GroupLocalPlan< CfgType > Class Template Reference

Public Member Functions
Construction
	GroupLocalPlan (GroupRoadmapType *const _g=nullptr, const std::string &_lpLabel="", const double _w=0.0, const GroupCfgPath &_path=GroupCfgPath())
Ordering and Equality
virtual bool	operator== (const GroupLocalPlan &_w) const noexcept
virtual bool	operator!= (const GroupLocalPlan &_w) const noexcept
virtual bool	operator< (const GroupLocalPlan &_other) const noexcept
Roadmap Edge Weight
Get/set the numeric weight for this local plan as used when querying a roadmap.
EdgeWeight	GetWeight () const noexcept
void	SetWeight (const EdgeWeight _w) noexcept
Misc. Interface Functions
void	SetSkipEdge () noexcept
bool	SkipEdge () const noexcept
void	SetActiveRobots (const std::vector< size_t > &_indices)
const std::vector< size_t > &	GetActiveRobots () const noexcept
void	Clear () noexcept
	Reset the states of this object.
GroupCfgPath &	GetIntermediates () noexcept
	Get the group configuration intermediates.
const GroupCfgPath &	GetIntermediates () const noexcept
	Get the group configuration intermediates.
void	SetIntermediates (const GroupCfgPath &_cfgs)
	Set the group configuration intermediates.
const std::string &	GetLPLabel () const noexcept
	Get the string label of this current local plan.
void	SetLPLabel (const std::string _label) noexcept
Individual Local Plans
void	SetEdge (const size_t _robot, IndividualEdge &&_edge)
void	SetEdge (Robot *const _robot, IndividualEdge &&_edge)
	overload for Robot pointer
void	SetEdge (Robot *const _robot, const ED _ed)
IndividualEdge *	GetEdge (Robot *const _robot)
const IndividualEdge *	GetEdge (Robot *const _robot) const
IndividualEdge *	GetEdge (const size_t _robotIndex)
	Overloads for using index instead of robot pointer.
const IndividualEdge *	GetEdge (const size_t _robotIndex) const
std::vector< IndividualEdge > &	GetLocalEdges () noexcept
	Get a vector of local edges in the plan.
std::vector< ED > &	GetEdgeDescriptors () noexcept
	Get a vector of local edges' descriptors.
void	ClearLocalEdges () noexcept
	Clear all local edges in the plan.
size_t	GetNumRobots () const noexcept
	Get the number of robots given in this group local plan.
Stapl graph interface
virtual GroupLocalPlan	operator+ (const GroupLocalPlan &_other) const
	This only adds weights, it doesn't take intermediates into account.
double	Weight () const noexcept
	Get the weight of the plan.

Public Types
Local Types
typedef double	EdgeWeight
typedef DefaultWeight< CfgType >	IndividualEdge
typedef GroupRoadmap< GroupCfg, GroupLocalPlan >	GroupRoadmapType
typedef std::vector< GroupCfg >	GroupCfgPath
typedef std::vector< size_t >	Formation
typedef size_t	GroupVID
typedef stapl::edge_descriptor_impl< size_t >	ED

Iteration
Iterate over the EDs in this edge.
typedef std::vector< ED >::iterator	iterator
typedef std::vector< ED >::const_iterator	const_iterator
iterator	begin () noexcept
iterator	end () noexcept
const_iterator	begin () const noexcept
const_iterator	end () const noexcept

Detailed Description

template<typename CfgType>
class GroupLocalPlan< CfgType >

A local plan for multiple robots. Each robot will be executing this motion simultaneously, and the total time is the same for each robot.

Todo:

Remove the 'active robots'. All robots are always active in a group edge. We do need to retain formation data for reconstructing edges.

Remove the 'skip edge' stuff. There is no such thing as a skipped edge: the disassembly code needs to be adjusted to only use the edges they want.

Rework so that we only need a robot group to construct this, in which case it will have all local edges. It should only get tied to a roadmap with SetGroupRoadmap after it has been added to one.

Constructor & Destructor Documentation

GroupLocalPlan()

template<typename CfgType >

GroupLocalPlan< CfgType >::GroupLocalPlan	(	GroupRoadmapType *const	_g = nullptr,
		const std::string &	_lpLabel = "",
		const double	_w = 0.0,
		const GroupCfgPath &	_path = GroupCfgPath()
	)

Constructs a GroupLocalPlan.

Parameters

_g	The group of robots to follow this edge. Defaults to nullptr.
_lpLabel	The string label to assign to this plan. Defaults to empty string.
_w	The weight of the plan. Defaults to 0.0.
_path	The path to be given by the plan. Defaults to GroupCfgPath().

Member Function Documentation

operator==()

template<typename CfgType >

bool GroupLocalPlan< CfgType >::operator== ( const GroupLocalPlan< CfgType > &  _w ) const

virtualnoexcept

Check if the given plan is equal to the current.

Parameters

_w	The given plan.

operator!=()

template<typename CfgType >

bool GroupLocalPlan< CfgType >::operator!= ( const GroupLocalPlan< CfgType > &  _w ) const

virtualnoexcept

Check if the given plan is unequal to the current.

Parameters

_w	The given plan.

operator<()

template<typename CfgType >

bool GroupLocalPlan< CfgType >::operator< ( const GroupLocalPlan< CfgType > &  _other ) const

virtualnoexcept

Check if the given plan is less than the current.

Parameters

_other

The given plan.

SetActiveRobots()

template<typename CfgType >

void GroupLocalPlan< CfgType >::SetActiveRobots

(

const std::vector< size_t > &

_indices

)

Set the list of active robots to the vector of robot indices given.

Parameters

The	vector of robo indices given.

GetActiveRobots()

template<typename CfgType >

const std::vector< size_t > & GroupLocalPlan< CfgType >::GetActiveRobots

noexcept

Get the vector of active robots indices.

Returns

The vector of active robot indices.

SetLPLabel()

template<typename CfgType >

void GroupLocalPlan< CfgType >::SetLPLabel ( const std::string  _label )

noexcept

Set the string label of this current local plan.

Parameters

The	desired string label.

SetEdge() [1/2]

template<typename CfgType >

void GroupLocalPlan< CfgType >::SetEdge	(	const size_t	_robot,
		IndividualEdge &&	_edge
	)

Set the individual edge for a robot to a local copy of an edge.

Parameters

_robot	The robot which the edge refers to.
_edge	The edge.

SetEdge() [2/2]

template<typename CfgType >

void GroupLocalPlan< CfgType >::SetEdge	(	Robot *const	_robot,
		const ED	_ed
	)

Set the individual edge for a robot to a roadmap copy of an edge.

Parameters

_robot	The robot which the edge refers to.
_ed	The edge descriptor.

GetEdge() [1/2]

template<typename CfgType >

GroupLocalPlan< CfgType >::IndividualEdge * GroupLocalPlan< CfgType >::GetEdge

(

Robot *const

_robot

)

Get the individual edge for a robot.

Parameters

_robot

The robot which the edge refers to.

Returns

A pointer to the edge for _robot. It will be null if it has not yet been set.

GetEdge() [2/2]

template<typename CfgType >

const GroupLocalPlan< CfgType >::IndividualEdge * GroupLocalPlan< CfgType >::GetEdge

(

Robot *const

_robot

)

const

Get the individual edge for a robot.

Parameters

_robot

The robot which the edge refers to.

Returns

A pointer to the edge for _robot. It will be null if it has not yet been set.

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

• GroupLocalPlan.h