/* void Dstar::updateCell(int x, int y, double val)
* --------------------------
* As per [S. Koenig, 2002]
*/
void Dstar::updateCell(int x, int y, double val) {
state u;
u.x = x;
u.y = y;
if ((u == s_start) || (u == s_goal)) return;
makeNewCell(u);
cellHash[u].cost = val;
updateVertex(u);
}
/* void Dstar::updateCell(int x, int y, double val)
* --------------------------
* As per [S. Koenig, 2002]
*/
void Dstar::updateCell(int x, int y, double val) {
state u;
u.x = x;
u.y = y;
if ((u == s_start) || (u == s_goal)) return;
// if the value is still the same, don't need to do anything
ds_ch::iterator cur = cellHash.find(u);
if ((cur != cellHash.end()) && (near(cur->second.cost,val))) return;
makeNewCell(u);
cellHash[u].cost = val;
updateVertex(u);
}
/* void Dstar::setRHS(state u, double rhs)
* --------------------------
* Sets the rhs value for state u
*/
double Dstar::setRHS(state u, double rhs) {
makeNewCell(u);
cellHash[u].rhs = rhs;
}
/* void Dstar::setG(state u, double g)
* --------------------------
* Sets the G value for state u
*/
void Dstar::setG(state u, double g) {
makeNewCell(u);
cellHash[u].g = g;
}
/* void Dstar::setRHS(state u, double rhs)
* --------------------------
* Sets the rhs value for state u
*/
void Dstar::setRHS(const state &u, double rhs) {
makeNewCell(u); // makes a cell if one doesn't exist here yet
cellHash[u].rhs = rhs;
}
/* void Dstar::setG(state u, double g)
* --------------------------
* Sets the G value for state u
*/
void Dstar::setG(const state &u, double g) {
makeNewCell(u); // makes a cell if one doesn't exist here yet
cellHash[u].g = g;
}