#include <multi_robot_router_threaded_srr.h>

Inheritance diagram for multi_robot_router::MultiRobotRouterThreadedSrr:

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...

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

	MultiRobotRouterThreadedSrr (const uint32_t _nr_robots, const uint32_t _threads)
	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...

virtual void	setThreads (const uint32_t _threads)
	sets the number of threads More...

Public Member Functions inherited from multi_robot_router::MultiRobotRouter
	MultiRobotRouter (const uint32_t _nr_robots, const std::vector< uint32_t > &_robotDiameter)
	constructor More...

	MultiRobotRouter (const uint32_t _nr_robots)
	constructor 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_

std::vector< SingleRobotRouter >	srr

uint32_t	threads_ = 10

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

Definition at line 43 of file multi_robot_router_threaded_srr.h.

Constructor & Destructor Documentation

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

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 37 of file multi_robot_router_threaded_srr.cpp.

multi_robot_router::MultiRobotRouterThreadedSrr::MultiRobotRouterThreadedSrr	(	const uint32_t	_nr_robots,
		const uint32_t	_threads
	)

constructor

Parameters

_nr_robots the number of robots to plan

Definition at line 52 of file multi_robot_router_threaded_srr.cpp.

Member Function Documentation

const uint32_t multi_robot_router::MultiRobotRouterThreadedSrr::getPriorityScheduleAttempts ( ) const

virtual

returns the number of attemps to reschedul the priorities taken

Returns: the number of attemps to reschedul the priorities taken

Reimplemented from multi_robot_router::MultiRobotRouter.

Definition at line 109 of file multi_robot_router_threaded_srr.cpp.

bool multi_robot_router::MultiRobotRouterThreadedSrr::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 from multi_robot_router::MultiRobotRouter.

Definition at line 119 of file multi_robot_router_threaded_srr.cpp.

const uint32_t multi_robot_router::MultiRobotRouterThreadedSrr::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 from multi_robot_router::MultiRobotRouter.

Definition at line 114 of file multi_robot_router_threaded_srr.cpp.

bool multi_robot_router::MultiRobotRouterThreadedSrr::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 181 of file multi_robot_router_threaded_srr.cpp.

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

private

Definition at line 98 of file multi_robot_router_threaded_srr.cpp.

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

virtual

sets the CollisionResolverType used to resolve occured robot collisions

Parameters

cRes	the CollisionResolver typ

Reimplemented from multi_robot_router::MultiRobotRouter.

Definition at line 74 of file multi_robot_router_threaded_srr.cpp.

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

virtual

enables or disables priority rescheduling

Reimplemented from multi_robot_router::MultiRobotRouter.

Definition at line 283 of file multi_robot_router_threaded_srr.cpp.

void multi_robot_router::MultiRobotRouterThreadedSrr::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 radii

Reimplemented from multi_robot_router::MultiRobotRouter.

Definition at line 86 of file multi_robot_router_threaded_srr.cpp.

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

virtual

sets the number of robots used

Parameters

_nr_robot the number of robots

Reimplemented from multi_robot_router::MultiRobotRouter.

Definition at line 80 of file multi_robot_router_threaded_srr.cpp.

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

virtual

enables or disables speed rescheduling

Reimplemented from multi_robot_router::MultiRobotRouter.

Definition at line 288 of file multi_robot_router_threaded_srr.cpp.

void multi_robot_router::MultiRobotRouterThreadedSrr::setThreads ( const uint32_t _threads )

virtual

sets the number of threads

Parameters

_threads the number of threads

Definition at line 68 of file multi_robot_router_threaded_srr.cpp.

Member Data Documentation

SegmentExpander::CollisionResolverType multi_robot_router::MultiRobotRouterThreadedSrr::cResType_

private

Definition at line 123 of file multi_robot_router_threaded_srr.h.

uint32_t multi_robot_router::MultiRobotRouterThreadedSrr::maxIterationsSingleRobot_

private

Definition at line 124 of file multi_robot_router_threaded_srr.h.

uint32_t multi_robot_router::MultiRobotRouterThreadedSrr::min_diameter_

private

Definition at line 118 of file multi_robot_router_threaded_srr.h.

uint32_t multi_robot_router::MultiRobotRouterThreadedSrr::nr_robots_

private

Definition at line 117 of file multi_robot_router_threaded_srr.h.

PriorityScheduler multi_robot_router::MultiRobotRouterThreadedSrr::priority_scheduler_

private

Definition at line 110 of file multi_robot_router_threaded_srr.h.

uint32_t multi_robot_router::MultiRobotRouterThreadedSrr::priorityScheduleAttempts_

private

Definition at line 121 of file multi_robot_router_threaded_srr.h.

RouteCoordinatorTimed multi_robot_router::MultiRobotRouterThreadedSrr::rct_

private

Definition at line 113 of file multi_robot_router_threaded_srr.h.

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

private

Definition at line 120 of file multi_robot_router_threaded_srr.h.

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

private

Definition at line 119 of file multi_robot_router_threaded_srr.h.

RouteCoordinator* multi_robot_router::MultiRobotRouterThreadedSrr::route_coordinator_

private

Definition at line 112 of file multi_robot_router_threaded_srr.h.

SpeedScheduler multi_robot_router::MultiRobotRouterThreadedSrr::speed_scheduler_

private

Definition at line 111 of file multi_robot_router_threaded_srr.h.

uint32_t multi_robot_router::MultiRobotRouterThreadedSrr::speedScheduleAttempts_

private

Definition at line 122 of file multi_robot_router_threaded_srr.h.

std::vector<SingleRobotRouter> multi_robot_router::MultiRobotRouterThreadedSrr::srr

private

Definition at line 126 of file multi_robot_router_threaded_srr.h.

uint32_t multi_robot_router::MultiRobotRouterThreadedSrr::threads_ = 10

private

Definition at line 125 of file multi_robot_router_threaded_srr.h.

bool multi_robot_router::MultiRobotRouterThreadedSrr::usePriorityRescheduler_ = true

private

Definition at line 115 of file multi_robot_router_threaded_srr.h.

bool multi_robot_router::MultiRobotRouterThreadedSrr::useSpeedRescheduler_ = true

private

Definition at line 114 of file multi_robot_router_threaded_srr.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