standard multi robot router without multi threading (Works best in practice) More...

#include <multi_robot_router.h>

Inheritance diagram for multi_robot_router::MultiRobotRouter:

Public Member Functions
virtual const uint32_t	getPriorityScheduleAttempts () const
	returns the number of attemps to reschedul the priorities taken More...

virtual bool	getRoutingTable (const std::vector< Segment > &_graph, const std::vector< uint32_t > &_startSegments, const std::vector< uint32_t > &_goalSegments, std::vector< std::vector< Checkpoint >> &_routingTable, const float &_timeLimit)
	computes the routing table according to the given start and goal _goalSegments More...

virtual const uint32_t	getSpeedScheduleAttempts () const
	returns the number of attemps to limit the maximum speed of a robot taken More...

	MultiRobotRouter (const uint32_t _nr_robots, const std::vector< uint32_t > &_robotDiameter)
	constructor More...

	MultiRobotRouter (const uint32_t _nr_robots)
	constructor More...

virtual void	setCollisionResolver (const SegmentExpander::CollisionResolverType cRes)
	sets the CollisionResolverType used to resolve occured robot collisions More...

virtual void	setPriorityRescheduling (const bool _status)
	enables or disables priority rescheduling More...

virtual void	setRobotDiameter (const std::vector< uint32_t > &_diameter)
	sets the robot diameter for every robot More...

virtual void	setRobotNr (const uint32_t _nr_robots)
	sets the number of robots used More...

virtual void	setSpeedRescheduling (const bool _status)
	enables or disables speed rescheduling More...

Private Member Functions
bool	planPaths (const std::vector< uint32_t > &_priorityList, const std::vector< float > &_speedList, const std::vector< uint32_t > &_startSegments, const std::vector< uint32_t > &_goalSegments, const uint32_t _firstSchedule, std::vector< std::vector< RouteVertex >> &_routeCandidates, uint32_t &_robot)

void	resetAttempt (const std::vector< Segment > &_graph)

Private Attributes
SegmentExpander::CollisionResolverType	cResType_

uint32_t	maxIterationsSingleRobot_

uint32_t	min_diameter_

uint32_t	nr_robots_

PriorityScheduler	priority_scheduler_

uint32_t	priorityScheduleAttempts_

RouteCoordinatorTimed	rct_

std::vector< std::vector< uint32_t > >	robotCollisions_

std::vector< uint32_t >	robotDiameter_

RouteCoordinator *	route_coordinator_

SpeedScheduler	speed_scheduler_

uint32_t	speedScheduleAttempts_

SingleRobotRouter	srr

bool	usePriorityRescheduler_ = true

bool	useSpeedRescheduler_ = true

Additional Inherited Members
Protected Member Functions inherited from multi_robot_router::RouteGenerator
std::vector< std::vector< Checkpoint > >	generatePath (const std::vector< std::vector< RouteVertex >> &_paths, const RouteCoordinator &routeQuerry_) const
	generates a final Routing Table containing Segment List and Preconditions to other robots More...

Detailed Description

standard multi robot router without multi threading (Works best in practice)

Definition at line 47 of file multi_robot_router.h.

Constructor & Destructor Documentation

multi_robot_router::MultiRobotRouter::MultiRobotRouter	(	const uint32_t	_nr_robots,
		const std::vector< uint32_t > &	_robotDiameter
	)

constructor

Parameters

_nr_robots	the number of robots to plan
_robotDiameter	a vector with size _nr_robots which contains every robots diameter

Definition at line 38 of file multi_robot_router.cpp.

multi_robot_router::MultiRobotRouter::MultiRobotRouter ( const uint32_t _nr_robots )

constructor

Parameters

_nr_robots the number of robots to plan

Definition at line 45 of file multi_robot_router.cpp.

Member Function Documentation

const uint32_t multi_robot_router::MultiRobotRouter::getPriorityScheduleAttempts ( ) const

virtual

returns the number of attemps to reschedul the priorities taken

Returns: the number of attemps to reschedul the priorities taken

Reimplemented in multi_robot_router::MultiRobotRouterThreadedSrr.

Definition at line 89 of file multi_robot_router.cpp.

bool multi_robot_router::MultiRobotRouter::getRoutingTable	(	const std::vector< Segment > &	_graph,
		const std::vector< uint32_t > &	_startSegments,
		const std::vector< uint32_t > &	_goalSegments,
		std::vector< std::vector< Checkpoint >> &	_routingTable,
		const float &	_timeLimit
	)

virtual

computes the routing table according to the given start and goal _goalSegments

Parameters

_graph	the base graph used to plan a path
_startSegments	for each robot the id of the start segment
_goalSegments	for each robot the id of the goal segment
_routingTable	the reference to the found routing table
_timeLimit	the (approximate) maximum time the planner is allowed to use

Returns: if a routing table is found

Reimplemented in multi_robot_router::MultiRobotRouterThreadedSrr.

