srr_utils.cpp

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#include <tuw_global_router/srr_utils.h>
#include <ros/ros.h>
 
namespace multi_robot_router
{
 
Segment::Segment(const uint32_t &_id, const std::vector<Eigen::Vector2d> &_points, const std::vector<uint32_t> &_successors, const std::vector<uint32_t> &_predecessors, const float &_width) : points_(_points),
                                                                                                                                                                                                successors_(_successors),
                                                                                                                                                                                                predecessors_(_predecessors)
{
    segmentId_ = _id;
    width_ = _width;
    Eigen::Vector2d p = (_points.back() - _points.front());
    length_ = sqrt(p[0] * p[0] + p[1] * p[1]);
}
 
const Eigen::Vector2d &Segment::getEnd() const
{
    return points_.back();
}
 
const std::vector<Eigen::Vector2d> &Segment::getPoints() const
{
    return points_;
}
 
const std::vector<uint32_t> &Segment::getPredecessors() const
{
    return predecessors_;
}
 
uint32_t Segment::getSegmentId() const
{
    return segmentId_;
}
const Eigen::Vector2d &Segment::getStart() const
{
    return points_.front();
}
 
const std::vector<uint32_t> &Segment::getSuccessors() const
{
    return successors_;
}
 
float Segment::length() const
{
    return length_;
}
 
float Segment::width() const
{
    return width_;
}
 
Vertex::Vertex(const Segment &_seg) : predecessors_(), successors_(), segment_(_seg), potential(-1), collision(-1), crossingPredecessor(false), crossingSuccessor(false), isWaitSegment(false)
{
}
 
const Segment &Vertex::getSegment() const
{
    return segment_;
}
 
const std::vector<std::reference_wrapper<Vertex>> &Vertex::getPlanningPredecessors() const
{
    return predecessors_;
}
 
const std::vector<std::reference_wrapper<Vertex>> &Vertex::getPlanningSuccessors() const
{
    return successors_;
}
 
void Vertex::initNeighbours(std::vector<std::unique_ptr<Vertex>> &_sortedVertices, const uint32_t _minSegmentWidth)
{
    for (const uint32_t &vecId : segment_.getPredecessors())
    {
        //Use only segments which can be used by any robot
        if (_sortedVertices[vecId]->getSegment().width() >= _minSegmentWidth)
        {
            Vertex &vRef = *(_sortedVertices[vecId].get());
            predecessors_.push_back(vRef);
        }
    }
 
    if (predecessors_.size() > 1)
    {
        crossingPredecessor = true;
    }
 
    for (const uint32_t &vecId : segment_.getSuccessors())
    {
        //Use only segments which can be used by any robot
        if (_sortedVertices[vecId]->getSegment().width() >= _minSegmentWidth)
        {
            Vertex &vRef = *(_sortedVertices[vecId]);
            successors_.push_back(vRef);
        }
    }
 
    if (successors_.size() > 1)
    {
        crossingSuccessor = true;
    }
}
 
void Vertex::updateVertex(const Vertex &_v)
{
    potential = _v.potential;
    collision = _v.collision;
    weight = _v.weight;
    //direction = _v.direction;
    predecessor_ = _v.predecessor_;
}
 
RouteVertex::RouteVertex(const Vertex &_vertex) : segment_(_vertex.getSegment()), direction(path_direction::none), potential(_vertex.potential), collision(_vertex.collision), overlapPredecessor(_vertex.crossingPredecessor), overlapSuccessor(_vertex.crossingSuccessor)
{
}
RouteVertex::RouteVertex(const RouteVertex &_vertex) : segment_(_vertex.getSegment()), direction(_vertex.direction), potential(_vertex.potential), collision(_vertex.collision), overlapPredecessor(_vertex.overlapPredecessor), overlapSuccessor(_vertex.overlapSuccessor)
{
}
const Segment &RouteVertex::getSegment() const
{
    return segment_;
}
 
} // namespace multi_robot_router