multi_robot_router::EmptyResolution Class Reference

#include <empty_resolution.h>

Inheritance diagram for multi_robot_router::EmptyResolution:

Public Member Functions
	EmptyResolution ()
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 (uint32_t _collision)

Private Attributes
std::vector< uint32_t >	encounteredCollisions_
std::vector< std::reference_wrapper< Vertex > >	foundSolutions_

Detailed Description

Definition at line 38 of file empty_resolution.h.

Constructor & Destructor Documentation

multi_robot_router::EmptyResolution::EmptyResolution

(

)

Definition at line 34 of file empty_resolution.cpp.

Member Function Documentation

void multi_robot_router::EmptyResolution::addCollision ( uint32_t  _collision )

private

Definition at line 44 of file empty_resolution.cpp.

const std::vector< uint32_t > & multi_robot_router::EmptyResolution::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 57 of file empty_resolution.cpp.

void multi_robot_router::EmptyResolution::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 39 of file empty_resolution.cpp.

std::vector< std::reference_wrapper< Vertex > > multi_robot_router::EmptyResolution::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 62 of file empty_resolution.cpp.

void multi_robot_router::EmptyResolution::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 52 of file empty_resolution.cpp.

Member Data Documentation

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

private

Definition at line 72 of file empty_resolution.h.

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

private

Definition at line 71 of file empty_resolution.h.

---

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

• empty_resolution.h
• empty_resolution.cpp