backtracking_resolution.h

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#ifndef BACKTRACKING_RESOLUTION_H
#define BACKTRACKING_RESOLUTION_H

#include <tuw_global_router/srr_utils.h>
#include <tuw_global_router/route_coordinator.h>
#include <tuw_global_router/collision_resolution.h>

namespace multi_robot_router
{
class BacktrackingResolution : public CollisionResolution
{
  public:
    BacktrackingResolution(uint32_t _timeoverlap);
    BacktrackingResolution();

    void resetSession(const RouteCoordinatorWrapper *_route_querry, const PotentialCalculator *_pCalc, const uint32_t _robot_radius);
    std::vector<std::reference_wrapper<Vertex>> resolve(Vertex &_current, Vertex &_next, int32_t _collision);
    const std::vector<uint32_t> &getRobotCollisions() const;
    void saveCollision(const uint32_t _coll);

  private:
    //Tracks back until a free vertex or the start vertex is found to avoid a robot
    void trackBack(Vertex &_current, Vertex &_next, const int32_t _collision, const float _freePotential);
    //Saves robot collisions automatically extending the collision vertex
    void addCollision(const uint32_t robot);

  private:
    const RouteCoordinatorWrapper *route_querry_;
    const PotentialCalculator *pCalc_;
    uint32_t timeoverlap_;
    uint32_t robotDiameter_;
    //unique_ptr to keep references of Vertex (Heap), because the list is updated while runtime
    std::vector<std::vector<std::unique_ptr<Vertex>>> generatedSubgraphs_;
    std::vector<std::reference_wrapper<Vertex>> foundSolutions_;
    std::vector<uint32_t> encounteredCollisions_;
    uint32_t resolutionAttemp_ = 0;
    bool avoidStartSuccessorDone_ = false;
    bool avoidStartPredecessorDone_ = false;
};
} // namespace multi_robot_router
#endif // HEURISTIC_H