Reac::Reac(string const & id, Volsys * volsys, vector<Spec *> const & lhs,
vector<Spec *> const & rhs, double kcst)
: pID(id)
, pModel(0)
, pVolsys(volsys)
, pLHS()
, pRHS()
, pOrder(0)
, pKcst(kcst)
{
if (pVolsys == 0)
{
ostringstream os;
os << "No volsys provided to Reac initializer function";
throw steps::ArgErr(os.str());
}
if (pKcst < 0.0)
{
ostringstream os;
os << "Reaction constant can't be negative";
throw steps::ArgErr(os.str());
}
pModel = pVolsys->getModel();
assert (pModel != 0);
setLHS(lhs);
setRHS(rhs);
pVolsys->_handleReacAdd(this);
}
/* void Dstar::updateStart(int x, int y)
* --------------------------
* Update the position of the robot, this does not force a replan.
*/
void Dstar::updateStart(int x, int y) {
s_start.x = x;
s_start.y = y;
k_m += heuristic(s_last,s_start);
setRHS(s_start,INFINITY);
setG(s_start,INFINITY);
s_start = calculateKey(s_start);
s_last = s_start;
}
std::pair<unsigned int, real_type>
SolverLinearTrilinos<T>::solve ( MatrixSparse<T> const& matrix,
Vector<T> & solution,
Vector<T> const& rhs,
const double tol,
const unsigned int m_its )
{
DVLOG(2) << "Matrix solver...\n";
setRHS( rhs );
setLHS( solution );
setUserOperator( matrix );
M_Solver.SetParameters( M_List, true );
M_Solver.Iterate( m_its, tol );
return std::make_pair( M_Solver.NumIters(), M_Solver.TrueResidual() );
}
/* void Dstar::updateVertex(state u)
* --------------------------
* As per [S. Koenig, 2002]
*/
void Dstar::updateVertex(state u) {
list<state> s;
list<state>::iterator i;
if (u != s_goal) {
getSucc(u,s);
double tmp = INFINITY;
double tmp2;
for (i=s.begin();i != s.end(); i++) {
tmp2 = getG(*i) + cost(u,*i);
if (tmp2 < tmp) tmp = tmp2;
}
if (!close(getRHS(u),tmp)) setRHS(u,tmp);
}
if (!close(getG(u),getRHS(u))) insert(u);
}