empty_resolution.cpp

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#include <tuw_global_router/empty_resolution.h>
#include <iostream>

namespace multi_robot_router
{
EmptyResolution::EmptyResolution()
{
    encounteredCollisions_.clear();
}

void EmptyResolution::resetSession(const RouteCoordinatorWrapper *_route_querry, const PotentialCalculator *_pCalc, const uint32_t _robotDiameter)
{
    encounteredCollisions_.clear();
}

void EmptyResolution::addCollision(const uint32_t robot)
{
    if (encounteredCollisions_.size() <= robot)
        encounteredCollisions_.resize(robot + 1, 0);

    encounteredCollisions_[robot]++;
}

void EmptyResolution::saveCollision(const uint32_t _coll)
{
    addCollision(_coll);
}

const std::vector<uint32_t> &EmptyResolution::getRobotCollisions() const
{
    return encounteredCollisions_;
}

std::vector<std::reference_wrapper<Vertex>> EmptyResolution::resolve(Vertex &_current, Vertex &_next, int32_t _collision)
{
    addCollision(_collision);

    return foundSolutions_;
}
} // namespace multi_robot_router