#include <route_coordinator_timed.h>

Inheritance diagram for multi_robot_router::RouteCoordinatorTimed:

Classes
class	Timeline

Public Member Functions
bool	addRoute (const std::vector< RouteVertex > &_path, const uint32_t _diameterPixel, const uint32_t _robotId)
	adds a new route to the Routing table and checks if the Routing Table is valid More...

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
	checks if a robot can enter a segment at a specific time More...

int32_t	findPotentialUntilRobotOnSegment (const uint32_t _robot, const uint32_t _segId) const
	returns the time point, when a robot leaves a vertex More...

int32_t	findSegNr (const uint32_t _robot, const uint32_t _potential) const
	returns the segment id at which the robot is at timepoint _potential More...

const uint32_t	getEnd (const uint32_t _robotId) const
	returns the Goal of a robot More...

std::vector< std::pair< uint32_t, float > >	getListOfRobotsHigherPrioritizedRobots (const uint32_t _robot, const uint32_t _segId, const int32_t _potential) const
	returns all robots which pass the segment before the given robot and a given time More...

const uint32_t	getStart (const uint32_t _robotId) const
	returns the start of a robot More...

bool	isGoal (const Vertex &_seg, const uint32_t _robotId) const
	returns if a Vertex is the goal vertex for a robot More...

void	removeRobot (const uint32_t _robot)
	removes a Robot from the Routing Table More...

void	reset (const std::vector< Segment > &_graph, const uint32_t _nrRobots)
	resets the planning session of multiple robots More...

	RouteCoordinatorTimed ()
	constructor More...

bool	setGoalSegments (const std::vector< uint32_t > &_goalSegments)
	updates the goal segments of the planning attempt More...

bool	setStartSegments (const std::vector< uint32_t > &_startSegments)
	updates the start segments of the planning attempt More...

Private Member Functions
bool	checkSegmentSingle (const Vertex &_next, const uint32_t _startTime, const int32_t _endTime, const uint32_t _diameterPixel, int32_t &_collisionRobot, const uint32_t _robotId, const bool &_ignoreGoal) const

Private Attributes
std::vector< uint32_t >	goalSegments_

std::vector< uint32_t >	robotSize_

std::vector< uint32_t >	startSegments_

Timeline	timeline_

Detailed Description

Definition at line 38 of file route_coordinator_timed.h.

Constructor & Destructor Documentation

multi_robot_router::RouteCoordinatorTimed::RouteCoordinatorTimed ( )

constructor

Definition at line 38 of file route_coordinator_timed.cpp.

Member Function Documentation

bool multi_robot_router::RouteCoordinatorTimed::addRoute	(	const std::vector< RouteVertex > &	_path,
		const uint32_t	_diameterPixel,
		const uint32_t	_robotId
	)

virtual

adds a new route to the Routing table and checks if the Routing Table is valid

Parameters

_path	the path to add
_diameterPixel	the diameter of the robot which uses the route
_robotId	the robotId

Returns: if the new Routing table is valid (if false the new route is not saved in the routing table)

Implements multi_robot_router::RouteCoordinator.

Definition at line 42 of file route_coordinator_timed.cpp.

bool multi_robot_router::RouteCoordinatorTimed::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

virtual

checks if a robot can enter a segment at a specific time

Parameters

_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)

Returns: if the vertex is free for the given timespan

Implements multi_robot_router::RouteCoordinator.

Definition at line 112 of file route_coordinator_timed.cpp.

bool multi_robot_router::RouteCoordinatorTimed::checkSegmentSingle	(	const Vertex &	_next,
		const uint32_t	_startTime,
		const int32_t	_endTime,
		const uint32_t	_diameterPixel,
		int32_t &	_collisionRobot,
		const uint32_t	_robotId,
		const bool &	_ignoreGoal
	)		const

private

Definition at line 157 of file route_coordinator_timed.cpp.

int32_t multi_robot_router::RouteCoordinatorTimed::findPotentialUntilRobotOnSegment	(	const uint32_t	_robot,
		const uint32_t	_segId
	)		const

virtual

returns the time point, when a robot leaves a vertex

Parameters

_robot	the robotId
_segId	the segmentId where the time is searched

Returns: the time the robot leaves the segment (-1 means it is a goal Vertex and is occupied forever)

Implements multi_robot_router::RouteCoordinator.

