#include <avoidance_resolution.h>

Inheritance diagram for multi_robot_router::AvoidanceResolution:

Classes
struct	queueElement

Public Member Functions
	AvoidanceResolution (uint32_t _timeoverlap)
	constructor More...

	AvoidanceResolution ()

const std::vector< uint32_t > &	getRobotCollisions () const
	returns amount of robot collisions found in each resolve try after resetSession More...

void	resetSession (const RouteCoordinatorWrapper _route_querry, const PotentialCalculator _pCalc, const uint32_t _robot_radius)
	resets the session (setting the new route querry and potential calculator) More...

std::vector< std::reference_wrapper< Vertex > >	resolve (Vertex &_current, Vertex &_next, int32_t _collision)
	resolves a found collision between two robots. More...

void	saveCollision (const uint32_t _coll)
	increases the collision count of one robot More...

Private Member Functions
void	addCollision (const uint32_t robot)

void	avoid (Vertex &_current, Vertex &_next, const int32_t _collision, const float _freePotential)

void	avoidGoal (Vertex &_current, Vertex &_next, const int32_t _collision, const float _freePotential)

void	avoidStart (Vertex &_current, Vertex &_next, const int32_t _collision, const float _freePotential)

bool	expandSegment (const Vertex &cSeg, Vertex &_current, Vertex &_next, const int32_t _collision, const float _freePotential)

void	moveSegment (Vertex &_current, Vertex &_next, const int32_t _collision, const float _freePotential)

void	trackBack (Vertex &_current, Vertex &_next, const int32_t _collision, const float _freePotential)

Private Attributes
bool	avoidStartPredecessorDone_ = false

bool	avoidStartSuccessorDone_ = false

std::vector< uint32_t >	encounteredCollisions_

std::vector< std::reference_wrapper< Vertex > >	foundSolutions_

std::vector< std::vector< std::unique_ptr< Vertex > > >	generatedSubgraphs_

const PotentialCalculator *	pCalc_

std::queue< queueElement >	queue_

uint32_t	resolutionAttemp_ = 0

uint32_t	robotDiameter_

const RouteCoordinatorWrapper *	route_querry_

uint32_t	timeoverlap_

Detailed Description

Definition at line 39 of file avoidance_resolution.h.

Constructor & Destructor Documentation

multi_robot_router::AvoidanceResolution::AvoidanceResolution ( uint32_t _timeoverlap )

constructor

Parameters

_timeoverlap the timeoverlap used for assigning new vertices (e.g. Vertex _current form 0 to 10 + timeoverlap Vertex _nex from 10 - timeoverlap to 20 + timeoverlap)

Definition at line 35 of file avoidance_resolution.cpp.

multi_robot_router::AvoidanceResolution::AvoidanceResolution ( )

Definition at line 39 of file avoidance_resolution.cpp.

Member Function Documentation

void multi_robot_router::AvoidanceResolution::addCollision ( const uint32_t robot )

private

Definition at line 55 of file avoidance_resolution.cpp.

void multi_robot_router::AvoidanceResolution::avoid	(	Vertex &	_current,
		Vertex &	_next,
		const int32_t	_collision,
		const float	_freePotential
	)

private

Definition at line 182 of file avoidance_resolution.cpp.

void multi_robot_router::AvoidanceResolution::avoidGoal	(	Vertex &	_current,
		Vertex &	_next,
		const int32_t	_collision,
		const float	_freePotential
	)

private

Definition at line 490 of file avoidance_resolution.cpp.

void multi_robot_router::AvoidanceResolution::avoidStart	(	Vertex &	_current,
		Vertex &	_next,
		const int32_t	_collision,
		const float	_freePotential
	)

private

Definition at line 398 of file avoidance_resolution.cpp.

bool multi_robot_router::AvoidanceResolution::expandSegment	(	const Vertex &	cSeg,
		Vertex &	_current,
		Vertex &	_next,
		const int32_t	_collision,
		const float	_freePotential
	)

private

Definition at line 327 of file avoidance_resolution.cpp.

const std::vector< uint32_t > & multi_robot_router::AvoidanceResolution::getRobotCollisions ( ) const

virtual

returns amount of robot collisions found in each resolve try after resetSession

Returns: a std::vector where the index is the robot index and the value the number of collisions with this robot

Implements multi_robot_router::CollisionResolution.

Definition at line 68 of file avoidance_resolution.cpp.

void multi_robot_router::AvoidanceResolution::moveSegment	(	Vertex &	_current,
		Vertex &	_next,
		const int32_t	_collision,
		const float	_freePotential
	)

private

Definition at line 272 of file avoidance_resolution.cpp.

void multi_robot_router::AvoidanceResolution::resetSession	(	const RouteCoordinatorWrapper *	_route_querry,
		const PotentialCalculator *	_pCalc,
		const uint32_t	_robot_radius
	)

virtual

resets the session (setting the new route querry and potential calculator)

Parameters

_route_querry	the route coordinator to coordinate paths
_pCalc	the potential calculator for assigning potential to expanded Vertices
_robot_radius	the radius of the current robot

Implements multi_robot_router::CollisionResolution.

Definition at line 43 of file avoidance_resolution.cpp.

std::vector< std::reference_wrapper< Vertex > > multi_robot_router::AvoidanceResolution::resolve	(	Vertex &	_current,
		Vertex &	_next,
		int32_t	_collision
	)

virtual

resolves a found collision between two robots.

Parameters

_current	the last expanded vertex
_next	the vertex to expand to
_collision	the index of the colliding robot

Returns: a vector of references to Vertices where the Potential Expander can continue expanding

Implements multi_robot_router::CollisionResolution.

Definition at line 73 of file avoidance_resolution.cpp.

void multi_robot_router::AvoidanceResolution::saveCollision ( const uint32_t _coll )

virtual

increases the collision count of one robot

Parameters

_coll the robot elected for increasing its collisions

Implements multi_robot_router::CollisionResolution.

Definition at line 63 of file avoidance_resolution.cpp.

void multi_robot_router::AvoidanceResolution::trackBack	(	Vertex &	_current,
		Vertex &	_next,
		const int32_t	_collision,
		const float	_freePotential
	)

private

Definition at line 96 of file avoidance_resolution.cpp.

Member Data Documentation

bool multi_robot_router::AvoidanceResolution::avoidStartPredecessorDone_ = false

private

Definition at line 109 of file avoidance_resolution.h.

bool multi_robot_router::AvoidanceResolution::avoidStartSuccessorDone_ = false

private

Definition at line 108 of file avoidance_resolution.h.

std::vector<uint32_t> multi_robot_router::AvoidanceResolution::encounteredCollisions_

private

Definition at line 106 of file avoidance_resolution.h.

std::vector<std::reference_wrapper<Vertex> > multi_robot_router::AvoidanceResolution::foundSolutions_

private

Definition at line 105 of file avoidance_resolution.h.

std::vector<std::vector<std::unique_ptr<Vertex> > > multi_robot_router::AvoidanceResolution::generatedSubgraphs_

private

Definition at line 104 of file avoidance_resolution.h.

const PotentialCalculator* multi_robot_router::AvoidanceResolution::pCalc_

private

Definition at line 100 of file avoidance_resolution.h.

std::queue<queueElement> multi_robot_router::AvoidanceResolution::queue_

private

Definition at line 110 of file avoidance_resolution.h.

uint32_t multi_robot_router::AvoidanceResolution::resolutionAttemp_ = 0

private

Definition at line 107 of file avoidance_resolution.h.

uint32_t multi_robot_router::AvoidanceResolution::robotDiameter_

private

Definition at line 102 of file avoidance_resolution.h.

const RouteCoordinatorWrapper* multi_robot_router::AvoidanceResolution::route_querry_

private

Definition at line 99 of file avoidance_resolution.h.

uint32_t multi_robot_router::AvoidanceResolution::timeoverlap_

private

Definition at line 101 of file avoidance_resolution.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation