Class Graph

Defined in File Graph.hpp

Class Documentation

class Graph

Public Types

using LiftPropertiesPtr = std::shared_ptr<LiftProperties>

using DoorPropertiesPtr = std::shared_ptr<DoorProperties>

Public Functions

Graph(): Default constructor.

Waypoint &add_waypoint(std::string map_name, Eigen::Vector2d location): Make a new waypoint for this graph. It will not be connected to any other waypoints until you use make_lane() to connect it.

Note

Waypoints cannot be erased from a Graph after they are created.

Waypoint &get_waypoint(std::size_t index): Get a waypoint based on its index.

const Waypoint &get_waypoint(std::size_t index) const: const-qualified get_waypoint()

Waypoint *find_waypoint(const std::string &key): Find a waypoint given a key name. If the graph does not have a matching key name, then a nullptr will be returned.

const Waypoint *find_waypoint(const std::string &key) const: const-qualified find_waypoint()

bool add_key(const std::string &key, std::size_t wp_index): Add a new waypoint key name to the graph. If a new key name is given, then this function will return true. If the given key name was already in use, then this will return false and nothing will be changed in the graph.

bool remove_key(const std::string &key): Remove the waypoint key with the given name, if it exists in this Graph. If the key was removed, this will return true. If the key did not exist, this will return false.

bool set_key(const std::string &key, std::size_t wp_index)

Set a waypoint key. If this key is already in the Graph, it will be changed to the new association.

This function will return false if wp_index is outside the range of the waypoints in this Graph.

const std::unordered_map<std::string, std::size_t> &keys() const: Get the map of all keys in this Graph.

std::size_t num_waypoints() const: Get the number of waypoints in this Graph.

Lane &add_lane(const Lane::Node &entry, const Lane::Node &exit, Lane::Properties properties = Lane::Properties()): Make a lane for this graph. Lanes connect waypoints together, allowing the graph to know how the robot is allowed to traverse between waypoints.

Lane &get_lane(std::size_t index): Get the lane at the specified index.

const Lane &get_lane(std::size_t index) const: const-qualified get_lane()

std::size_t num_lanes() const: Get the number of Lanes in this Graph.

const std::vector<std::size_t> &lanes_from(std::size_t wp_index) const: Get the indices of lanes that come out of the given Waypoint index.

const std::vector<std::size_t> &lanes_into(std::size_t wp_index) const: Get the indices of lanes that arrive into the given Waypoint index.

Lane *lane_from(std::size_t from_wp, std::size_t to_wp): Get a reference to the lane that goes from from_wp to to_wp if such a lane exists. If no such lane exists, this will return a nullptr. If multiple exist, this will return the one that was added most recently.

const Lane *lane_from(std::size_t from_wp, std::size_t to_wp) const: const-qualified lane_from()

LiftPropertiesPtr set_known_lift(LiftProperties lift): Add a known lift to the graph. If this lift has the same name as one previously added, we will continue to use the same pointer as the original and override the properties because lift names are expected to be unique.

std::vector<LiftPropertiesPtr> all_known_lifts() const: Get all the known lifts.

LiftPropertiesPtr find_known_lift(const std::string &name) const: Find a known lift based on its name.

DoorPropertiesPtr set_known_door(DoorProperties door): Add a known door to the graph. If this door has the same name as one previously added, we will continue to use the same pointer as the original and override the properties because door names are expected to be unique.

std::vector<DoorPropertiesPtr> all_known_doors() const: Get all the known doors.

DoorPropertiesPtr find_known_door(const std::string &name) const: Find a known door based on its name.

class DoorProperties

Public Functions

const std::string &name() const: Get the name of the door.

Eigen::Vector2d start() const: Get the start position of the door.

Eigen::Vector2d end() const: Get the end position of the door.

const std::string &map() const: Get the name of the map that this door is on.

bool intersects(Eigen::Vector2d p0, Eigen::Vector2d p1, double envelope = 0.0) const: Check if the line formed by p0 -> p1 intersects this door.

DoorProperties(std::string name, Eigen::Vector2d start, Eigen::Vector2d end, std::string map): Constructor.

class Lane

Add a lane to connect two waypoints.

Public Types

using EventPtr = rmf_utils::clone_ptr<Event>

Public Functions

Node &entry(): Get the entry node of this Lane. The lane represents an edge in the graph that goes away from this node.

const Node &entry() const: const-qualified entry()

Node &exit(): Get the exit node of this Lane. The lane represents an edge in the graph that goes into this node.

const Node &exit() const: const-qualified exit()

Properties &properties(): Get the properties of this Lane.

const Properties &properties() const: const-qualified properties()

std::size_t index() const: Get the index of this Lane within the Graph.

class Dock

Public Functions

Dock(std::string dock_name, Duration duration)

Constructor

Parameters:

Name – [in] of the dock that will be approached
How – [in] long the robot will take to dock

const std::string &dock_name() const: Get the name of the dock.