Definition at line 99 of file multi_robot_router.cpp.

const uint32_t multi_robot_router::MultiRobotRouter::getSpeedScheduleAttempts ( ) const

virtual

returns the number of attemps to limit the maximum speed of a robot taken

Returns: the number of attemps to limit the maximum speed of a robot taken

Reimplemented in multi_robot_router::MultiRobotRouterThreadedSrr.

Definition at line 94 of file multi_robot_router.cpp.

bool multi_robot_router::MultiRobotRouter::planPaths	(	const std::vector< uint32_t > &	_priorityList,
		const std::vector< float > &	_speedList,
		const std::vector< uint32_t > &	_startSegments,
		const std::vector< uint32_t > &	_goalSegments,
		const uint32_t	_firstSchedule,
		std::vector< std::vector< RouteVertex >> &	_routeCandidates,
		uint32_t &	_robot
	)

private

Definition at line 154 of file multi_robot_router.cpp.

void multi_robot_router::MultiRobotRouter::resetAttempt ( const std::vector< Segment > & _graph )

private

Definition at line 78 of file multi_robot_router.cpp.

void multi_robot_router::MultiRobotRouter::setCollisionResolver ( const SegmentExpander::CollisionResolverType cRes )

virtual

sets the CollisionResolverType used to resolve occured robot collisions

Parameters

cRes	the CollisionResolver typ

Reimplemented in multi_robot_router::MultiRobotRouterThreadedSrr.

Definition at line 54 of file multi_robot_router.cpp.

void multi_robot_router::MultiRobotRouter::setPriorityRescheduling ( const bool _status )

virtual

enables or disables priority rescheduling

Reimplemented in multi_robot_router::MultiRobotRouterThreadedSrr.

Definition at line 198 of file multi_robot_router.cpp.

void multi_robot_router::MultiRobotRouter::setRobotDiameter ( const std::vector< uint32_t > & _diameter )

virtual

sets the robot diameter for every robot

Parameters

_diameter vector with length _nr_robots to set all robo diameters

Reimplemented in multi_robot_router::MultiRobotRouterThreadedSrr.

Definition at line 66 of file multi_robot_router.cpp.

void multi_robot_router::MultiRobotRouter::setRobotNr ( const uint32_t _nr_robots )

virtual

sets the number of robots used

Parameters

_nr_robot the number of robots

Reimplemented in multi_robot_router::MultiRobotRouterThreadedSrr.

Definition at line 60 of file multi_robot_router.cpp.

void multi_robot_router::MultiRobotRouter::setSpeedRescheduling ( const bool _status )

virtual

enables or disables speed rescheduling

Reimplemented in multi_robot_router::MultiRobotRouterThreadedSrr.

Definition at line 203 of file multi_robot_router.cpp.

Member Data Documentation

SegmentExpander::CollisionResolverType multi_robot_router::MultiRobotRouter::cResType_

private

Definition at line 123 of file multi_robot_router.h.

uint32_t multi_robot_router::MultiRobotRouter::maxIterationsSingleRobot_

private

Definition at line 125 of file multi_robot_router.h.

uint32_t multi_robot_router::MultiRobotRouter::min_diameter_

private

Definition at line 118 of file multi_robot_router.h.

uint32_t multi_robot_router::MultiRobotRouter::nr_robots_

private

Definition at line 117 of file multi_robot_router.h.

PriorityScheduler multi_robot_router::MultiRobotRouter::priority_scheduler_

private

Definition at line 110 of file multi_robot_router.h.

uint32_t multi_robot_router::MultiRobotRouter::priorityScheduleAttempts_

private

Definition at line 121 of file multi_robot_router.h.

RouteCoordinatorTimed multi_robot_router::MultiRobotRouter::rct_

private

Definition at line 113 of file multi_robot_router.h.

std::vector<std::vector<uint32_t> > multi_robot_router::MultiRobotRouter::robotCollisions_

private

Definition at line 120 of file multi_robot_router.h.

std::vector<uint32_t> multi_robot_router::MultiRobotRouter::robotDiameter_

private

Definition at line 119 of file multi_robot_router.h.

RouteCoordinator* multi_robot_router::MultiRobotRouter::route_coordinator_

private

Definition at line 112 of file multi_robot_router.h.

SpeedScheduler multi_robot_router::MultiRobotRouter::speed_scheduler_

private

Definition at line 111 of file multi_robot_router.h.

uint32_t multi_robot_router::MultiRobotRouter::speedScheduleAttempts_

private

Definition at line 122 of file multi_robot_router.h.

SingleRobotRouter multi_robot_router::MultiRobotRouter::srr

private

Definition at line 124 of file multi_robot_router.h.

bool multi_robot_router::MultiRobotRouter::usePriorityRescheduler_ = true

private

Definition at line 115 of file multi_robot_router.h.

bool multi_robot_router::MultiRobotRouter::useSpeedRescheduler_ = true

private

Definition at line 114 of file multi_robot_router.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation