#include <PNController.hpp>
Classes | |
| struct | edge_writer |
| struct | EdgeProperty |
| struct | PlaceInfo |
| struct | pn_writer |
| struct | VertexProperty |
Public Member Functions | |
| void | addToGraph (const navcon_msgs::RegisterControllerRequest &info) |
| void | get_firing (const std::string &name) |
| void | get_firing_r (const std::string &name) |
| void | getDotDesc (std::string &desc) |
| PNController () | |
| void | reachability () |
Private Types | |
| typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::directedS, VertexProperty, boost::property < boost::edge_name_t, int > > | GraphType |
Private Member Functions | |
| bool | firing_rec (int des_place, std::set< int > &skip_transitions, std::set< int > &visited_places) |
| template<class PropertyMap , class NameMap > | |
| edge_writer< PropertyMap, NameMap > | make_edge_writer (PropertyMap pmap, NameMap map) |
Private Attributes | |
| std::vector < GraphType::vertex_descriptor > | all_idx |
| std::vector< Eigen::VectorXi > | all_markings |
| Eigen::MatrixXi | Dm |
| Eigen::MatrixXi | Dp |
| std::vector< int > | firing_seq |
| Eigen::MatrixXi | I |
| Eigen::VectorXi | marking |
| std::map< std::string, PlaceInfo > | nameMap |
| std::map< int, std::string > | placeMap |
| int | pnum |
| GraphType | rgraph |
| int | tnum |
| std::map< int, std::string > | transitionMap |
The class contains implementation of Petri-Net builder and controller.
Add multiple desired places setup
Add place turn-off option
Add additional state enabled place in parallel with the control place.
Add weighted transitions for multi DOF controllers ?
Add simulation step for activation to detect wrong firing sequences.
Extract reachability graph building and ploting
Extract debugging information and structure it in a debug class
Possible optimizations: Incremental graph building
Possible optimizations: BFS only on a subset of the graph ?
Possible optimizations: Spin-off BFS for the new state in a thread to have it ready in advance
Recommended optimizations: Reachability calculation memory/time/copying/std::find usage
Add detection of faulty controller registrations or setups. -analyze if they have indirect dependencies to DOFs
Possible optimizations: Find sequences that can fire simultaneously
Definition at line 68 of file PNController.hpp.
typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, VertexProperty, boost::property<boost::edge_name_t, int> > labust::control::PNController::GraphType [private] |
Definition at line 164 of file PNController.hpp.
Main constructor
Definition at line 49 of file PNController.cpp.
| void PNController::addToGraph | ( | const navcon_msgs::RegisterControllerRequest & | info | ) |
Add controller to the petri-net.
Definition at line 65 of file PNController.cpp.
| bool PNController::firing_rec | ( | int | des_place, |
| std::set< int > & | skip_transitions, | ||
| std::set< int > & | visited_places | ||
| ) | [private] |
Firing sequence recursive calculation.
Definition at line 113 of file PNController.cpp.
| void PNController::get_firing | ( | const std::string & | name | ) |
Get the firing sequence for the named controller.
Definition at line 234 of file PNController.cpp.
| void PNController::get_firing_r | ( | const std::string & | name | ) |
Get the firing sequence for the named controller.
Definition at line 324 of file PNController.cpp.
| void PNController::getDotDesc | ( | std::string & | desc | ) |
Get the reachability graph DOT description.
Definition at line 543 of file PNController.cpp.
| edge_writer<PropertyMap, NameMap> labust::control::PNController::make_edge_writer | ( | PropertyMap | pmap, |
| NameMap | map | ||
| ) | [inline, private] |
Definition at line 197 of file PNController.hpp.
| void PNController::reachability | ( | ) |
Calculates the reachability graph.
Definition at line 451 of file PNController.cpp.
std::vector<GraphType::vertex_descriptor> labust::control::PNController::all_idx [private] |
Definition at line 205 of file PNController.hpp.
std::vector<Eigen::VectorXi> labust::control::PNController::all_markings [private] |
Definition at line 204 of file PNController.hpp.
Eigen::MatrixXi labust::control::PNController::Dm [private] |
PN matrices.
Definition at line 124 of file PNController.hpp.
Eigen::MatrixXi labust::control::PNController::Dp [private] |
Definition at line 124 of file PNController.hpp.
std::vector<int> labust::control::PNController::firing_seq [private] |
The last firing sequence.
Definition at line 140 of file PNController.hpp.
Eigen::MatrixXi labust::control::PNController::I [private] |
Definition at line 124 of file PNController.hpp.
Eigen::VectorXi labust::control::PNController::marking [private] |
Definition at line 128 of file PNController.hpp.
std::map<std::string, PlaceInfo> labust::control::PNController::nameMap [private] |
Helper name to p/t mapping.
Definition at line 136 of file PNController.hpp.
std::map<int, std::string> labust::control::PNController::placeMap [private] |
Helper maps for debugging.
Definition at line 132 of file PNController.hpp.
int labust::control::PNController::pnum [private] |
The place and transition number.
Definition at line 120 of file PNController.hpp.
Definition at line 202 of file PNController.hpp.
int labust::control::PNController::tnum [private] |
Definition at line 120 of file PNController.hpp.
std::map<int, std::string> labust::control::PNController::transitionMap [private] |
Definition at line 132 of file PNController.hpp.