speed_scheduler.cpp

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#include <tuw_global_router/speed_scheduler.h>
#include <climits>

namespace multi_robot_router
{

const std::vector<float> &SpeedScheduler::getActualSpeeds()
{
    return actualSpeedSchedule_;
}

SpeedScheduler::SpeedScheduler(const uint32_t _nrRobots)
{
    reset(_nrRobots);
}

bool SpeedScheduler::rescheduleSpeeds(const uint32_t _collidingRobot, const std::vector<uint32_t> &_collisions, std::vector<float> &_newSchedule, int32_t &_firstRobotToReplan)
{
    //Perform only one speed reduction

    //bool found = false;

    //while(!found)
    //{
    _firstRobotToReplan = -1;
    uint32_t collisions = 0;

    for (int i = 0; i < _collisions.size(); i++)
    {
        if (_collisions[i] > collisions && i != _collidingRobot)
        {
            _firstRobotToReplan = i;
            collisions = _collisions[i];
        }
    }

    if (_firstRobotToReplan != -1 && actualSpeedSchedule_[_firstRobotToReplan] == 1.0)
    {
        actualSpeedSchedule_[_firstRobotToReplan] *= 2.0;
        checkedSchedules_.emplace_back(actualSpeedSchedule_);
        _newSchedule = actualSpeedSchedule_;
        return true;
    }
    else
    {
        _firstRobotToReplan = -1;
        return false;
    }

    //}
    //return found;
}

void SpeedScheduler::reset(const uint32_t _nrRobots)
{
    checkedSchedules_.clear();
    actualSpeedSchedule_.clear();

    actualSpeedSchedule_.resize(_nrRobots, 1.0);
    checkedSchedules_.emplace_back(actualSpeedSchedule_);
}

} // namespace multi_robot_router