public class StaticWeightedAStar extends AStar
DeterministicPlanner.PlanningFailedException
Modifier and Type | Field and Description |
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protected double |
epsilonP1
The > 1 epsilon parameter.
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cumulatedRewardMap, heuristic, lastComputedCumR
gc, internalPolicy
actions, debugCode, domain, gamma, hashingFactory, mapToStateIndex, rf, tf
Constructor and Description |
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StaticWeightedAStar(Domain domain,
RewardFunction rf,
StateConditionTest gc,
HashableStateFactory hashingFactory,
Heuristic heuristic,
double epsilon)
Initializes the valueFunction.
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Modifier and Type | Method and Description |
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double |
computeF(PrioritizedSearchNode parentNode,
GroundedAction generatingAction,
HashableState successorState)
This method returns the f-score for a state given the parent search node, the generating action, the state that was produced.
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insertIntoOpen, postPlanPrep, prePlanPrep, updateOpen
planFromState
deterministicPlannerInit, encodePlanIntoPolicy, hasCachedPlanForState, planContainsOption, planHasDupilicateStates, querySelectedActionForState, resetSolver
addNonDomainReferencedAction, getActions, getAllGroundedActions, getDebugCode, getDomain, getGamma, getHashingFactory, getRf, getRF, getTf, getTF, setActions, setDebugCode, setDomain, setGamma, setHashingFactory, setRf, setTf, solverInit, stateHash, toggleDebugPrinting, translateAction
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
addNonDomainReferencedAction, getActions, getDebugCode, getDomain, getGamma, getHashingFactory, getRf, getRF, getTf, getTF, setActions, setDebugCode, setDomain, setGamma, setHashingFactory, setRf, setTf, solverInit, toggleDebugPrinting
protected double epsilonP1
public StaticWeightedAStar(Domain domain, RewardFunction rf, StateConditionTest gc, HashableStateFactory hashingFactory, Heuristic heuristic, double epsilon)
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.epsilon
- parameter > 1. The larger the value the more greedy.public double computeF(PrioritizedSearchNode parentNode, GroundedAction generatingAction, HashableState successorState)
BestFirst
computeF
in class AStar
parentNode
- the parent search node (and its priority) that from which the next state was generated.generatingAction
- the action that was used to generate the next state.successorState
- the next state that was generated