arbitrator::SearchStrategy Class Reference

Generic interface representing a computation to prioritize nodes for expansion in a search graph. More...

#include <search_strategy.hpp>

Inheritance diagram for arbitrator::SearchStrategy:

Collaboration diagram for arbitrator::SearchStrategy:

Public Member Functions
virtual std::vector< std::pair< carma_planning_msgs::msg::ManeuverPlan, double > >	prioritize_plans (std::vector< std::pair< carma_planning_msgs::msg::ManeuverPlan, double > > plans) const =0
	Sort the list of plans in the open-set by priority. More...
virtual	~SearchStrategy ()
	Virtual destructor provided for memory safety. More...

Detailed Description

Generic interface representing a computation to prioritize nodes for expansion in a search graph.

This interface takes in plans and their computed costs (C) and then may apply a heuristic cost (H) if so desired before sorting by C+H or otherwise prioritizing the potential plans.

It is not safe to assume that the size of the input list equals the size the list returned.

Definition at line 36 of file search_strategy.hpp.

Constructor & Destructor Documentation

~SearchStrategy()

virtual arbitrator::SearchStrategy::~SearchStrategy ( )

inlinevirtual

Virtual destructor provided for memory safety.

Definition at line 50 of file search_strategy.hpp.

{};

Member Function Documentation

prioritize_plans()

virtual std::vector< std::pair< carma_planning_msgs::msg::ManeuverPlan, double > > arbitrator::SearchStrategy::prioritize_plans ( std::vector< std::pair< carma_planning_msgs::msg::ManeuverPlan, double > >  plans ) const

pure virtual

Sort the list of plans in the open-set by priority.

Parameters

plans

The list of (plan, cost) pairs to sort

Returns

A sorted (and/or reduced) list of (plan, cost) pairs after a heuristic may or may not have been applied

Implemented in arbitrator::BeamSearchStrategy.

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

• arbitrator/include/search_strategy.hpp