single_robot_router.h

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#ifndef SRR_H
#define SRR_H

#include <tuw_global_router/srr_utils.h>
#include <tuw_global_router/route_coordinator.h>
#include <tuw_global_router/segment_expander.h>
#include <tuw_global_router/traceback.h>
#include <iostream>

namespace multi_robot_router
{
typedef struct Robot
{
    int id;
    float diameter;
    float speedMultiplier;
    Robot(int _id, float _d, float _s) : id(_id), diameter(_d), speedMultiplier(_s) {}
    Robot(int _id, float _d) : Robot(_id, _d, 1) {}
} Robot;

class SingleRobotRouter
{
  public:
    SingleRobotRouter();
    SingleRobotRouter(const SingleRobotRouter &srr);
    bool getRouteCandidate(const uint32_t _start, const uint32_t _goal, const RouteCoordinatorWrapper &path_coordinator, const uint32_t _robotDiameter, const float &_robotSpeed, std::vector<RouteVertex> &path, const uint32_t _maxIterations);

    const std::vector<uint32_t> &getRobotCollisions() const;
    void initSearchGraph(const std::vector<Segment> &_graph, const uint32_t minSegmentWidth_ = 0);
    void setCollisionResolver(const SegmentExpander::CollisionResolverType cRes);
    bool getLastResult();
    SegmentExpander::CollisionResolverType getCollisionResolverType() const;

  private:
    void resetAttempt();
    SegmentExpander segment_expander_;
    Traceback traceback_;
    uint32_t robotDiameter_;
    //unique_ptr to keep references of Vertex (Heap), because the list is updated while runtime
    std::vector<std::unique_ptr<Vertex>> searchGraph_;
    bool lastAttempt_ = false;
    std::vector<RouteVertex> path_;
};
} // namespace multi_robot_router
#endif