public class IDAStar extends DeterministicPlanner
DeterministicPlanner.PlanningFailedException
Modifier and Type | Field and Description |
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protected Heuristic |
heuristic
The heuristic to use
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protected PrioritizedSearchNode.PSNComparator |
nodeComparator
The comparator to use for checking which nodes to expand first.
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gc, internalPolicy
actions, containsParameterizedActions, debugCode, domain, gamma, hashingFactory, mapToStateIndex, rf, tf
Constructor and Description |
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IDAStar(Domain domain,
RewardFunction rf,
StateConditionTest gc,
StateHashFactory hashingFactory,
Heuristic heuristic)
Initializes the planner.
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Modifier and Type | Method and Description |
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protected PrioritizedSearchNode |
FLimtedDFS(PrioritizedSearchNode lastNode,
double minR,
double cumulatedReward)
Recursive method to perform A* up to a f-score depth
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protected boolean |
lastStateOnPathIsNew(PrioritizedSearchNode psn)
Returns true if the search node has not be visited previously on the current search path.
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protected boolean |
planEndNode(SearchNode node)
Returns true if the search node wraps a goal state.
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void |
planFromState(State initialState)
This method will cause the planner to begin planning from the specified initial state
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deterministicPlannerInit, encodePlanIntoPolicy, hasCachedPlanForState, planContainsOption, planHasDupilicateStates, querySelectedActionForState, resetPlannerResults
addNonDomainReferencedAction, getActions, getAllGroundedActions, getDebugCode, getDomain, getGamma, getHashingFactory, getRf, getRF, getTf, getTF, plannerInit, setActions, setDebugCode, setDomain, setGamma, setRf, setTf, stateHash, toggleDebugPrinting, translateAction
protected Heuristic heuristic
protected PrioritizedSearchNode.PSNComparator nodeComparator
public IDAStar(Domain domain, RewardFunction rf, StateConditionTest gc, StateHashFactory hashingFactory, Heuristic heuristic)
domain
- the domain in which to planrf
- the reward function that represents costs as negative rewardgc
- should evaluate to true for goal states; false otherwisehashingFactory
- the state hashing factory to useheuristic
- the planning heuristic. Should return non-positive values.public void planFromState(State initialState)
OOMDPPlanner
planFromState
in class OOMDPPlanner
initialState
- the initial state of the planning problemprotected PrioritizedSearchNode FLimtedDFS(PrioritizedSearchNode lastNode, double minR, double cumulatedReward)
lastNode
- the node to expandminR
- the minimum cumulative reward at which to stop the search (in other terms the maximum cost)cumulatedReward
- the amount of reward accumulated at this nodeprotected boolean planEndNode(SearchNode node)
node
- the node to checkprotected boolean lastStateOnPathIsNew(PrioritizedSearchNode psn)
psn
- the search node to check.