GoalMap< Roadmap, Task > Class Template Reference

Public Member Functions
Construction
	GoalMap (Roadmap *const _r, const Task *const _t)
	~GoalMap ()
Interface
const VIDSet &	GetStartVIDs () const noexcept
const VIDSet &	GetGoalVIDs (const size_t _index) const noexcept
size_t	UnreachedGoalCount () const noexcept
	Check the number of unreached goals.
std::vector< size_t >	UnreachedGoalIndexes () const noexcept
Hooks
Note that you must install the hooks *after* the object has settled in its final location in memory, or the this pointer will be corrupted and general mayhem will ensue.
void	InstallHooks () noexcept
	Install hooks in the roadmap for mapping new configurations.
void	RemoveHooks () noexcept
	Remove hooks from the roadmap.

Public Types
Roadmap Types
typedef Roadmap::VI	VI
typedef Roadmap::VID	VID
Local Types
typedef std::unordered_set< VID >	VIDSet

Detailed Description

template<typename Roadmap, typename Task>
class GoalMap< Roadmap, Task >

Tracks the set of roadmap configurations which satisfy a task's constraints. Works for both individual and group roadmaps.

Note that this object should NOT live in the MPSolution because the solution is not tied to a particular task. However it does represent part of the solution, so perhaps we will refactor the MPSolution to contain a roadmap and set of task solutions (with goal tracker and path) for each robot.

Constructor & Destructor Documentation

GoalMap()

template<typename Roadmap , typename Task >

GoalMap< Roadmap, Task >::GoalMap	(	Roadmap *const	_r,
		const Task *const	_t
	)

Construct a goal map for a roadmap/task pair.

Parameters

_r	The roadmap to track.
_t	The task defining start/goal conditions.

Member Function Documentation

GetStartVIDs()

template<typename Roadmap , typename Task >

const GoalMap< Roadmap, Task >::VIDSet & GoalMap< Roadmap, Task >::GetStartVIDs

noexcept

Find the VIDs which satisfy the start constraint.

Returns

The set of VIDs which satisfy the start constraint.

GetGoalVIDs()

template<typename Roadmap , typename Task >

const GoalMap< Roadmap, Task >::VIDSet & GoalMap< Roadmap, Task >::GetGoalVIDs ( const size_t  _index ) const

noexcept

Find the VIDs which satisfy a particular goal constraint.

Parameters

_index

The goal constraint index.

Returns

The set of VIDs which satisfy goal constraint _index.

UnreachedGoalIndexes()

template<typename Roadmap , typename Task >

std::vector< size_t > GoalMap< Roadmap, Task >::UnreachedGoalIndexes

noexcept

Get the indexes of the goal constraints which have not yet been satisfied.

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The documentation for this class was generated from the following file:

• GoalTracker.h