multi_robot_router::PriorityScheduler Class Reference

#include <priority_scheduler.h>

Public Member Functions
const std::vector< uint32_t > &	getActualSchedule () const
	returns the currently produced speed schedule More...
	PriorityScheduler (const uint32_t _nrRobots)
	constructor More...
bool	reschedulePriorities (const uint32_t _collidingRobot, std::vector< uint32_t > _collsisions, std::vector< uint32_t > &_newSchedule, uint32_t &_firstRobotToReplan)
	rescedules priorities depending on the ound collisions and allready tried schedules More...
void	reset (const uint32_t _nrRobots)
	resets the Priority schedule with an initial priority schedule More...

Protected Attributes
std::vector< uint32_t >	actualPrioritySchedule_
std::vector< std::vector< uint32_t > >	checkedSchedules_

Detailed Description

Definition at line 36 of file priority_scheduler.h.

Constructor & Destructor Documentation

multi_robot_router::PriorityScheduler::PriorityScheduler

(

const uint32_t

_nrRobots

)

constructor

Parameters

_nrRobots

the number of robots

Definition at line 33 of file priority_scheduler.cpp.

Member Function Documentation

const std::vector< uint32_t > & multi_robot_router::PriorityScheduler::getActualSchedule

(

)

const

returns the currently produced speed schedule

Returns

the computed speed schedule

Definition at line 51 of file priority_scheduler.cpp.

bool multi_robot_router::PriorityScheduler::reschedulePriorities	(	const uint32_t	_collidingRobot,
		std::vector< uint32_t >	_collsisions,
		std::vector< uint32_t > &	_newSchedule,
		uint32_t &	_firstRobotToReplan
	)

rescedules priorities depending on the ound collisions and allready tried schedules

the priority rescheduler exchanges only two priorities by taking the collidiongRobot and the robot with the most collisions, which produces no equal priority scheme to prior ones. Additionally the highest robot priority which has changed is returned.

Parameters

_collidingRobot	the robot which has to be exchanged with a higher priority one
_collisions	the collisions the _collidiongRobot has encounterd with other ones
_newSchedule	the new priority Schedule
_firstRobotToReplan	the exchanged robot with the highest robot

Returns

if a new priority schedule is found

Definition at line 56 of file priority_scheduler.cpp.

void multi_robot_router::PriorityScheduler::reset

(

const uint32_t

_nrRobots

)

resets the Priority schedule with an initial priority schedule

Parameters

_nrRobots

the number of robots

Definition at line 38 of file priority_scheduler.cpp.

Member Data Documentation

std::vector<uint32_t> multi_robot_router::PriorityScheduler::actualPrioritySchedule_

protected

Definition at line 68 of file priority_scheduler.h.

std::vector<std::vector<uint32_t> > multi_robot_router::PriorityScheduler::checkedSchedules_

protected

Definition at line 67 of file priority_scheduler.h.

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The documentation for this class was generated from the following files:

• priority_scheduler.h
• priority_scheduler.cpp