Class Graph::Waypoint

Nested Relationships

This class is a nested type of Class Graph.

Class Documentation

class Waypoint

Public Functions

const std::string &get_map_name() const

Get the name of the map that this Waypoint exists on.

Waypoint &set_map_name(std::string map)

Set the name of the map that this Waypoint exists on.

const Eigen::Vector2d &get_location() const

Get the position of this Waypoint.

Waypoint &set_location(Eigen::Vector2d location)

Set the position of this Waypoint.

bool is_holding_point() const

Returns true if this Waypoint can be used as a holding point for the vehicle, otherwise returns false.

Waypoint &set_holding_point(bool _is_holding_point)

Set whether this waypoint can be used as a holding point for the vehicle.

bool is_passthrough_point() const

Returns true if this Waypoint is a passthrough point, meaning a planner should not have a robot wait at this point, even just briefly to allow another robot to pass. Setting passthrough points reduces the branching factor of a planner, allowing it to run faster, at the cost of losing possible solutions to conflicts.

Waypoint &set_passthrough_point(bool _is_passthrough)

Set this Waypoint to be a passthrough point.

bool is_parking_spot() const

Returns true if this Waypoint is a parking spot. Parking spots are used when an emergency alarm goes off, and the robot is required to park itself.

Waypoint &set_parking_spot(bool _is_parking_spot)

Set this Waypoint to be a parking spot.

bool is_charger() const

Returns true if this Waypoint is a charger spot. Robots are routed to these spots when their batteries charge levels drop below the threshold value.

Waypoint &set_charger(bool _is_charger)

Set this Waypoint to be a parking spot.

std::size_t index() const

The index of this waypoint within the Graph. This cannot be changed after the waypoint is created.

const std::string *name() const

If this waypoint has a name, return a reference to it. If this waypoint does not have a name, return a nullptr.

The name of a waypoint can only be set using add_key() or set_key().

std::string name_or_index(const std::string &name_format = "%s", const std::string &index_format = "#%d") const

If this waypoint has a name, the name will be returned. Otherwise it will return the waypoint index, formatted into a string based on the index_format argument.

Parameters:

  • name_format – [in] If this waypoint has an assigned name, the first instance of “%s” within name_format will be replaced with the name of the waypoint. If there is no s in the name_format string, then this function will simply return the name_format string as-is when the waypoint has a name.

  • index_format – [in] If this waypoint does not have an assigned name, the first instance of “%d” within the index_format string will be replaced with the stringified decimal index value of the waypoint. If there is no “%d” in the index_format string, then this function will simply return the index_format string as-is when the waypoint does not have a name.