#include <router.h>

Inheritance diagram for multi_robot_router::Router:

Public Member Functions
uint32_t	getDuration_ms () const
	getter More...

float	getLongestPathLength () const
	getter More...

float	getOverallPathLength () const
	getter More...

uint32_t	getPriorityScheduleAttemps () const
	getter More...

const std::vector< Checkpoint > &	getRoute (const uint32_t _robot) const
	returns the found Routing Table More...

uint32_t	getSpeedScheduleAttemps () const
	getter More...

bool	makePlan (const std::vector< Eigen::Vector3d > &_starts, const std::vector< Eigen::Vector3d > &_goals, const std::vector< float > &_radius, const cv::Mat &_map, const float &_resolution, const Eigen::Vector2d &_origin, const std::vector< Segment > &_graph, const std::vector< std::string > &_robot_names)
	generates the plan from (Vertex[odom robotPose] to Vertex[_goals] More...

void	resize (const uint32_t _nr_robots)
	resizes the planner to a different nr of _nr_robots More...

	Router (const uint32_t _nr_robots)

	Router ()

void	setCollisionResolutionType (const SegmentExpander::CollisionResolverType _cr)
	sets the CollisionResolverType used More...

Public Attributes
std::shared_ptr< float >	potential_

Protected Types
enum	goalMode { goalMode::use_segment_goal, goalMode::use_voronoi_goal, goalMode::use_map_goal }

enum	graphType { graphType::voronoi, graphType::random }

enum	routerType { routerType::singleThread, routerType::multiThreadSrr }

Protected Member Functions
void	setPlannerType (routerType _type, uint32_t _nr_threads)

Protected Attributes
bool	collisionResolver_ = true

goalMode	goalMode_ = goalMode::use_voronoi_goal

graphType	graphMode_ = graphType::voronoi

bool	priorityRescheduling_ = true

float	routerTimeLimit_s_ = 10.0

bool	segmentOptimizations_ = false

bool	speedRescheduling_ = true

Private Member Functions
bool	calculateStartPoints (const std::vector< float > &_radius, const cv::Mat &_map, const float &resolution, const Eigen::Vector2d &origin, const std::vector< Segment > &_graph)

float	distanceToSegment (const Segment &_s, const Eigen::Vector2d &_p) const

int32_t	getSegment (const std::vector< Segment > &_graph, const Eigen::Vector2d &_pose) const

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

void	postprocessRoutingTable ()

bool	preprocessEndpoints (const std::vector< float > &_radius, const float &resolution, const Eigen::Vector2d &origin, const std::vector< Segment > &_graph)

bool	processEndpointsExpander (const cv::Mat &_map, const std::vector< Segment > &_graph, const Eigen::Vector2d &_realStart, const Eigen::Vector2d &_realGoal, Eigen::Vector2d &_voronoiStart, Eigen::Vector2d &_voronoiGoal, uint32_t &_segmentStart, uint32_t &_segmentGoal, const uint32_t _diameter, const uint32_t _index) const

bool	resolveSegment (const std::vector< Segment > &_graph, const uint32_t &_segId, const Eigen::Vector2d &_originPoint, const float &_radius, uint32_t &_foundSeg) const

Private Attributes
uint32_t	duration_

std::vector< Eigen::Vector3d >	goals_

std::vector< uint32_t >	goalSegments_

float	longestPatLength_

MultiRobotRouter	mrr_

MultiRobotRouterThreadedSrr	mrrTs_

MultiRobotRouter *	multiRobotRouter_

float	overallPathLength_

PointExpander	pointExpander_
	with the robot id one can access the robot name More...

std::vector< Eigen::Vector2d >	realGoals_

std::vector< Eigen::Vector2d >	realStart_

std::vector< std::string >	robot_names_

uint32_t	robot_nr_

std::vector< std::vector< Checkpoint > >	routingTable_

std::vector< Eigen::Vector3d >	starts_

std::vector< uint32_t >	startSegments_

std::vector< Eigen::Vector2d >	voronoiGoals_

std::vector< Eigen::Vector2d >	voronoiStart_

Detailed Description

Definition at line 41 of file router.h.

