#include <backtracking_resolution.h>

Inheritance diagram for multi_robot_router::BacktrackingResolution:

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

	BacktrackingResolution ()

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	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_

uint32_t	resolutionAttemp_ = 0

uint32_t	robotDiameter_

const RouteCoordinatorWrapper *	route_querry_

uint32_t	timeoverlap_

Detailed Description

Definition at line 38 of file backtracking_resolution.h.

Constructor & Destructor Documentation

multi_robot_router::BacktrackingResolution::BacktrackingResolution ( 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 backtracking_resolution.cpp.

multi_robot_router::BacktrackingResolution::BacktrackingResolution ( )

Definition at line 39 of file backtracking_resolution.cpp.

Member Function Documentation

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

private

Definition at line 55 of file backtracking_resolution.cpp.

const std::vector< uint32_t > & multi_robot_router::BacktrackingResolution::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 backtracking_resolution.cpp.

void multi_robot_router::BacktrackingResolution::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 backtracking_resolution.cpp.

std::vector< std::reference_wrapper< Vertex > > multi_robot_router::BacktrackingResolution::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 backtracking_resolution.cpp.

void multi_robot_router::BacktrackingResolution::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 backtracking_resolution.cpp.

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

private

Definition at line 95 of file backtracking_resolution.cpp.

Member Data Documentation

bool multi_robot_router::BacktrackingResolution::avoidStartPredecessorDone_ = false

private

Definition at line 91 of file backtracking_resolution.h.

bool multi_robot_router::BacktrackingResolution::avoidStartSuccessorDone_ = false

private

Definition at line 90 of file backtracking_resolution.h.

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

private

Definition at line 88 of file backtracking_resolution.h.

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

private

Definition at line 87 of file backtracking_resolution.h.

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

private

Definition at line 86 of file backtracking_resolution.h.

const PotentialCalculator* multi_robot_router::BacktrackingResolution::pCalc_

private

Definition at line 82 of file backtracking_resolution.h.

uint32_t multi_robot_router::BacktrackingResolution::resolutionAttemp_ = 0

private

Definition at line 89 of file backtracking_resolution.h.

uint32_t multi_robot_router::BacktrackingResolution::robotDiameter_

private

Definition at line 84 of file backtracking_resolution.h.

const RouteCoordinatorWrapper* multi_robot_router::BacktrackingResolution::route_querry_

private

Definition at line 81 of file backtracking_resolution.h.

uint32_t multi_robot_router::BacktrackingResolution::timeoverlap_

private

Definition at line 83 of file backtracking_resolution.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation