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node_chain Class Reference

A class for keeping track of which nodes have changed in dynamic mapping of environment for the D* Lite algorithm. More...

#include <node_chain.h>

Inheritance diagram for node_chain:

Public Member Functions
	node_chain (void)
const dynamic_node	serve (void)
	Returns next node.
dynamic_node	operator[] (int) const
	Accessor operator.
int	exists (Node *inode)
	Returns index of node if it exists; otherwise returns -1.
bool	update (Node *inode, int icost)
void	clear (void)
	Resets the list and command execution index.
void	set (int)
	Sets the command execution index value.
int	size () const
	Returns current size of structure.
int	execute () const
	Returns the current index value.
Protected Attributes
int	_top
int	_next
Private Member Functions
bool	append (Node *, int)
	Append basic information for the dynamic node. (Public should use update).
Private Attributes
dynamic_node	_node_chain [NODE_CHAIN_MAX]
Friends
class	mission_profile

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Detailed Description

A class for keeping track of which nodes have changed in dynamic mapping of environment for the D* Lite algorithm.

This class will keep of the following information for D* Lite:

• the node which has been changed (See below)
• the original cost of the node.

  Note:

  The original cost should be from the last time the value was "posted" to the D* Lite algorithm. For example, if the node changes twice before "posting" the results, then do no change the original cost again.

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Constructor & Destructor Documentation

node_chain (  void   )

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Member Function Documentation

bool append (  Node *  , int  )  [private]

Append basic information for the dynamic node. (Public should use update).

void clear (  void   )  [inherited]

Resets the list and command execution index.

int execute (   )  const [inherited]

Returns the current index value.

int exists (  Node *  inode  )

Returns index of node if it exists; otherwise returns -1.

dynamic_node operator[] (  int   )  const

Accessor operator.

const dynamic_node serve (  void   )

Returns next node.

void set (  int   )  [inherited]

Sets the command execution index value.

int size (   )  const [inherited]

Returns current size of structure.

bool update (  Node *  inode, int  icost )

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Friends And Related Function Documentation

friend class mission_profile [friend, inherited]

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Field Documentation

int _next [protected, inherited]

dynamic_node _node_chain[NODE_CHAIN_MAX] [private]

int _top [protected, inherited]

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