Member Enumeration Documentation

enum multi_robot_router::Router::goalMode

strongprotected

Enumerator
use_segment_goal
use_voronoi_goal
use_map_goal

Definition at line 137 of file router.h.

enum multi_robot_router::Router::graphType

strongprotected

Enumerator
voronoi
random

Definition at line 143 of file router.h.

enum multi_robot_router::Router::routerType

strongprotected

Enumerator
singleThread
multiThreadSrr

Definition at line 148 of file router.h.

Constructor & Destructor Documentation

multi_robot_router::Router::Router ( const uint32_t _nr_robots )

Definition at line 44 of file router.cpp.

multi_robot_router::Router::Router ( )

Definition at line 40 of file router.cpp.

Member Function Documentation

bool multi_robot_router::Router::calculateStartPoints	(	const std::vector< float > &	_radius,
		const cv::Mat &	_map,
		const float &	resolution,
		const Eigen::Vector2d &	origin,
		const std::vector< Segment > &	_graph
	)

private

Definition at line 192 of file router.cpp.

float multi_robot_router::Router::distanceToSegment	(	const Segment &	_s,
		const Eigen::Vector2d &	_p
	)		const

private

Definition at line 257 of file router.cpp.

uint32_t multi_robot_router::Router::getDuration_ms ( ) const

getter

Returns: the duration of the planning attempt

Definition at line 464 of file router.cpp.

float multi_robot_router::Router::getLongestPathLength ( ) const

getter

Returns: the longest Path length of the planning attempt

Definition at line 469 of file router.cpp.

float multi_robot_router::Router::getOverallPathLength ( ) const

getter

Returns: the Overall path length of the planning attempt

Definition at line 474 of file router.cpp.

uint32_t multi_robot_router::Router::getPriorityScheduleAttemps ( ) const

getter

Returns: the priority reschedule attempts

Definition at line 479 of file router.cpp.

const std::vector< Checkpoint > & multi_robot_router::Router::getRoute ( const uint32_t _robot ) const

returns the found Routing Table

Parameters

_robot the robot to whom the routing table belongs to

Definition at line 459 of file router.cpp.

int32_t multi_robot_router::Router::getSegment	(	const std::vector< Segment > &	_graph,
		const Eigen::Vector2d &	_pose
	)		const

private

Definition at line 237 of file router.cpp.

uint32_t multi_robot_router::Router::getSpeedScheduleAttemps ( ) const

getter

Returns: the speed reschedule attempts

Definition at line 484 of file router.cpp.

bool multi_robot_router::Router::makePlan	(	const std::vector< Eigen::Vector3d > &	_starts,
		const std::vector< Eigen::Vector3d > &	_goals,
		const std::vector< float > &	_radius,
		const cv::Mat &	_map,
		const float &	_resolution,
		const Eigen::Vector2d &	_origin,
		const std::vector< Segment > &	_graph,
		const std::vector< std::string > &	_robot_names
	)

generates the plan from (Vertex[odom robotPose] to Vertex[_goals]

Parameters

_starts	the start positions of all robots
_goals	the goal positions fo all robots
_radius	a vector of the robots radius'
_map	the grid_map used to find the start and goal segments of the path
_graph	the full graph of the map used for planning the path
_robot_names	robot names

Definition at line 328 of file router.cpp.

void multi_robot_router::Router::optimizePaths ( const std::vector< Segment > & _graph )

private

Definition at line 414 of file router.cpp.

void multi_robot_router::Router::postprocessRoutingTable ( )

private

Definition at line 426 of file router.cpp.

bool multi_robot_router::Router::preprocessEndpoints	(	const std::vector< float > &	_radius,
		const float &	resolution,
		const Eigen::Vector2d &	origin,
		const std::vector< Segment > &	_graph
	)

private

Definition at line 83 of file router.cpp.

