segment_expander.h

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#ifndef SEGMENT_EXPANDER_H
#define SEGMENT_EXPANDER_H
 
#define POT_HIGH 1.0e10
#include <tuw_global_router/heuristic.h>
#include <tuw_global_router/route_coordinator.h>
#include <tuw_global_router/collision_resolution.h>
#include <tuw_global_router/avoidance_resolution.h>
#include <tuw_global_router/backtracking_resolution.h>
#include <tuw_global_router/empty_resolution.h>
#include <algorithm>
#include <memory>
#include <queue>
 
namespace multi_robot_router
{
class SegmentExpander
{
  public:
    enum class CollisionResolverType
    {
        none,
        backtracking,
        avoidance
    };
    SegmentExpander(const CollisionResolverType _cRes);
    bool calculatePotentials(const RouteCoordinatorWrapper *_p, Vertex &_start, Vertex &_end, const uint32_t _maxIterations, const uint32_t _radius);
    const std::vector<uint32_t> &getRobotCollisions() const;
    void reset();
    void setSpeed(const float &_speed);
    void setCollisionResolver(const CollisionResolverType cRes);
    CollisionResolverType getCollisionResolver() const;
 
  private:
    template <class T, class S, class C>
    void clearpq(std::priority_queue<T, S, C> &q)
    {
        q = std::priority_queue<T, S, C>();
    }
 
    struct greaterSegmentWrapper
    {
        bool operator()(const Vertex *_a, const Vertex *_b) const
        {
            return _a->weight > _b->weight;
        }
    };
 
    //assigns the potential to all necessary vertices
    Vertex *expandVoronoi(Vertex &_start, Vertex &_end, const uint32_t _cycles);
    //assigns the next Vertex with the given potential
    void addExpansoionCandidate(Vertex &_current, Vertex &_next, Vertex &_end);
    //adds teh first expenstion candidate
    void addStartExpansionCandidate(Vertex &_start, Vertex &_current, Vertex &_next, Vertex &_end);
    //Resolves start issues when start and goal point is on the same segment
    void resolveStartCollision(Vertex &_start, Vertex &_end);
    //checks if a list contains a specific vertex (seg id)
    bool containsVertex(const Vertex &_v, const std::vector<std::reference_wrapper<Vertex>> &_list) const;
 
    std::priority_queue<Vertex *, std::vector<Vertex *>, greaterSegmentWrapper> seg_queue_;
    uint32_t neutral_cost_ = 1;
    uint32_t diameter_;
 
    Heuristic hx_;
    PotentialCalculator pCalc_;
    CollisionResolution *collision_resolution_;
    AvoidanceResolution avr_;
    BacktrackingResolution btr_;
    EmptyResolution er_;
 
    const RouteCoordinatorWrapper *route_querry_;
    std::vector<uint32_t> collisions_robots_;
    std::vector<std::unique_ptr<Vertex>> startSegments_;
    CollisionResolverType crType_;
};
} // namespace multi_robot_router
#endif