Public Member Functions
Construction
	InteractionInformation (MPProblem *_problem, XMLNode &_node)

Accessors
std::string	GetLabel () const
	Get label for handoff template.

size_t	GetMaxAttempts () const
	Get max attempts for placing template in real environment.

MPProblem *	GetMPProblem () const
	Get MPProblem for handoff.

std::vector< std::shared_ptr< MPTask > > &	GetInteractionTasks ()
	Get interaction tasks for handoff.

std::vector< std::shared_ptr< MPTask > > &	GetTypeTasks (const std::string &_s)

double	GetInteractionWeight () const
	Get interaction weight.

void	AddTemplateLocation (Cfg _location)

std::vector< Cfg > &	GetTemplateLocations ()
	Gets the set of locations to place ITs.

std::vector< Cfg >	GetInteractionPositions ()
	Gets the final position of robots at each of the IT locations.

std::vector< std::pair< Cfg, Cfg > >	GetInteractionPositionPairs ()

std::vector< std::vector< Cfg > >	GetInteractionPaths ()
	Gets the paths of robots at each of the IT locations.

std::vector< Cfg >	GetInteractionPosition (std::string _capability)
	Get the final position of robot of input capability.

std::vector< std::vector< Cfg > >	GetInteractionPath (std::string _capability)
	Get the paths of robot of input capability.

bool	SavedPaths ()

Environment *	GetInteractionEnvironment ()
	Gets the environment to plan the interaction in.

Protected Attributes
MPProblem *	m_problem {nullptr}
	The handoff template problem.

std::vector< std::shared_ptr< MPTask > >	m_tasks
	The set of tasks that must be performed to handoff.

std::unordered_map< std::string, std::vector< std::shared_ptr< MPTask > > >	m_taskType
	The list of tasks stored by type.

std::string	m_label
	The handoff label.

size_t	m_maxAttempts
	The number of attempts to try and place the template in the environment.

double	m_interactionWeight {0}
	The weight of the edge between interaction cfgs.

std::vector< Cfg >	m_handoffLocations
	The locations for manually placed handoffs.

std::unique_ptr< Environment >	m_interactionEnvironment
	Environment to plan the interaction in.

bool	m_savePaths

Detailed Description

This represents a Handoff Template, which stores the tasks required for robots to perform a handoff.

Constructor & Destructor Documentation

InteractionInformation::InteractionInformation	(	MPProblem *	_problem,
		XMLNode &	_node
	)

Parse tasks in Handoff template

Parameters

_problem	MPProblem for Handoff
_node	XMLNode to parse

std::vector< std::shared_ptr< MPTask > > & InteractionInformation::GetTypeTasks ( const std::string & _s )

Get all tasks of the given type

Parameters

_s	Type of tasks desired

void InteractionInformation::AddTemplateLocation ( Cfg _location )

Adds an addition location to place an IT

Parameters

_location Location to add to handoff locations

std::vector< std::pair< Cfg, Cfg > > InteractionInformation::GetInteractionPositionPairs ( )

Gets the final position of robot pairs at each of the IT locations. First is the robot handing off. Second is robot receving.

bool InteractionInformation::SavedPaths ( )

Get if paths are saved

bool InteractionInformation::m_savePaths

protected

Indicates if the interaction template should save the entire paths of the interaction or just the final configurations.

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