bool multi_robot_router::Router::processEndpointsExpander	(	const cv::Mat &	_map,
		const std::vector< Segment > &	_graph,
		const Eigen::Vector2d &	_realStart,
		const Eigen::Vector2d &	_realGoal,
		Eigen::Vector2d &	_voronoiStart,
		Eigen::Vector2d &	_voronoiGoal,
		uint32_t &	_segmentStart,
		uint32_t &	_segmentGoal,
		const uint32_t	_diameter,
		const uint32_t	_index
	)		const

private

Definition at line 110 of file router.cpp.

void multi_robot_router::Router::resize ( const uint32_t _nr_robots )

resizes the planner to a different nr of _nr_robots

Definition at line 67 of file router.cpp.

bool multi_robot_router::Router::resolveSegment	(	const std::vector< Segment > &	_graph,
		const uint32_t &	_segId,
		const Eigen::Vector2d &	_originPoint,
		const float &	_radius,
		uint32_t &	_foundSeg
	)		const

private

Definition at line 280 of file router.cpp.

void multi_robot_router::Router::setCollisionResolutionType ( const SegmentExpander::CollisionResolverType _cr )

sets the CollisionResolverType used

Definition at line 54 of file router.cpp.

void multi_robot_router::Router::setPlannerType	(	Router::routerType	_type,
		uint32_t	_nr_threads
	)

protected

Definition at line 59 of file router.cpp.

Member Data Documentation

bool multi_robot_router::Router::collisionResolver_ = true

protected

Definition at line 159 of file router.h.

uint32_t multi_robot_router::Router::duration_

private

Definition at line 134 of file router.h.

goalMode multi_robot_router::Router::goalMode_ = goalMode::use_voronoi_goal

protected

Definition at line 154 of file router.h.

std::vector<Eigen::Vector3d> multi_robot_router::Router::goals_

private

Definition at line 118 of file router.h.

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

private

Definition at line 124 of file router.h.

graphType multi_robot_router::Router::graphMode_ = graphType::voronoi

protected

Definition at line 153 of file router.h.

float multi_robot_router::Router::longestPatLength_

private

Definition at line 133 of file router.h.

MultiRobotRouter multi_robot_router::Router::mrr_

private

Definition at line 129 of file router.h.

MultiRobotRouterThreadedSrr multi_robot_router::Router::mrrTs_

private

Definition at line 130 of file router.h.

MultiRobotRouter* multi_robot_router::Router::multiRobotRouter_

private

Definition at line 128 of file router.h.

float multi_robot_router::Router::overallPathLength_

private

Definition at line 132 of file router.h.

PointExpander multi_robot_router::Router::pointExpander_

private

with the robot id one can access the robot name

Definition at line 127 of file router.h.

std::shared_ptr<float> multi_robot_router::Router::potential_

Definition at line 96 of file router.h.

bool multi_robot_router::Router::priorityRescheduling_ = true

protected

Definition at line 158 of file router.h.

std::vector<Eigen::Vector2d> multi_robot_router::Router::realGoals_

private

Definition at line 119 of file router.h.

std::vector<Eigen::Vector2d> multi_robot_router::Router::realStart_

private

Definition at line 120 of file router.h.

std::vector<std::string> multi_robot_router::Router::robot_names_

private

Definition at line 125 of file router.h.

uint32_t multi_robot_router::Router::robot_nr_

private

Definition at line 116 of file router.h.

float multi_robot_router::Router::routerTimeLimit_s_ = 10.0

protected

Definition at line 155 of file router.h.

std::vector<std::vector<Checkpoint> > multi_robot_router::Router::routingTable_

private

Definition at line 131 of file router.h.

bool multi_robot_router::Router::segmentOptimizations_ = false

protected

Definition at line 156 of file router.h.

bool multi_robot_router::Router::speedRescheduling_ = true

protected

Definition at line 157 of file router.h.

std::vector<Eigen::Vector3d> multi_robot_router::Router::starts_

private

Definition at line 117 of file router.h.

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

private

Definition at line 123 of file router.h.

std::vector<Eigen::Vector2d> multi_robot_router::Router::voronoiGoals_

private

Definition at line 121 of file router.h.

std::vector<Eigen::Vector2d> multi_robot_router::Router::voronoiStart_

private

Definition at line 122 of file router.h.

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

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation