#include <route_coordinator.h>
Public Member Functions | |
virtual bool | addRoute (const std::vector< RouteVertex > &_path, const uint32_t _diameterPixel, const uint32_t _robotId)=0 |
checks if a robot can enter a segment at a specific time More... | |
virtual bool | checkSegment (const Vertex &_next, const uint32_t _startTime, const int32_t _endTime, const uint32_t _diameterPixel, int32_t &_collisionRobot, const uint32_t _robotId, bool _ignoreGoal=false) const =0 |
updates the goal segments of the planning attempt More... | |
virtual int32_t | findPotentialUntilRobotOnSegment (const uint32_t _robot, const uint32_t _segId) const =0 |
returns the time point, when a robot leaves a vertex More... | |
virtual int32_t | findSegNr (const uint32_t _robot, const uint32_t _potential) const =0 |
returns the segment id at which the robot is at timepoint _potential More... | |
virtual const uint32_t | getEnd (const uint32_t _robotId) const =0 |
returns the Goal of a robot More... | |
virtual std::vector< std::pair< uint32_t, float > > | getListOfRobotsHigherPrioritizedRobots (const uint32_t _robot, const uint32_t _segId, const int32_t _potential) const =0 |
returns all robots which pass the segment before the given robot and a given time More... | |
virtual const uint32_t | getStart (const uint32_t _robotId) const =0 |
returns the start of a robot More... | |
virtual bool | isGoal (const Vertex &_seg, const uint32_t _robotId) const =0 |
returns if a Vertex is the goal vertex for a robot More... | |
virtual void | removeRobot (const uint32_t _robot)=0 |
removes a Robot from the Routing Table More... | |
virtual void | reset (const std::vector< Segment > &_graph, const uint32_t _nrRobots)=0 |
resets the planning session of multiple robots More... | |
virtual bool | setGoalSegments (const std::vector< uint32_t > &_goalSegments)=0 |
updates the goal segments of the planning attempt More... | |
virtual bool | setStartSegments (const std::vector< uint32_t > &_startSegments)=0 |
updates the start segments of the planning attempt More... | |
Definition at line 39 of file route_coordinator.h.
|
pure virtual |
checks if a robot can enter a segment at a specific time
_next | the segment to check |
_startTime | the time the current robot enters the segment |
_endTime | the time the current robot leaves the segment |
_diameterPixel | the diameter of the robot |
_collisionRobot | returns the robot wich causes a collision (if no collision -1) |
_robotId | the id of the robot to check |
_ignoreGoal | if the segment is a goal it is not handled as goal if this param is true. (Used if a robot is pushed away from its goal and has to move back) |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
updates the goal segments of the planning attempt
_goalSegments | the goal Segments with length nr_robots |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
returns the time point, when a robot leaves a vertex
_robot | the robotId |
_segId | the segmentId where the time is searched |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
returns the segment id at which the robot is at timepoint _potential
_robot | the robot id |
_potential | the timepoint on the robots path execution |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
returns the Goal of a robot
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
returns all robots which pass the segment before the given robot and a given time
_robot | the robotId |
_segId | the Vertex to check |
_potential | the maximum potential |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
returns the start of a robot
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
returns if a Vertex is the goal vertex for a robot
_seg | the segment to check |
_robotId | the robot tocheck |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
removes a Robot from the Routing Table
_robot | the robot to remove |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
resets the planning session of multiple robots
_graph | the graph |
_nrRobots | the nr of robots to plan |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
updates the goal segments of the planning attempt
_goalSegments | the goal Segments with length nr_robots |
Implemented in multi_robot_router::RouteCoordinatorTimed.
|
pure virtual |
updates the start segments of the planning attempt
_startSegments | the start Segments with length nr_robots |
Implemented in multi_robot_router::RouteCoordinatorTimed.