Definition at line 208 of file route_coordinator_timed.cpp.

int32_t multi_robot_router::RouteCoordinatorTimed::findSegNr	(	const uint32_t	_robot,
		const uint32_t	_potential
	)		const

virtual

returns the segment id at which the robot is at timepoint _potential

Parameters

_robot	the robot id
_potential	the timepoint on the robots path execution

Returns: the segment where the robot is located at time _potential

Implements multi_robot_router::RouteCoordinator.

Definition at line 201 of file route_coordinator_timed.cpp.

const uint32_t multi_robot_router::RouteCoordinatorTimed::getEnd ( const uint32_t _robotId ) const

virtual

returns the Goal of a robot

Implements multi_robot_router::RouteCoordinator.

Definition at line 102 of file route_coordinator_timed.cpp.

std::vector< std::pair< uint32_t, float > > multi_robot_router::RouteCoordinatorTimed::getListOfRobotsHigherPrioritizedRobots	(	const uint32_t	_robot,
		const uint32_t	_segId,
		const int32_t	_potential
	)		const

virtual

returns all robots which pass the segment before the given robot and a given time

Parameters

_robot	the robotId
_segId	the Vertex to check
_potential	the maximum potential

Returns: all robots which pass the vertex befor _robot and before _potential

Implements multi_robot_router::RouteCoordinator.

Definition at line 213 of file route_coordinator_timed.cpp.

const uint32_t multi_robot_router::RouteCoordinatorTimed::getStart ( const uint32_t _robotId ) const

virtual

returns the start of a robot

Implements multi_robot_router::RouteCoordinator.

Definition at line 107 of file route_coordinator_timed.cpp.

bool multi_robot_router::RouteCoordinatorTimed::isGoal	(	const Vertex &	_seg,
		const uint32_t	_robotId
	)		const

virtual

returns if a Vertex is the goal vertex for a robot

Parameters

_seg	the segment to check
_robotId	the robot tocheck

Returns: if the vertex is a goal for robot robotId

Implements multi_robot_router::RouteCoordinator.

Definition at line 97 of file route_coordinator_timed.cpp.

void multi_robot_router::RouteCoordinatorTimed::removeRobot ( const uint32_t _robot )

virtual

removes a Robot from the Routing Table

Parameters

_robot the robot to remove

Implements multi_robot_router::RouteCoordinator.

Definition at line 218 of file route_coordinator_timed.cpp.

void multi_robot_router::RouteCoordinatorTimed::reset	(	const std::vector< Segment > &	_graph,
		const uint32_t	_nrRobots
	)

virtual

resets the planning session of multiple robots

Parameters

_graph	the graph
_nrRobots	the nr of robots to plan

Implements multi_robot_router::RouteCoordinator.

Definition at line 169 of file route_coordinator_timed.cpp.

bool multi_robot_router::RouteCoordinatorTimed::setGoalSegments ( const std::vector< uint32_t > & _goalSegments )

virtual

updates the goal segments of the planning attempt

Parameters

_goalSegments the goal Segments with length nr_robots

Returns: if the goal segments are valid

Implements multi_robot_router::RouteCoordinator.

Definition at line 177 of file route_coordinator_timed.cpp.

bool multi_robot_router::RouteCoordinatorTimed::setStartSegments ( const std::vector< uint32_t > & _startSegments )

virtual

updates the start segments of the planning attempt

Parameters

_startSegments the start Segments with length nr_robots

Returns: if the start segments are valid

Implements multi_robot_router::RouteCoordinator.

Definition at line 189 of file route_coordinator_timed.cpp.

Member Data Documentation

std::vector<uint32_t> multi_robot_router::RouteCoordinatorTimed::goalSegments_

private

Definition at line 245 of file route_coordinator_timed.h.

std::vector<uint32_t> multi_robot_router::RouteCoordinatorTimed::robotSize_

private

Definition at line 243 of file route_coordinator_timed.h.

std::vector<uint32_t> multi_robot_router::RouteCoordinatorTimed::startSegments_

private

Definition at line 246 of file route_coordinator_timed.h.

Timeline multi_robot_router::RouteCoordinatorTimed::timeline_

private

Definition at line 244 of file route_coordinator_timed.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation