route_generator.cpp

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#include <tuw_global_router/route_generator.h>
 
namespace multi_robot_router
{
std::vector<std::vector<Checkpoint>> RouteGenerator::generatePath(const std::vector<std::vector<RouteVertex>> &_paths, const RouteCoordinator &routeQuerry_) const
{
    std::vector<std::vector<Checkpoint>> generatedPaths;
 
    for (uint32_t i = 0; i < _paths.size(); i++)
    {
        std::vector<Checkpoint> generatedPath;
 
        for (uint32_t j = 0; j < _paths[i].size(); j++)
        {
            if (_paths[i][j].direction == RouteVertex::path_direction::none)
            {
                generatedPath.clear();
                return generatedPaths;
            }
 
            Checkpoint seg;
            seg = createElement(_paths[i][j]);
 
            addPreconditions(seg, _paths[i][j], i, _paths, routeQuerry_);
            generatedPath.push_back(seg);
        }
 
        generatedPaths.push_back(generatedPath);
    }
 
    return generatedPaths;
}
 
Checkpoint RouteGenerator::createElement(const RouteVertex &_element) const
{
    Checkpoint ps;
 
    if (_element.direction == RouteVertex::path_direction::start_to_end)
    {
        ps.segId = _element.getSegment().getSegmentId();
        ps.end[0] = _element.getSegment().getStart()[0];
        ps.end[1] = _element.getSegment().getStart()[1];
        ps.start[0] = _element.getSegment().getEnd()[0];
        ps.start[1] = _element.getSegment().getEnd()[1];
 
        float angle = atan2(ps.start[1] - ps.end[1], ps.start[0] - ps.end[0]);
        ps.start[2] = angle;
        ps.end[2] = angle;
    }
    else
    {
        ps.segId = _element.getSegment().getSegmentId();
        ps.end[0] = _element.getSegment().getEnd()[0];
        ps.end[1] = _element.getSegment().getEnd()[1];
        ps.start[0] = _element.getSegment().getStart()[0];
        ps.start[1] = _element.getSegment().getStart()[1];
 
        float angle = atan2(ps.start[1] - ps.end[1], ps.start[0] - ps.end[0]);
        ps.start[2] = angle;
        ps.end[2] = angle;
    }
 
    return ps;
}
 
void RouteGenerator::addPreconditions(Checkpoint &_segment, const RouteVertex &_segToFind, const uint32_t _pathNr, const std::vector<std::vector<RouteVertex>> &_paths, const RouteCoordinator &routeQuerry_) const
{
    std::vector<std::pair<uint32_t, float>> list = routeQuerry_.getListOfRobotsHigherPrioritizedRobots(_pathNr, _segToFind.getSegment().getSegmentId(), _segToFind.potential);
    _segment.preconditions.clear();
 
    for (const std::pair<uint32_t, float> &rob : list)
    {
        bool found = false;
 
        for (uint32_t i = 0; i < _paths[rob.first].size(); i++)
        {
            if (_paths[rob.first][i].potential >= rob.second)
            {
                Checkpoint::Precondition p;
                p.robotId = rob.first;
                p.stepCondition = i;
                _segment.updatePreconditions(p);
 
                found = true;
                break;
            }
        }
    }
}
} // namespace multi_robot_router