visited.
***virtual void	markVisited ()
	Mark this node as visited.
**virtual void	setApproachVector (const DtPoint &approachVector)
****virtual double	turningCost (const DtPoint &destination)
	Returns the cost to turn from the approach vector of this node.
****virtual void	postSolution ()
	Posts the solution route from the entry edge to the goal edge defined in.
**virtual void	setHostEdge (DtNetworkEdge *edge)
*virtual DtNetworkEdge *	hostEdge ()
**virtual void	setTraversalDirection (DtNetworkEdge::DtTraversalDirection direction)
*virtual DtNetworkEdge::DtTraversalDirection	traversalDirection () const
*virtual void	addNode (DtRailAStarNode *node, std::list< DtRailAStarNode * > &list)

Variables
**DtPoint	myPoint
*DtRailPathPlanner *	myPathPlanner
*double	myCost
*double	myAStarValue
*bool	myDeadEnd
*bool	myExpanded
**DtPoint	myApproachVector
	normalized vector indicating the direction this node was approached from
***std::list< DtNetworkEdge * >	myOpenEdges
	List of connecting edges for this node. These are used to generate the children.
**std::list< DtRailAStarNode * >	myNodeSet
	Node set sorted by cost.
**DtNetworkEdge *	myHostEdge
**DtNetworkEdge::DtTraversalDirection	myEdgeDirection

Function Documentation

* DtRailAStarNode	(	const DtPoint &	point,
		double	cost,
		DtRailPathPlanner *	pathPlanner
	)

This class is used by the DtRailPathPlanner class.

It represents a single node in the A* search algorithm and is capable of expanding itself to create the adjacent nodes.

* virtual ~DtRailAStarNode ( )

virtual

* * * * * virtual bool expand ( double  valueLimit = 1e255 )

virtual

Expands this branch of the tree until there is no A* value less.

than the specified value limit, or until a path to the goal is found. Returns true if the goal is found, otherwise false.

* * * * virtual void generateChildNodes ( )

virtual

Generates new nodes for the immediate children of this node.

This will call calculateCost() for each new node – expensive!

* * virtual void sortNodes ( )

virtual

* virtual bool generateOpenEdges ( DtNetworkNode *  node )

virtual

* * virtual void generateNewNode ( DtNetworkNode *  node, double  cost, DtNetworkEdge *  edge, *DtNetworkEdge::DtTraversalDirection  direction  )

virtual

* virtual void removeDeadEnds ( )

virtual

* * virtual double aStarValue ( ) const

virtual

* * virtual const DtPoint& point ( )

virtual

Referenced by BHAVE::DtSegmentNodeStruct::DtSegmentNodeStruct().

* * virtual bool deadEnd ( )

virtual

* * * * virtual bool visited ( )

virtual

Check if this node has been marked as visited.

* * * virtual void markVisited ( )

virtual

Mark this node as visited.

* * virtual void setApproachVector ( const DtPoint &  approachVector )

virtual

* * * * virtual double turningCost ( const DtPoint &  destination )

virtual

Returns the cost to turn from the approach vector of this node.

toward the destination.

* * * * virtual void postSolution ( )

virtual

Posts the solution route from the entry edge to the goal edge defined in.

the path planner.

* * virtual void setHostEdge ( DtNetworkEdge *  edge )

virtual

* virtual DtNetworkEdge* hostEdge ( )

virtual

* * virtual void setTraversalDirection ( DtNetworkEdge::DtTraversalDirection  direction )

virtual

* virtual DtNetworkEdge::DtTraversalDirection traversalDirection ( ) const

virtual

* virtual void addNode ( DtRailAStarNode *  node, std::list< DtRailAStarNode * > &  list  )

protectedvirtual

Variable Documentation

* * DtPoint myPoint

* DtRailPathPlanner* myPathPlanner

* double myCost

* double myAStarValue

* bool myDeadEnd

* bool myExpanded

Referenced by DtFormationModelData::expanded(), and DtFormationModelData::setExpanded().

* * DtPoint myApproachVector

normalized vector indicating the direction this node was approached from

* * * std::list<DtNetworkEdge*> myOpenEdges

List of connecting edges for this node. These are used to generate the children.

nodes to be expanded

* * std::list<DtRailAStarNode*> myNodeSet

Node set sorted by cost.

* * DtNetworkEdge* myHostEdge

* * DtNetworkEdge::DtTraversalDirection myEdgeDirection