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virtual void | ClearVisited () |
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virtual void | Visit (const S &s, Node *n) |
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virtual Node * | VisitedStateNode (const S &s) |
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| GeneralizedAStar (const S &start) |
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void | SetStart (const S &start) |
| Resets the search from the given start state.
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bool | Search () |
| Performs search until a goal is reached.
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bool | SearchStep () |
| Performs a single iteration of search.
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bool | SearchFailed () |
| Returns true if search failed.
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int | NumNodes () const |
| Returns the number of nodes in the tree.
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int | NumExpanded () const |
| Returns the number of previously expanded nodes.
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int | NumDescendents (const Node &n) const |
| Returns the number of descendents of n.
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C | TopPriority () const |
| Returns the priority of the next node to be expanded.
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bool | GoalFound () const |
| Returns true if the goal has been found.
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C | GoalCost () const |
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const std::vector< S > & | GoalPath () const |
| Returns path of states to the goal.
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virtual bool | IsGoal (const S &s)=0 |
| The following must be overloaded by the subclass.
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virtual void | Successors (const S &s, std::vector< S > &successors, std::vector< C > &costs)=0 |
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virtual C | Heuristic (const S &s) |
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virtual bool | OnExpand (Node *n) |
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template<class S, class C>
class AI::GeneralizedAStarWithMap< S, C >
Convenience class: uses a std::map to store visited nodes. Requires S to be a mappable type (e.g., implement ==, <, copy constructor).