route_coordinator.h

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/*
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#ifndef ROUTE_COORDINATOR_H
#define ROUTE_COORDINATOR_H
 
#include <tuw_global_router/mrr_utils.h>
#include <memory>
#include <vector>
#include <tuw_global_router/srr_utils.h>
 
namespace multi_robot_router
{
class RouteCoordinator
{
  public:
    virtual void reset(const std::vector<Segment> &_graph, const uint32_t _nrRobots) = 0;
    virtual bool addRoute(const std::vector<RouteVertex> &_path, const uint32_t _diameterPixel, const uint32_t _robotId) = 0;
    virtual bool checkSegment(const Vertex &_next, const uint32_t _startTime, const int32_t _endTime, const uint32_t _diameterPixel, int32_t &_collisionRobot, const uint32_t _robotId, bool _ignoreGoal = false) const = 0;
    virtual bool setGoalSegments(const std::vector<uint32_t> &_goalSegments) = 0;
    virtual bool setStartSegments(const std::vector<uint32_t> &_startSegments) = 0;
    virtual bool isGoal(const Vertex &_seg, const uint32_t _robotId) const = 0;
    virtual const uint32_t getStart(const uint32_t _robotId) const = 0;
    virtual const uint32_t getEnd(const uint32_t _robotId) const = 0;
    virtual std::vector<std::pair<uint32_t, float>> getListOfRobotsHigherPrioritizedRobots(const uint32_t _robot, const uint32_t _segId, const int32_t _potential) const = 0;
    virtual void removeRobot(const uint32_t _robot) = 0;
    virtual int32_t findSegNr(const uint32_t _robot, const uint32_t _potential) const = 0;
    virtual int32_t findPotentialUntilRobotOnSegment(const uint32_t _robot, const uint32_t _segId) const = 0;
};
 
class RouteCoordinatorWrapper
{
  public:
    RouteCoordinatorWrapper(const uint32_t _robot, const RouteCoordinator &_routeCoordinater);
    bool checkSegment(const Vertex &_next, const uint32_t _startTime, const int32_t _endTime, const uint32_t _diameterPixel, int32_t &_collisionRobot, bool _ignoreGoal = false) const;
    bool isGoal(const Vertex &_seg) const;
    const uint32_t getStart() const;
    const uint32_t getEnd() const;
    std::vector<std::pair<uint32_t, float>> getListOfRobotsHigherPrioritizedRobots(const uint32_t _robot, const uint32_t _segId, const int32_t _potential) const;
    int32_t findSegNr(const uint32_t _robot, const uint32_t _potential) const;
    int32_t findPotentialUntilRobotOnSegment(const uint32_t _robot, const uint32_t _segId) const;
 
  private:
    uint32_t robot_;
    const RouteCoordinator *routeCoordinator_;
};
} // namespace multi_robot_router
#endif // PATH_QUERRY_H