single_robot_router.cpp

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#include <tuw_global_router/single_robot_router.h>
#include <tuw_global_router/heuristic.h>
#include <tuw_global_router/potential_calculator.h>
 
namespace multi_robot_router
{
SingleRobotRouter::SingleRobotRouter() : segment_expander_(SegmentExpander::CollisionResolverType::avoidance)
{
}
 
SingleRobotRouter::SingleRobotRouter(const SingleRobotRouter &srr) : segment_expander_(srr.getCollisionResolverType())
{
}
 
void SingleRobotRouter::setCollisionResolver(const SegmentExpander::CollisionResolverType cRes)
{
    segment_expander_.setCollisionResolver(cRes);
}
 
SegmentExpander::CollisionResolverType SingleRobotRouter::getCollisionResolverType() const
{
    return segment_expander_.getCollisionResolver();
}
 
bool SingleRobotRouter::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)
{
    robotDiameter_ = _robotDiameter;
    resetAttempt();
    segment_expander_.setSpeed(_robotSpeed);
 
    if (!segment_expander_.calculatePotentials(&path_coordinator, *(searchGraph_[_start].get()), *(searchGraph_[_goal].get()), _maxIterations, robotDiameter_))
    {
        lastAttempt_ = false;
        return false;
    }
 
    std::vector<RouteVertex> reversedPath;
 
    if (!traceback_.getPath(*(searchGraph_[_start].get()), *(searchGraph_[_goal].get()), reversedPath))
    {
        lastAttempt_ = false;
        return false;
    }
 
    _path.clear();
 
    for (std::vector<RouteVertex>::const_iterator rit = reversedPath.cend(); rit != reversedPath.cbegin();)
    {
        rit--;
        _path.emplace_back(*rit);
    }
 
    lastAttempt_ = true;
    return true;
}
 
void SingleRobotRouter::resetAttempt()
{
    segment_expander_.reset();
 
    for (std::unique_ptr<Vertex> &v : searchGraph_)
    {
        v->potential = -1;
        v->collision = -1;
        v->weight = 0;
        v->predecessor_ = NULL;
    }
}
 
bool SingleRobotRouter::getLastResult()
{
    return lastAttempt_;
}
 
void SingleRobotRouter::initSearchGraph(const std::vector<Segment> &_graph, const uint32_t minSegmentWidth_)
{
    searchGraph_.clear();
 
    for (const Segment &seg : _graph)
    {
        searchGraph_.push_back(std::make_unique<Vertex>(seg));
    }
 
    for (std::unique_ptr<Vertex> &v : searchGraph_)
    {
        v->initNeighbours(searchGraph_, minSegmentWidth_);
    }
}
 
const std::vector<uint32_t> &SingleRobotRouter::getRobotCollisions() const
{
    return segment_expander_.getRobotCollisions();
}
} // namespace multi_robot_router