Default implementation of search algorithms (A*) - implementation of heuristic function

CommonRoad-Search
1

Hi,

to get a better understanding how the common road framework works it is helpful to understand the default implementation of the search algorithms. In the batch_processing_config.yaml file that defines the configuration for the Parallel Batch Processing a planner algorithm has to be determined to search for solutions of the given scenarios.
I checked the implementation of the A*-Search algorithm, but I didn’t found a heuristic function for the A* algorithm. Due to the batch processing is executable with the default implementation of the A*-Search algorithm, by defining it in the batch_processing_config.yaml file, it would be great to understand where and the default heuristic function is implemented and how the common road framework works in this way.

Regards Johannes

2

Hi Johannes,

the A*-Search inherits from the BestFirstSearch class. This class defines the function heuristic_function which is in turn used in A*-search evaluate_function.

3

Hi Johannes,

It’s exactly what Markus said. It will be automatically inherited from its parent class, which is the BestFirstSearch Class.

Best
Mingxuan

4

Hi Markus,
Hi Mingxuan,

Thank you for your answers, now I understood how it works :+1:

Best Johannes