priority_scheduler.h

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#ifndef PRIORITY_SCHEDULER_H
#define PRIORITY_SCHEDULER_H

#include <tuw_global_router/srr_utils.h>

namespace multi_robot_router
{
class PriorityScheduler
{

  public:
    PriorityScheduler(const uint32_t _nrRobots);
    void reset(const uint32_t _nrRobots);
    bool reschedulePriorities(const uint32_t _collidingRobot, std::vector<uint32_t> _collsisions, std::vector<uint32_t> &_newSchedule, uint32_t &_firstRobotToReplan);
    const std::vector<uint32_t> &getActualSchedule() const;

  protected:
    std::vector<std::vector<uint32_t>> checkedSchedules_;
    std::vector<uint32_t> actualPrioritySchedule_;
};
} // namespace multi_robot_router
#endif