Planner (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- planner.aStarPlan.Planner

All Implemented Interfaces:

Runnable

Direct Known Subclasses:

AStarSearchPlanner, SelfPruningPlanner
```
public abstract class Planner
extends Object
implements Runnable
```
Abstract class for conducting an A* search

Version:

$Revision: 1.11 $

Author:

dtdavis
Contact: Don Brutzman (web.nps.navy.mil/~brutzman) brutzman@nps.navy.mil

Field Summary

Fields
Modifier and Type	Field and Description
`protected List<Plan>`	`agenda` Ordered set of partial plans to be tested
`protected boolean`	`die` Set to true when the planner is to quit whether a plan is ready or not
`protected WorldState`	`goal` World state defining the desired goal of the plan
`protected Plan`	`plan` Computed plan that produces the desired goal state
`protected boolean`	`planReady` Set to true when a plan has been generated

Constructor Summary

Constructors
Constructor and Description
`Planner()` Creates a new instance of Planner This constructor creates an object that must be reset with start and goal states before it can be run
`Planner(int dummy)` Creates a new instance of Planner This constructor creates an object that must be reset with start and goal states before it can be run
`Planner(WorldState start, WorldState goal)` Creates a new instance of Planner
`Planner(WorldState start, WorldState goal, int dummy)` Creates a new instance of Planner

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addToAgenda(Plan plan)` Adds a plan to the agenda
`void`	`clearAgenda()` Clears all partial plans from the agenda
`WorldState`	`getGoal()` Returns a reference to the goal state of the planner.
`Plan`	`getPlan()` Returns the generated plan, or null if none was found.
`double`	`getRunTime()` Returns the amount of time (seconds) that the planner took to run.
`boolean`	`goalAchievable()` Returns true if there are more agenda items to evaluate False means that all possible paths have been exhausted with no solution found
`boolean`	`goalAchieved()` Returns true if the first plan in the agenda achieves the desired goal
`boolean`	`isPlanReady()` Returns true if a plan has been successfully created
`void`	`reset()` Partially resets the planner prior to re-initializing by an inheriting class This reset still requires the agenda to be initialized with a starting plan
`void`	`reset(WorldState start)` Resets the planner to start over with a new start state
`void`	`reset(WorldState start, WorldState goal)` Resets the planner to start over with a new start state and a new goal
`void`	`run()` Implements the Runnable interface
`void`	`setDie()` Kills a running planner before a plan is found
`void`	`setRunTime(long time)` Sets the planner's run time (nanoseconds)

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - plan
```
protected Plan plan
```
    Computed plan that produces the desired goal state
  - agenda
```
protected List<Plan> agenda
```
    Ordered set of partial plans to be tested
  - goal
```
protected WorldState goal
```
    World state defining the desired goal of the plan
  - planReady
```
protected boolean planReady
```
    Set to true when a plan has been generated
  - die
```
protected boolean die
```
    Set to true when the planner is to quit whether a plan is ready or not
- Constructor Detail
  - Planner
```
public Planner()
```
    Creates a new instance of Planner This constructor creates an object that must be reset with start and goal states before it can be run
  - Planner
```
public Planner(int dummy)
```
    Creates a new instance of Planner This constructor creates an object that must be reset with start and goal states before it can be run
    
    Parameters:
    
    dummy -
  - Planner
```
public Planner(WorldState start,
               WorldState goal)
```
    Creates a new instance of Planner
    
    Parameters:
    
    start - world state when planning commences (must completely define)
    
    goal - desired world state following plan execution (not necessarily complete world description)
  - Planner
```
public Planner(WorldState start,
               WorldState goal,
               int dummy)
```
    Creates a new instance of Planner
    
    Parameters:
    
    start - world state when planning commences (must completely define)
    
    goal - desired world state following plan execution (not necessarily complete world description)
    
    dummy - place holder to facilitate swapping between this and the SelfPruningPlanner subclass
- Method Detail
  - goalAchieved
```
public boolean goalAchieved()
```
    Returns true if the first plan in the agenda achieves the desired goal
    
    Returns:
    
    'true' if the first plan in agenda achieves the desired goal; 'false' otherwise.
  - reset
```
public void reset()
```
    Partially resets the planner prior to re-initializing by an inheriting class This reset still requires the agenda to be initialized with a starting plan
  - reset
```
public void reset(WorldState start)
```
    Resets the planner to start over with a new start state
    
    Parameters:
    
    start - world state when planning commences (must completely define world)
  - reset
```
public void reset(WorldState start,
                  WorldState goal)
```
    Resets the planner to start over with a new start state and a new goal
    
    Parameters:
    
    start - world state when planning commences (must completely define world)
    
    goal - desired world state following plan execution (not necessarily complete world description)
  - addToAgenda
```
public final void addToAgenda(Plan plan)
```
    Adds a plan to the agenda
    
    Parameters:
    
    plan - partial plan that is to be evaluated and added to the agenda
  - clearAgenda
```
public void clearAgenda()
```
    Clears all partial plans from the agenda
  - goalAchievable
```
public boolean goalAchievable()
```
    Returns true if there are more agenda items to evaluate False means that all possible paths have been exhausted with no solution found
    
    Returns:
    
    'true' if there are more agenda items to evaluate; 'false' all possible paths have been exhausted with no solution found.
  - getGoal
```
public WorldState getGoal()
```
    Returns a reference to the goal state of the planner.
    
    Returns:
    
    a reference to the goal state of the planner.
  - getPlan
```
public Plan getPlan()
```
    Returns the generated plan, or null if none was found.
    
    Returns:
    
    the generated plan, or null if none was found.
  - getRunTime
```
public double getRunTime()
```
    Returns the amount of time (seconds) that the planner took to run.
    
    Returns:
    
    the number of seconds that the planner took to run.
  - setRunTime
```
public void setRunTime(long time)
```
    Sets the planner's run time (nanoseconds)
    
    Parameters:
    
    time -
  - isPlanReady
```
public boolean isPlanReady()
```
    Returns true if a plan has been successfully created
    
    Returns:
    
    true if the plan is ready
  - setDie
```
public void setDie()
```
    Kills a running planner before a plan is found
  - run
```
public void run()
```
    Implements the Runnable interface
    
    Specified by:
    
    run in interface Runnable

Class Planner

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

plan

agenda

goal

planReady

die

Constructor Detail

Planner

Planner

Planner

Planner

Method Detail

goalAchieved

reset

reset

reset

addToAgenda

clearAgenda

goalAchievable

getGoal

getPlan

getRunTime

setRunTime

isPlanReady

setDie

run