router.h

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/*
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#ifndef ROUTER_H
#define ROUTER_H

#include <vector>
#include <memory>
#include <opencv/cv.h>
#include <tuw_global_router/point_expander.h>
#include <tuw_global_router/multi_robot_router.h>
#include <tuw_global_router/multi_robot_router_threaded_srr.h>

namespace multi_robot_router
{
class Router
{
  public:
    Router(const uint32_t _nr_robots);
    Router();

    void resize(const uint32_t _nr_robots);
    bool makePlan(const std::vector<Eigen::Vector3d> &_starts, const std::vector<Eigen::Vector3d> &_goals, const std::vector<float> &_radius, const cv::Mat &_map, const float &_resolution, const Eigen::Vector2d &_origin, const std::vector<Segment> &_graph, const std::vector<std::string> &_robot_names);
    void setCollisionResolutionType(const SegmentExpander::CollisionResolverType _cr);
    const std::vector<Checkpoint> &getRoute(const uint32_t _robot) const;
    uint32_t getDuration_ms() const;
    float getOverallPathLength() const;
    float getLongestPathLength() const;
    uint32_t getPriorityScheduleAttemps() const;
    uint32_t getSpeedScheduleAttemps() const;

    std::shared_ptr<float> potential_;

  private:
    //find the right segments to start from
    bool calculateStartPoints(const std::vector<float> &_radius, const cv::Mat &_map, const float &resolution, const Eigen::Vector2d &origin, const std::vector<Segment> &_graph);
    //Find the segment if the graph is a voronoi one
    int32_t getSegment(const std::vector<Segment> &_graph, const Eigen::Vector2d &_pose) const;
    //Helper dist calculation
    float distanceToSegment(const Segment &_s, const Eigen::Vector2d &_p) const;
    //Checks if _seg is a leave of the graph and uses the closes neighbor as segment if the width of the leave is to small
    bool resolveSegment(const std::vector<Segment> &_graph, const uint32_t &_segId, const Eigen::Vector2d &_originPoint, const float &_radius, uint32_t &_foundSeg) const;
    //for every path remove the first and last "segmentOptimizations_" number of segments if possible
    void optimizePaths(const std::vector<Segment> &_graph);
    //adds start and endpoints to the path
    void postprocessRoutingTable();
    //Preprocessing endpoints for enpoint calculation threaded
    bool preprocessEndpoints(const std::vector<float> &_radius, const float &resolution, const Eigen::Vector2d &origin, const std::vector<Segment> &_graph);
    //Calculate endpoints
    bool processEndpointsExpander(const cv::Mat &_map, const std::vector<Segment> &_graph, const Eigen::Vector2d &_realStart, const Eigen::Vector2d &_realGoal, Eigen::Vector2d &_voronoiStart, Eigen::Vector2d &_voronoiGoal, uint32_t &_segmentStart, uint32_t &_segmentGoal, const uint32_t _diameter, const uint32_t _index) const;

    uint32_t robot_nr_;
    std::vector<Eigen::Vector3d> starts_;
    std::vector<Eigen::Vector3d> goals_;
    std::vector<Eigen::Vector2d> realGoals_;
    std::vector<Eigen::Vector2d> realStart_;
    std::vector<Eigen::Vector2d> voronoiGoals_;
    std::vector<Eigen::Vector2d> voronoiStart_;
    std::vector<uint32_t> startSegments_;
    std::vector<uint32_t> goalSegments_;
    std::vector<std::string> robot_names_;              

    PointExpander pointExpander_;
    MultiRobotRouter *multiRobotRouter_;
    MultiRobotRouter mrr_;
    MultiRobotRouterThreadedSrr mrrTs_;
    std::vector<std::vector<Checkpoint>> routingTable_;
    float overallPathLength_;
    float longestPatLength_;
    uint32_t duration_;

  protected:
    enum class goalMode
    {
        use_segment_goal,
        use_voronoi_goal,
        use_map_goal
    };
    enum class graphType
    {
        voronoi,
        random
    };
    enum class routerType
    {
        singleThread,
        multiThreadSrr
    };
    graphType graphMode_ = graphType::voronoi;
    goalMode goalMode_ = goalMode::use_voronoi_goal;
    float routerTimeLimit_s_ = 10.0;
    bool segmentOptimizations_ = false;
    bool speedRescheduling_ = true;
    bool priorityRescheduling_ = true;
    bool collisionResolver_ = true;

    void setPlannerType(routerType _type, uint32_t _nr_threads);
};
} // namespace multi_robot_router
#endif // PLANNER_H