Dock &dock_name(std::string name): Set the name of the dock.

Duration duration() const: Get an estimate for how long the docking will take.

Dock &duration(Duration d): Set an estimate for how long the docking will take.

class Door

A door in the graph which needs to be opened before a robot can enter a certain lane or closed before the robot can exit the lane.

Subclassed by rmf_traffic::agv::Graph::Lane::DoorClose, rmf_traffic::agv::Graph::Lane::DoorOpen

Public Functions

Door(std::string name, Duration duration)

Constructor

Parameters:

name – [in] Unique name of the door.
duration – [in] How long the door takes to open or close.

const std::string &name() const: Get the unique name (ID) of this Door.

Door &name(std::string name): Set the unique name (ID) of this Door.

Duration duration() const: Get the duration incurred by waiting for this door to open or close.

Door &duration(Duration duration): Set the duration incurred by waiting for this door to open or close.

class DoorClose : public rmf_traffic::agv::Graph::Lane::Door 

Public Functions

Door(std::string name, Duration duration)

Constructor

Parameters:

name – [in] Unique name of the door.
duration – [in] How long the door takes to open or close.

class DoorOpen : public rmf_traffic::agv::Graph::Lane::Door 

Public Functions

Door(std::string name, Duration duration)

Constructor

Parameters:

name – [in] Unique name of the door.
duration – [in] How long the door takes to open or close.

class Event

An abstraction for the different kinds of Lane events.

Public Functions

virtual Duration duration() const = 0: An estimate of how long the event will take.

template<typename DerivedExecutor> inline DerivedExecutor &execute(DerivedExecutor &executor) const

virtual Executor &execute(Executor &executor) const = 0: Execute this event.

virtual EventPtr clone() const = 0: Clone this event.

virtual ~Event() = default

Public Static Functions

static EventPtr make(DoorOpen open)

static EventPtr make(DoorClose close)

static EventPtr make(LiftSessionBegin open)

static EventPtr make(LiftSessionEnd close)

static EventPtr make(LiftMove move)

static EventPtr make(LiftDoorOpen open)

static EventPtr make(Dock dock)

static EventPtr make(Wait wait)

class Executor

A customizable Executor that can carry out actions based on which Event type is present.

Public Types

using DoorOpen = Lane::DoorOpen 

using DoorClose = Lane::DoorClose 

using LiftSessionBegin = Lane::LiftSessionBegin 

using LiftDoorOpen = Lane::LiftDoorOpen 

using LiftSessionEnd = Lane::LiftSessionEnd 

using LiftMove = Lane::LiftMove 

using Dock = Lane::Dock 

using Wait = Lane::Wait 

Public Functions

virtual void execute(const DoorOpen &open) = 0

virtual void execute(const DoorClose &close) = 0

virtual void execute(const LiftSessionBegin &begin) = 0

virtual void execute(const LiftDoorOpen &open) = 0

virtual void execute(const LiftSessionEnd &end) = 0

virtual void execute(const LiftMove &move) = 0

virtual void execute(const Dock &dock) = 0

virtual void execute(const Wait &wait) = 0

virtual ~Executor() = default

class LiftDoorOpen : public rmf_traffic::agv::Graph::Lane::LiftSession 

Public Functions

LiftSession(std::string lift_name, std::string floor_name, Duration duration)

Constructor

Parameters:

lift_name – [in] Name of the lift that this door belongs to.
floor_name – [in] Name of the floor that this door belongs to.
duration – [in] How long the door takes to open or close.

class LiftMove : public rmf_traffic::agv::Graph::Lane::LiftSession 

Public Functions

LiftSession(std::string lift_name, std::string floor_name, Duration duration)

Constructor

Parameters:

lift_name – [in] Name of the lift that this door belongs to.
floor_name – [in] Name of the floor that this door belongs to.
duration – [in] How long the door takes to open or close.

class LiftSession

A lift door in the graph which needs to be opened before a robot can enter a certain lane or closed before the robot can exit the lane.

Subclassed by rmf_traffic::agv::Graph::Lane::LiftDoorOpen, rmf_traffic::agv::Graph::Lane::LiftMove, rmf_traffic::agv::Graph::Lane::LiftSessionBegin, rmf_traffic::agv::Graph::Lane::LiftSessionEnd

Public Functions

LiftSession(std::string lift_name, std::string floor_name, Duration duration)

Constructor

Parameters:

lift_name – [in] Name of the lift that this door belongs to.
floor_name – [in] Name of the floor that this door belongs to.
duration – [in] How long the door takes to open or close.

const std::string &lift_name() const: Get the name of the lift that the door belongs to.

