#include <segment_expander.h>

Classes
struct	greaterSegmentWrapper

Public Types
enum	CollisionResolverType { CollisionResolverType::none, CollisionResolverType::backtracking, CollisionResolverType::avoidance }

Public Member Functions
bool	calculatePotentials (const RouteCoordinatorWrapper *_p, Vertex &_start, Vertex &_end, const uint32_t _maxIterations, const uint32_t _radius)
	assigns all Vertices in the Search graph with a potential according to the distance to the start More...

CollisionResolverType	getCollisionResolver () const
	gets the currently used collision resolver More...

const std::vector< uint32_t > &	getRobotCollisions () const
	returns the found robotCollisions while planning More...

void	reset ()
	resets the session More...

	SegmentExpander (const CollisionResolverType _cRes)
	constructor More...

void	setCollisionResolver (const CollisionResolverType cRes)
	sets the desired collision resolver More...

void	setSpeed (const float &_speed)
	Sets the multiplier to reduce a robots speed (pCalc...) More...

Private Member Functions
void	addExpansoionCandidate (Vertex &_current, Vertex &_next, Vertex &_end)

void	addStartExpansionCandidate (Vertex &_start, Vertex &_current, Vertex &_next, Vertex &_end)

template<class T , class S , class C >
void	clearpq (std::priority_queue< T, S, C > &q)

bool	containsVertex (const Vertex &_v, const std::vector< std::reference_wrapper< Vertex >> &_list) const

Vertex *	expandVoronoi (Vertex &_start, Vertex &_end, const uint32_t _cycles)

void	resolveStartCollision (Vertex &_start, Vertex &_end)

Private Attributes
AvoidanceResolution	avr_

BacktrackingResolution	btr_

CollisionResolution *	collision_resolution_

std::vector< uint32_t >	collisions_robots_

CollisionResolverType	crType_

uint32_t	diameter_

EmptyResolution	er_

Heuristic	hx_

uint32_t	neutral_cost_ = 1

PotentialCalculator	pCalc_

const RouteCoordinatorWrapper *	route_querry_

std::priority_queue< Vertex , std::vector< Vertex >, greaterSegmentWrapper >	seg_queue_

std::vector< std::unique_ptr< Vertex > >	startSegments_

Detailed Description

Definition at line 45 of file segment_expander.h.

Member Enumeration Documentation

enum multi_robot_router::SegmentExpander::CollisionResolverType

strong

Enumerator
none
backtracking
avoidance

Definition at line 48 of file segment_expander.h.

Constructor & Destructor Documentation

multi_robot_router::SegmentExpander::SegmentExpander ( const CollisionResolverType _cRes )

constructor

Parameters

_h	the heuristic used (A-Star, Dijkstra, ...)
_pCalc	the used Potential Calculator for the expander
_cRes	the used collision resolution strategy

Definition at line 36 of file segment_expander.cpp.

Member Function Documentation

void multi_robot_router::SegmentExpander::addExpansoionCandidate	(	Vertex &	_current,
		Vertex &	_next,
		Vertex &	_end
	)

private

Definition at line 95 of file segment_expander.cpp.

void multi_robot_router::SegmentExpander::addStartExpansionCandidate	(	Vertex &	_start,
		Vertex &	_current,
		Vertex &	_next,
		Vertex &	_end
	)

private

Definition at line 69 of file segment_expander.cpp.

bool multi_robot_router::SegmentExpander::calculatePotentials	(	const RouteCoordinatorWrapper *	_p,
		Vertex &	_start,
		Vertex &	_end,
		const uint32_t	_maxIterations,
		const uint32_t	_radius
	)

assigns all Vertices in the Search graph with a potential according to the distance to the start

Parameters

_p	the route coordinator to coordinate the route with other robots
_start	the start Vertex
_end	the end Vertex

Returns: if the goal was found

Definition at line 144 of file segment_expander.cpp.

template<class T , class S , class C >

void multi_robot_router::SegmentExpander::clearpq ( std::priority_queue< T, S, C > & q )

inlineprivate

Definition at line 92 of file segment_expander.h.

bool multi_robot_router::SegmentExpander::containsVertex	(	const Vertex &	_v,
		const std::vector< std::reference_wrapper< Vertex >> &	_list
	)		const

private

Definition at line 228 of file segment_expander.cpp.

Vertex * multi_robot_router::SegmentExpander::expandVoronoi	(	Vertex &	_start,
		Vertex &	_end,
		const uint32_t	_cycles
	)

private

Definition at line 244 of file segment_expander.cpp.

SegmentExpander::CollisionResolverType multi_robot_router::SegmentExpander::getCollisionResolver ( ) const

gets the currently used collision resolver

Definition at line 58 of file segment_expander.cpp.

const std::vector< uint32_t > & multi_robot_router::SegmentExpander::getRobotCollisions ( ) const

returns the found robotCollisions while planning

Definition at line 298 of file segment_expander.cpp.

void multi_robot_router::SegmentExpander::reset ( )

resets the session

Definition at line 63 of file segment_expander.cpp.

void multi_robot_router::SegmentExpander::resolveStartCollision	(	Vertex &	_start,
		Vertex &	_end
	)

private

Definition at line 164 of file segment_expander.cpp.

void multi_robot_router::SegmentExpander::setCollisionResolver ( const CollisionResolverType cRes )

sets the desired collision resolver

Definition at line 41 of file segment_expander.cpp.

void multi_robot_router::SegmentExpander::setSpeed ( const float & _speed )

Sets the multiplier to reduce a robots speed (pCalc...)

Definition at line 239 of file segment_expander.cpp.

Member Data Documentation

AvoidanceResolution multi_robot_router::SegmentExpander::avr_

private

Definition at line 123 of file segment_expander.h.

BacktrackingResolution multi_robot_router::SegmentExpander::btr_

private

Definition at line 124 of file segment_expander.h.

CollisionResolution* multi_robot_router::SegmentExpander::collision_resolution_

private

Definition at line 122 of file segment_expander.h.

std::vector<uint32_t> multi_robot_router::SegmentExpander::collisions_robots_

private

Definition at line 128 of file segment_expander.h.

CollisionResolverType multi_robot_router::SegmentExpander::crType_

private

Definition at line 130 of file segment_expander.h.

uint32_t multi_robot_router::SegmentExpander::diameter_

private

Definition at line 118 of file segment_expander.h.

EmptyResolution multi_robot_router::SegmentExpander::er_

private

Definition at line 125 of file segment_expander.h.

Heuristic multi_robot_router::SegmentExpander::hx_

private

Definition at line 120 of file segment_expander.h.

uint32_t multi_robot_router::SegmentExpander::neutral_cost_ = 1

private

Definition at line 117 of file segment_expander.h.

PotentialCalculator multi_robot_router::SegmentExpander::pCalc_

private

Definition at line 121 of file segment_expander.h.

const RouteCoordinatorWrapper* multi_robot_router::SegmentExpander::route_querry_

private

Definition at line 127 of file segment_expander.h.

std::priority_queue<Vertex *, std::vector<Vertex *>, greaterSegmentWrapper> multi_robot_router::SegmentExpander::seg_queue_

private

Definition at line 116 of file segment_expander.h.

std::vector<std::unique_ptr<Vertex> > multi_robot_router::SegmentExpander::startSegments_

private

Definition at line 129 of file segment_expander.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation