Public Types
typedef Graph::UndirectedGraph< int, MultiModalPRM::TransitionInfo * >	SearchGraph

typedef IndexedPriorityQueue< int, double >	Fringe

typedef UpdatePrioritySPP	ShortestPathProblem

Public Member Functions
virtual double	EdgeLength (int s, int t)

virtual double	EdgeLength (MultiModalPRM::TransitionInfo *trans, int s, int t)

virtual double	Heuristic (int mode)

	IncrementalMMPRM_Search (MultiModalPRM &mmprm)

void	Init ()

bool	ExpandMore ()

void	SampleMore (int n)

void	ExpandAdjacent (int n)

void	AddEdge (int s, int t, MultiModalPRM::TransitionInfo *e)

void	PushFringe (int i)

void	UpdateFringe (int i)

int	PopFringe ()

void	RefreshFringe ()

double	Priority (int n)

bool	GoalConnected () const

double	PathDistance (int n) const

void	UpdateEdgeLength (int s, int t)
	This must be called when an edge length changes.

void	UpdatePriority (int n)

Member Function Documentation

void IncrementalMMPRM_Search::UpdatePriority ( int n )

This must be called when a heuristic value changes. Called internally in UpdateEdgeLength.

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

Public Types