LiftSession &lift_name(std::string name): Set the name of the lift that the door belongs to.

const std::string &floor_name() const: Get the name of the floor that this door is on.

LiftSession &floor_name(std::string name): Set the name of the floor that this door is on.

Duration duration() const: Get an estimate of how long it will take the door to open or close.

LiftSession &duration(Duration duration): Set an estimate of how long it will take the door to open or close.

class LiftSessionBegin : public rmf_traffic::agv::Graph::Lane::LiftSession 

Public Functions

LiftSession(std::string lift_name, std::string floor_name, Duration duration)

Constructor

Parameters:

lift_name – [in] Name of the lift that this door belongs to.
floor_name – [in] Name of the floor that this door belongs to.
duration – [in] How long the door takes to open or close.

class LiftSessionEnd : public rmf_traffic::agv::Graph::Lane::LiftSession 

Public Functions

LiftSession(std::string lift_name, std::string floor_name, Duration duration)

Constructor

Parameters:

lift_name – [in] Name of the lift that this door belongs to.
floor_name – [in] Name of the floor that this door belongs to.
duration – [in] How long the door takes to open or close.

class Node

A Lane Node wraps up a Waypoint with constraints. The constraints stipulate the conditions for entering or exiting the lane to reach this waypoint.

Public Functions

Node(std::size_t waypoint_index, rmf_utils::clone_ptr<Event> event = nullptr, rmf_utils::clone_ptr<OrientationConstraint> orientation = nullptr)

Constructor

Parameters:

waypoint_index – The index of the waypoint for this Node
event – An event that must happen before/after this Node is approached (before if it’s an entry Node or after if it’s an exit Node).
orientation – Any orientation constraints for moving to/from this Node (depending on whether it’s an entry Node or an exit Node).

Node(std::size_t waypoint_index, rmf_utils::clone_ptr<OrientationConstraint> orientation)

Constructor. The event parameter will be nullptr.

Parameters:

waypoint_index – The index of the waypoint for this Node
orientation – Any orientation constraints for moving to/from this Node (depending on whether it’s an entry Node or an exit Node).

std::size_t waypoint_index() const: Get the index of the waypoint that this Node is wrapped around.

const Event *event() const: Get a reference to an event that must occur before or after this Node is visited.

Note

Before if this is an entry node or after if this is an exit node

Node &event(rmf_utils::clone_ptr<Event> new_event): Set the event that must occur before or after this Node is visited.

const OrientationConstraint *orientation_constraint() const: Get the constraint on orientation that is tied to this Node.

class Properties

The Lane Properties class contains properties that apply across the full extent of the lane.

Public Functions

Properties()

Construct a default set of properties

speed_limit: nullopt
mutex_group: “”

std::optional<double> speed_limit() const: Get the speed limit along this lane. If a std::nullopt is returned, then there is no specified speed limit for the lane.

Properties &speed_limit(std::optional<double> value): Set the speed limit along this lane. Providing a std::nullopt indicates that there is no speed limit for the lane.

const std::string &in_mutex_group() const

Get the mutex group that this lane is associated with. An empty string implies that it is not associated with any mutex group.

Only one robot at a time is allowed to occupy any waypoint or lane associated with a particular mutex group.

Properties &set_in_mutex_group(std::string group_name): Set what mutex group this lane is associated with. Passing in an empty string will disassociate the lane from any mutex group.

class Wait

Public Functions

Wait(Duration value)

Constructor

Parameters:: duration – [in] How long the wait will be.

Duration duration() const: Get how long the wait will be.

Wait &duration(Duration value): Set how long the wait will be.

class LiftProperties

Properties related to lifts (elevators) that exist in the graph.

Public Functions

const std::string &name() const: Get the name of the lift.

Eigen::Vector2d location() const: Get the (x, y) location of the lift in RMF canonical coordinates.

double orientation() const: Get the orientation (in radians) of the lift in RMF canonical coordinates.

Eigen::Vector2d dimensions() const: Get the dimensions of the lift, aligned with the lift’s local (x, y) coordinates.

bool is_in_lift(Eigen::Vector2d position, double envelope = 0.0) const: Get whether the specified position, given in RMF canonical coordinates, is inside the lift. The envelope will expand the footprint of the lift that is used in the calculation.

LiftProperties(std::string name, Eigen::Vector2d location, double orientations, Eigen::Vector2d dimensions): Constructor.

class OrientationConstraint

A class that implicitly specifies a constraint on the robot’s orientation.

