Inheritance diagram for multi_robot_router::CollisionResolution:

Public Member Functions
virtual const std::vector< uint32_t > &	getRobotCollisions () const =0
	returns amount of robot collisions found in each resolve try after resetSession More...

virtual void	resetSession (const RouteCoordinatorWrapper _route_querry, const PotentialCalculator _pCalc, const uint32_t _robot_radius)=0
	resets the session (setting the new route querry and potential calculator) More...

virtual std::vector< std::reference_wrapper< Vertex > >	resolve (Vertex &_current, Vertex &_next, int32_t _collision)=0
	resolves a found collision between two robots. More...

virtual void	saveCollision (const uint32_t _coll)=0
	increases the collision count of one robot More...

Detailed Description

Definition at line 41 of file collision_resolution.h.

Member Function Documentation

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

pure 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

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

pure 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

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

pure 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

virtual void multi_robot_router::CollisionResolution::saveCollision ( const uint32_t _coll )

pure virtual

increases the collision count of one robot

Parameters

_coll the robot elected for increasing its collisions

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