multi_robot_router::BacktrackingResolution Class Reference

#include <backtracking_resolution.h>

Inheritance diagram for multi_robot_router::BacktrackingResolution:

Public Member Functions
	BacktrackingResolution (uint32_t _timeoverlap)
	constructor More...
	BacktrackingResolution ()
const std::vector< uint32_t > &	getRobotCollisions () const
	returns amount of robot collisions found in each resolve try after resetSession More...
void	resetSession (const RouteCoordinatorWrapper *_route_querry, const PotentialCalculator *_pCalc, const uint32_t _robot_radius)
	resets the session (setting the new route querry and potential calculator) More...
std::vector< std::reference_wrapper< Vertex > >	resolve (Vertex &_current, Vertex &_next, int32_t _collision)
	resolves a found collision between two robots. More...
void	saveCollision (const uint32_t _coll)
	increases the collision count of one robot More...

Private Member Functions
void	addCollision (const uint32_t robot)
void	trackBack (Vertex &_current, Vertex &_next, const int32_t _collision, const float _freePotential)

Private Attributes
bool	avoidStartPredecessorDone_ = false
bool	avoidStartSuccessorDone_ = false
std::vector< uint32_t >	encounteredCollisions_
std::vector< std::reference_wrapper< Vertex > >	foundSolutions_
std::vector< std::vector< std::unique_ptr< Vertex > > >	generatedSubgraphs_
const PotentialCalculator *	pCalc_
uint32_t	resolutionAttemp_ = 0
uint32_t	robotDiameter_
const RouteCoordinatorWrapper *	route_querry_
uint32_t	timeoverlap_

Detailed Description

Definition at line 38 of file backtracking_resolution.h.

Constructor & Destructor Documentation

BacktrackingResolution() [1/2]

multi_robot_router::BacktrackingResolution::BacktrackingResolution

(

uint32_t

_timeoverlap

)

constructor

Parameters

_timeoverlap

the timeoverlap used for assigning new vertices (e.g. Vertex _current form 0 to 10 + timeoverlap Vertex _nex from 10 - timeoverlap to 20 + timeoverlap)

Definition at line 35 of file backtracking_resolution.cpp.

BacktrackingResolution() [2/2]

multi_robot_router::BacktrackingResolution::BacktrackingResolution

(

)

Definition at line 39 of file backtracking_resolution.cpp.

Member Function Documentation

addCollision()

void multi_robot_router::BacktrackingResolution::addCollision ( const uint32_t  robot )

private

Definition at line 55 of file backtracking_resolution.cpp.

getRobotCollisions()

const std::vector< uint32_t > & multi_robot_router::BacktrackingResolution::getRobotCollisions ( ) const

virtual

returns amount of robot collisions found in each resolve try after resetSession

Returns

a std::vector where the index is the robot index and the value the number of collisions with this robot

Implements multi_robot_router::CollisionResolution.

Definition at line 68 of file backtracking_resolution.cpp.

resetSession()

void multi_robot_router::BacktrackingResolution::resetSession ( const RouteCoordinatorWrapper *  _route_querry, const PotentialCalculator *  _pCalc, const uint32_t  _robot_radius  )

virtual

resets the session (setting the new route querry and potential calculator)

Parameters

_route_querry	the route coordinator to coordinate paths
_pCalc	the potential calculator for assigning potential to expanded Vertices
_robot_radius	the radius of the current robot

Implements multi_robot_router::CollisionResolution.

Definition at line 43 of file backtracking_resolution.cpp.

resolve()

std::vector< std::reference_wrapper< Vertex > > multi_robot_router::BacktrackingResolution::resolve ( Vertex &  _current, Vertex &  _next, int32_t  _collision  )

virtual

resolves a found collision between two robots.

Parameters

_current	the last expanded vertex
_next	the vertex to expand to
_collision	the index of the colliding robot

Returns

a vector of references to Vertices where the Potential Expander can continue expanding

Implements multi_robot_router::CollisionResolution.

Definition at line 73 of file backtracking_resolution.cpp.

saveCollision()

void multi_robot_router::BacktrackingResolution::saveCollision ( const uint32_t  _coll )

virtual

increases the collision count of one robot

Parameters

_coll

the robot elected for increasing its collisions

Implements multi_robot_router::CollisionResolution.

Definition at line 63 of file backtracking_resolution.cpp.

trackBack()

void multi_robot_router::BacktrackingResolution::trackBack ( Vertex &  _current, Vertex &  _next, const int32_t  _collision, const float  _freePotential  )

private

Definition at line 95 of file backtracking_resolution.cpp.

Member Data Documentation

avoidStartPredecessorDone_

bool multi_robot_router::BacktrackingResolution::avoidStartPredecessorDone_ = false

private

Definition at line 91 of file backtracking_resolution.h.

avoidStartSuccessorDone_

bool multi_robot_router::BacktrackingResolution::avoidStartSuccessorDone_ = false

private

Definition at line 90 of file backtracking_resolution.h.

encounteredCollisions_

std::vector<uint32_t> multi_robot_router::BacktrackingResolution::encounteredCollisions_

private

Definition at line 88 of file backtracking_resolution.h.

foundSolutions_

std::vector<std::reference_wrapper<Vertex> > multi_robot_router::BacktrackingResolution::foundSolutions_

private

Definition at line 87 of file backtracking_resolution.h.

generatedSubgraphs_

std::vector<std::vector<std::unique_ptr<Vertex> > > multi_robot_router::BacktrackingResolution::generatedSubgraphs_

private

Definition at line 86 of file backtracking_resolution.h.

pCalc_

const PotentialCalculator* multi_robot_router::BacktrackingResolution::pCalc_

private

Definition at line 82 of file backtracking_resolution.h.

resolutionAttemp_

uint32_t multi_robot_router::BacktrackingResolution::resolutionAttemp_ = 0

private

Definition at line 89 of file backtracking_resolution.h.

robotDiameter_

uint32_t multi_robot_router::BacktrackingResolution::robotDiameter_

private

Definition at line 84 of file backtracking_resolution.h.

route_querry_

const RouteCoordinatorWrapper* multi_robot_router::BacktrackingResolution::route_querry_

private

Definition at line 81 of file backtracking_resolution.h.

timeoverlap_

uint32_t multi_robot_router::BacktrackingResolution::timeoverlap_

private

Definition at line 83 of file backtracking_resolution.h.

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

• backtracking_resolution.h
• backtracking_resolution.cpp