route_coordinator.cpp

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#include <tuw_global_router/route_coordinator.h>

namespace multi_robot_router
{
RouteCoordinatorWrapper::RouteCoordinatorWrapper(const uint32_t _robot, const multi_robot_router::RouteCoordinator &_routeCoordinator)
{
    robot_ = _robot;
    routeCoordinator_ = &_routeCoordinator;
}

bool RouteCoordinatorWrapper::checkSegment(const Vertex &_next, const uint32_t _startTime, const int32_t _endTime, const uint32_t _diameterPixel, int32_t &_collisionRobot, bool _ignoreGoal) const
{
    return routeCoordinator_->checkSegment(_next, _startTime, _endTime, _diameterPixel, _collisionRobot, robot_, _ignoreGoal);
}

int32_t RouteCoordinatorWrapper::findPotentialUntilRobotOnSegment(const uint32_t _robot, const uint32_t _segId) const
{
    return routeCoordinator_->findPotentialUntilRobotOnSegment(_robot, _segId);
}

const uint32_t RouteCoordinatorWrapper::getEnd() const
{
    return routeCoordinator_->getEnd(robot_);
}

std::vector<std::pair<uint32_t, float>> RouteCoordinatorWrapper::getListOfRobotsHigherPrioritizedRobots(const uint32_t _robot, const uint32_t _segId, const int32_t _potential) const
{
    return routeCoordinator_->getListOfRobotsHigherPrioritizedRobots(_robot, _segId, _potential);
}

const uint32_t RouteCoordinatorWrapper::getStart() const
{
    return routeCoordinator_->getStart(robot_);
}

bool RouteCoordinatorWrapper::isGoal(const Vertex &_seg) const
{
    return routeCoordinator_->isGoal(_seg, robot_);
}

} // namespace multi_robot_router