#include <single_robot_router.h>
Definition at line 49 of file single_robot_router.h.
multi_robot_router::SingleRobotRouter::SingleRobotRouter |
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multi_robot_router::SingleRobotRouter::SingleRobotRouter |
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const SingleRobotRouter & |
srr | ) |
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bool multi_robot_router::SingleRobotRouter::getLastResult |
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const std::vector< uint32_t > & multi_robot_router::SingleRobotRouter::getRobotCollisions |
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returns the found robot collisions while planning
- Returns
- the found robot collisions
Definition at line 118 of file single_robot_router.cpp.
bool multi_robot_router::SingleRobotRouter::getRouteCandidate |
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const uint32_t |
_start, |
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const uint32_t |
_goal, |
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const RouteCoordinatorWrapper & |
path_coordinator, |
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const uint32_t |
_robotDiameter, |
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const float & |
_robotSpeed, |
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std::vector< RouteVertex > & |
path, |
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const uint32_t |
_maxIterations |
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calculates a route candidate coordinated with other robots by the given route Coordinated
- Parameters
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_start | the start vertex |
_goal | the goal vertex |
path_coordinator | the used route coordinater to coordinate with other robots |
_robotDiameter | the diameter of the robot |
_robotSpeed | the selected robot speed (multiplier) |
path | the found route candidate |
_maxIterations | the maximum allowed iterations of the loop |
- Returns
- returns true if a route candidate is found
Definition at line 53 of file single_robot_router.cpp.
void multi_robot_router::SingleRobotRouter::initSearchGraph |
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const std::vector< Segment > & |
_graph, |
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const uint32_t |
minSegmentWidth_ = 0 |
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generates the search graph out of the given graph (and optimizes it)
- Parameters
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_graph | the main graph |
minSegmentWidth_ | used to optimize the graph (e.g. if no robot has less than d in size all segments with less space than d can be removed) |
Definition at line 103 of file single_robot_router.cpp.
void multi_robot_router::SingleRobotRouter::resetAttempt |
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bool multi_robot_router::SingleRobotRouter::lastAttempt_ = false |
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std::vector<RouteVertex> multi_robot_router::SingleRobotRouter::path_ |
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uint32_t multi_robot_router::SingleRobotRouter::robotDiameter_ |
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std::vector<std::unique_ptr<Vertex> > multi_robot_router::SingleRobotRouter::searchGraph_ |
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Traceback multi_robot_router::SingleRobotRouter::traceback_ |
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The documentation for this class was generated from the following files: