Plan (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- planner.aStarPlan.Plan

All Implemented Interfaces:

Cloneable, Comparable<Plan>

Direct Known Subclasses:

SearchPlan
```
public class Plan
extends Object
implements Cloneable, Comparable<Plan>
```
Class representing a series of steps comprising an A* search derived plan

Version:

$Id: Plan.java 8474 2012-11-13 07:01:46Z brutzman $

Author:

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

Constructor Summary

Constructors
Constructor and Description
`Plan()` Creates a new instance of Plan
`Plan(WorldState state)` Creates a new instance of Plan that includes the ending world state
`Plan(WorldState state, WorldState goal)` Creates a new instance of Plan that includes the ending world state

Method Summary

Methods
Modifier and Type	Method and Description
`void`	`addStep(PlanStep newStep)` Adds a step to the end of the plan
`void`	`addStep(PlanStep newStep, int index)` Adds a step to the plan at the position specified by the index.
`void`	`clearSteps()` Deletes all steps from the plan
`Object`	`clone()` Returns a deep copy of the route, implements Cloneable
`int`	`compareTo(Plan plan2)` Implements Comparable--Compares routes based on their total distance
`double`	`cost()` Determines the "cost" to execute all steps in the plan
`double`	`distanceEstimate(WorldState goalState)` Computes the distance of the world state following completion of the plan steps and an arbitrary goal state
`double`	`evaluate(WorldState goal)` Evaluates this plan relative to the goal (cost so far plus estimated remaining cost)
`double`	`getEvaluation()` Returns the plan's A* evaluation (cost + expected remaining cost)
`PlanStep`	`getStep(int index)` Returns the plan step specified by the index.
`Plan`	`increment(PlanStep step)` Creates a new plan consisting of this one plus one more step
`boolean`	`match(WorldState testState)` Compares the world state following execution of this plan against a candidate to see if they match (e.g., the goal state has been achieved
`int`	`numSteps()` Returns the number of steps contained in the plan
`List<SearchPlanStep>`	`possibleSteps()` Returns an ArrayList containing all potential successor steps
`PlanStep`	`removeStep(int index)` Returns the plan step specified by the index and removes it from the plan.
`void`	`setEndState(WorldState state)` Sets the plan's end state
`String`	`toString()` Formats the route for text output

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

- Constructor Detail
  - Plan
```
public Plan()
```
    Creates a new instance of Plan
  - Plan
```
public Plan(WorldState state)
```
    Creates a new instance of Plan that includes the ending world state
    
    Parameters:
    state - world state upon the completion of all steps in the plan
  - Plan
```
public Plan(WorldState state,
    WorldState goal)
```
    Creates a new instance of Plan that includes the ending world state
    
    Parameters:
    state - world state upon the completion of all steps in the plan
    goal - desired world state upon completion of the plan
- Method Detail
  - setEndState
```
public void setEndState(WorldState state)
```
    Sets the plan's end state
    
    Parameters:
    state - world state upon the completion of all steps in the plan
  - possibleSteps
```
public List<SearchPlanStep> possibleSteps()
```
    Returns an ArrayList containing all potential successor steps
    
    Returns:
    an ArrayList containing all potential successor steps
  - increment
```
public Plan increment(PlanStep step)
```
    Creates a new plan consisting of this one plus one more step
    
    Parameters:
    step - PlanStep object
    
    Returns:
    new Plan object.
  - cost
```
public double cost()
```
    Determines the "cost" to execute all steps in the plan
    
    Returns:
    the cost to execute all steps.
  - match
```
public boolean match(WorldState testState)
```
    Compares the world state following execution of this plan against a candidate to see if they match (e.g., the goal state has been achieved
    
    Parameters:
    testState - world state to which the state at the end of this plan is being compared
    
    Returns:
    whether this WorldState matches the testState
  - distanceEstimate
```
public double distanceEstimate(WorldState goalState)
```
    Computes the distance of the world state following completion of the plan steps and an arbitrary goal state
    
    Parameters:
    goalState - WorldState object.
    
    Returns:
    Comparison of this WorldState with the goalState to measure how different they are.
  - evaluate
```
public final double evaluate(WorldState goal)
```
    Evaluates this plan relative to the goal (cost so far plus estimated remaining cost)
    
    Parameters:
    goal - desired world state upon plan completion.
    
    Returns:
    (cost + estimated remaining cost) of the plan.
  - getEvaluation
```
public double getEvaluation()
```
    Returns the plan's A* evaluation (cost + expected remaining cost)
    
    Returns:
    (cost + estimated remaining cost) of the plan.
  - numSteps
```
public int numSteps()
```
    Returns the number of steps contained in the plan
    
    Returns:
    the number of the steps.
  - addStep
```
public void addStep(PlanStep newStep)
```
    Adds a step to the end of the plan
    
    Parameters:
    newStep - PlanStep object.
  - addStep
```
public void addStep(PlanStep newStep,
           int index)
```
    Adds a step to the plan at the position specified by the index. If the index is less than zero, the step is added to the beginning. If the index is beyond the end of the plan, the new step is added to the end.
    
    Parameters:
    newStep - plan step to be added to the plan
    index - the plan position.
  - getStep
```
public PlanStep getStep(int index)
```
    Returns the plan step specified by the index. If the index is less than zero, the first step is returned. If the index is beyond the end of the plan, the last step is returned. If the plan is empty, null is returned
    
    Parameters:
    index - the plan position.
    
    Returns:
    If the index is less than zero, the first step is returned. If the index is beyond the end of the plan, the last step is returned. If the plan is empty, null is returned.
  - clearSteps
```
public void clearSteps()
```
    Deletes all steps from the plan
  - removeStep
```
public PlanStep removeStep(int index)
```
    Returns the plan step specified by the index and removes it from the plan. If the index is less than zero, the first step is returned. If the index is beyond the end of the plan, the last step is returned. If the plan is empty, null is returned
    
    Parameters:
    index - the plan position.
    
    Returns:
    If the index is less than zero, the first step is returned. If the index is beyond the end of the plan, the last step is returned. If the plan is empty, null is returned.
  - clone
```
public Object clone()
```
    Returns a deep copy of the route, implements Cloneable
    
    Overrides:
    
    clone in class Object
    
    Returns:
    the deep copy of Plan object.
  - compareTo
```
public int compareTo(Plan plan2)
```
    Implements Comparable--Compares routes based on their total distance
    
    Specified by:
    
    compareTo in interface Comparable<Plan>
    
    Parameters:
    plan2 - Object; can be the instance of Plan object.
    
    Returns:
    1 if param is not instance of Plan object. if param is instance of Plan object; -1 if (cost + estimated remaining cost) is smaller than param's evaluation. 0 if (cost + estimated remaining cost) is the same with param's evaluation. 1 if (cost + estimated remaining cost) is larger than param's evaluation.
  - toString
```
public String toString()
```
    Formats the route for text output
    
    Overrides:
    
    toString in class Object
    
    Returns:
    String value of the result of append.

Class Plan

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Plan

Plan

Plan

Method Detail

setEndState

possibleSteps

increment

cost

match

distanceEstimate

evaluate

getEvaluation

numSteps

addStep

addStep

getStep

clearSteps

removeStep

clone

compareTo

toString