Public Types

enum class Direction

Values:

enumerator Forward

enumerator Backward

Public Functions

virtual bool apply(Eigen::Vector3d &position, const Eigen::Vector2d &course_vector) const = 0

Apply the constraint to the given homogeneous position.

Parameters:

position – [inout] The position which needs to be constrained. The function should modify this position such that it satisfies the constraint, if possible.
course_vector – [in] The direction that the robot is travelling in. Given for informational purposes.

Returns:

True if the constraint is satisfied with the new value of position. False if the constraint could not be satisfied.

virtual rmf_utils::clone_ptr<OrientationConstraint> clone() const = 0: Clone this OrientationConstraint.

virtual ~OrientationConstraint() = default

Public Static Functions

static rmf_utils::clone_ptr<OrientationConstraint> make(std::vector<double> acceptable_orientations): Make an orientation constraint that requires a specific value for the orientation.

static rmf_utils::clone_ptr<OrientationConstraint> make(Direction direction, const Eigen::Vector2d &forward_vector): Make an orientation constraint that requires the vehicle to face forward or backward.

class Waypoint

Properties assigned to each waypoint (vertex) in the graph.

Public Functions

const std::string &get_map_name() const: Get the name of the map that this Waypoint exists on.

Waypoint &set_map_name(std::string map): Set the name of the map that this Waypoint exists on.

const Eigen::Vector2d &get_location() const: Get the position of this Waypoint.

Waypoint &set_location(Eigen::Vector2d location): Set the position of this Waypoint.

bool is_holding_point() const: Returns true if this Waypoint can be used as a holding point for the vehicle, otherwise returns false.

Waypoint &set_holding_point(bool _is_holding_point): Set whether this waypoint can be used as a holding point for the vehicle.

bool is_passthrough_point() const: Returns true if this Waypoint is a passthrough point, meaning a planner should not have a robot wait at this point, even just briefly to allow another robot to pass. Setting passthrough points reduces the branching factor of a planner, allowing it to run faster, at the cost of losing possible solutions to conflicts.

Waypoint &set_passthrough_point(bool _is_passthrough): Set this Waypoint to be a passthrough point.

bool is_parking_spot() const: Returns true if this Waypoint is a parking spot. Parking spots are used when an emergency alarm goes off, and the robot is required to park itself.

Waypoint &set_parking_spot(bool _is_parking_spot): Set this Waypoint to be a parking spot.

bool is_charger() const: Returns true if this Waypoint is a charger spot. Robots are routed to these spots when their batteries charge levels drop below the threshold value.

Waypoint &set_charger(bool _is_charger): Set this Waypoint to be a parking spot.

LiftPropertiesPtr in_lift() const: If this waypoint is inside the lift then this will return a pointer to the properties of the lift. Otherwise this will be a nullptr.

Waypoint &set_in_lift(LiftPropertiesPtr properties): Set the properties of the lift that the waypoint is inside of, or provide a nullptr if it is not inside a lift.

std::size_t index() const: The index of this waypoint within the Graph. This cannot be changed after the waypoint is created.

const std::string *name() const

If this waypoint has a name, return a reference to it. If this waypoint does not have a name, return a nullptr.

The name of a waypoint can only be set using add_key() or set_key().

std::string name_or_index(const std::string &name_format = "%s", const std::string &index_format = "#%d") const

If this waypoint has a name, the name will be returned. Otherwise it will return the waypoint index, formatted into a string based on the index_format argument.

Parameters:

name_format – [in] If this waypoint has an assigned name, the first instance of “%s” within name_format will be replaced with the name of the waypoint. If there is no s in the name_format string, then this function will simply return the name_format string as-is when the waypoint has a name.
index_format – [in] If this waypoint does not have an assigned name, the first instance of “%d” within the index_format string will be replaced with the stringified decimal index value of the waypoint. If there is no “%d” in the index_format string, then this function will simply return the index_format string as-is when the waypoint does not have a name.

const std::string &in_mutex_group() const

Get the mutex group that this waypoint is associated with. An empty string implies that it is not associated with any mutex group.

Only one robot at a time is allowed to occupy any waypoint or lane associated with a particular mutex group.

Waypoint &set_in_mutex_group(std::string group_name): Set what mutex group this waypoint is associated with. Passing in an empty string will disasscoiate the waypoint from any mutex group.

std::optional<double> merge_radius() const: Get a merge radius specific to this waypoint, if it has one. The radius indicates that any robot within this distance of the waypoint can merge onto this waypoint.

Waypoint &set_merge_radius(std::optional<double> valeu): Set the merge radius specific to this waypoint.

Class Graph

Nested Relationships

Nested Types

Class Documentation