#include <PNController.hpp>

Classes
struct	edge_writer
struct	EdgeProperty
struct	PlaceInfo
struct	pn_writer
struct	pn_writer2
struct	PNEdgeProperty
struct	PNVertexProperty
struct	VertexProperty
Public Member Functions
void	addToGraph (const navcon_msgs::RegisterControllerRequest &info)
void	addToPNGraph (const navcon_msgs::RegisterControllerRequest &info)
void	addToRGraph (const std::string &name)
void	addToRGraph2 (const std::string &name)
void	get_firing (const std::string &name)
void	get_firing_pn (const std::string &name)
void	get_firing_r (const std::string &name)
void	getDotDesc (std::string &desc)
void	getDotDesc2 (std::string &desc)
	PNController ()
void	reachability ()
Private Types
typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::directedS, VertexProperty, boost::property < boost::edge_name_t, int > >	GraphType
typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::bidirectionalS, PNVertexProperty, boost::property < boost::edge_name_t, int > >	PNGraphType
Private Member Functions
bool	firing_rec (int des_place, std::set< int > &skip_transitions, std::set< int > &visited_places)
template<class PropertyMap , class NameMap >
edge_writer< PropertyMap, NameMap >	make_edge_writer (PropertyMap pmap, NameMap map)
Private Attributes
std::vector < GraphType::vertex_descriptor >	all_idx
std::vector< Eigen::VectorXi >	all_markings
Eigen::MatrixXi	Dm
Eigen::MatrixXi	Dp
std::vector< int >	firing_seq
Eigen::MatrixXi	I
Eigen::VectorXi	marking
std::map< std::string, PlaceInfo >	nameMap
std::map< int, std::string >	placeMap
std::map< int, int >	placeToVertexMap
PNGraphType	pngraph
int	pnum
std::vector< int >	resourcePosition
GraphType	rgraph
GraphType	rgraph2
int	tnum
std::map< int, std::string >	transitionMap

Detailed Description

The class contains implementation of Petri-Net builder and controller.

Todo:

Add multiple desired places setup

Add place turn-off option

Add additional state enabled place in parallel with the control place.

Add weighted transitions for multi DOF controllers ?

Add simulation step for activation to detect wrong firing sequences.

Extract reachability graph building and ploting

Extract debugging information and structure it in a debug class

Possible optimizations: Incremental graph building

Possible optimizations: BFS only on a subset of the graph ?

Possible optimizations: Spin-off BFS for the new state in a thread to have it ready in advance

Recommended optimizations: Reachability calculation memory/time/copying/std::find usage

Add detection of faulty controller registrations or setups. -analyze if they have indirect dependencies to DOFs

Possible optimizations: Find sequences that can fire simultaneously

Definition at line 68 of file PNController.hpp.

Member Typedef Documentation

typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::directedS, VertexProperty, boost::property<boost::edge_name_t, int> > labust::control::PNController::GraphType [private]

Definition at line 188 of file PNController.hpp.

typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::bidirectionalS, PNVertexProperty, boost::property<boost::edge_name_t, int> > labust::control::PNController::PNGraphType [private]

Definition at line 208 of file PNController.hpp.