Public Member Functions
Construction
	MPProblem ()
	Instantiate an empty MPProblem.

	MPProblem (const std::string &_filename)

	MPProblem (const MPProblem &_other)
	Copy.

	MPProblem (MPProblem &&_other)=delete

virtual	~MPProblem ()

Assignment
MPProblem &	operator= (const MPProblem &_other)
	Copy.

MPProblem &	operator= (MPProblem &&_other)=delete

XML File Parsing
const std::string &	GetXMLFilename () const
	Get the XML filename from which this object was parsed.

void	ReadXMLFile (const std::string &_filename)

Environment Accessors
Environment *	GetEnvironment ()
	Get the environment object.

void	SetEnvironment (std::unique_ptr< Environment > &&_e)

Robot Accessors
size_t	NumRobots () const noexcept
	Get the number of robots in our problem.

Robot *	GetRobot (const size_t _index) const noexcept

Robot *	GetRobot (const std::string &_label) const noexcept

const std::vector< std::unique_ptr< Robot > > &	GetRobots () const noexcept
	Get all robots in this problem.

const std::vector< Robot * >	GetRobotsOfType (std::string _type) const noexcept

size_t	NumRobotGroups () const noexcept

RobotGroup *	GetRobotGroup (const size_t _index) const noexcept

RobotGroup *	GetRobotGroup (const std::string &_label) const noexcept

const std::vector< std::unique_ptr< RobotGroup > > &	GetRobotGroups () const noexcept

Cfg	GetInitialCfg (Robot *_r)

void	SetInitialCfg (Robot *_r, Cfg _cfg)

Task Accessors
MPTask *	GetTask (std::string _label)

std::vector< std::shared_ptr< MPTask > >	GetTasks (Robot *const _robot) const noexcept

std::vector< std::shared_ptr< GroupTask > >	GetTasks (RobotGroup *const _group) const noexcept

void	AddTask (std::unique_ptr< MPTask > &&_task)

void	ReassignTask (MPTask const _task, Robot const _newOwner)

void	AddDecomposition (Robot *_coordinator, std::unique_ptr< Decomposition > &&_decomp)

const std::vector< std::unique_ptr< Decomposition > > &	GetDecompositions (Robot *_coordinator)

const std::unordered_map< Robot *, std::vector< std::unique_ptr< Decomposition > > > &	GetDecompositions ()
	Get map of robots to decompositions.

Dynamic Obstacle Accessors
const std::vector< DynamicObstacle > &	GetDynamicObstacles () const noexcept
	Get all of the dynamic obstacles in this problem.

void	AddDynamicObstacle (DynamicObstacle &&_obstacle)

void	ClearDynamicObstacles ()
	Remove all of the dynamic obstacles in this problem.

Debugging
virtual void	Print (std::ostream &_os) const

File Path Accessors
const std::string &	GetBaseFilename () const
	Get the base filename for output files.

void	SetBaseFilename (const std::string &_s)

std::string	GetPath (const std::string &_filename="")

void	SetPath (const std::string &_filename)

Handoff Template Accessors
std::vector< std::unique_ptr< InteractionInformation > > &	GetInteractionInformations ()

Protected Member Functions
Construction Helpers
void	ParseChild (XMLNode &_node)

void	MakePointRobot ()
	Create a pseudo-point robot.

Protected Attributes
Core Properties
std::unique_ptr< Environment >	m_environment
	The planning environment.

std::vector< std::unique_ptr< Robot > >	m_robots
	The robots in our problem.

std::vector< std::unique_ptr< RobotGroup > >	m_robotGroups
	Robot groups.

std::unique_ptr< Robot >	m_pointRobot
	A pseudo point-robot.

std::unordered_map< std::string, std::vector< Robot * > >	m_robotCapabilityMap
	Map of robot type to set of robots.

std::unordered_map< Robot *, Cfg >	m_initialCfgs
	Map of robot initial locations.

std::vector< DynamicObstacle >	m_dynamicObstacles
	The dynamic obstacles in our problem.

std::vector< std::unique_ptr< InteractionInformation > >	m_interactionInformations
	All handoff templates for a problem.

std::unordered_map< Robot *, std::list< std::shared_ptr< MPTask > > >	m_taskMap
	Map the tasks assigned to each robot.

std::unordered_map< RobotGroup *, std::list< std::shared_ptr< GroupTask > > >	m_groupTaskMap
	Map the group tasks assigned to each robot group.

std::unordered_map< std::string, MPTask * >	m_taskLabelMap
	Map task labels to tasks.

std::unordered_map< Robot *, std::vector< std::unique_ptr< Decomposition > > >	m_taskDecompositions
	Map robots to task decompositions.

Files
std::string	m_xmlFilename
	The XML file name.

std::string	m_baseFilename
	The base name for output files.

std::string	m_filePath
	The relative path for the problem XML.

Detailed Description

Representation of a motion planning problem, including an environment, tasks, and robots.

Constructor & Destructor Documentation

◆ MPProblem()

MPProblem::MPProblem ( const std::string & _filename )

explicit

Instantiate an MPProblem from an XML file.

Parameters

_filename The name of the XML file.

Member Function Documentation

◆ ReadXMLFile()

void MPProblem::ReadXMLFile ( const std::string & _filename )

Read an XML file.

Parameters

_filename The XML file name.

◆ SetEnvironment()

void MPProblem::SetEnvironment ( std::unique_ptr< Environment > && _e )

Set the environment object.

Parameters

_e	Environment to set to

◆ GetRobot() [1/2]

Robot * MPProblem::GetRobot ( const size_t _index ) const

noexcept

Get a specific robot by index.

Parameters

_index Index of robot to get

◆ GetRobot() [2/2]

Robot * MPProblem::GetRobot ( const std::string & _label ) const

noexcept

Get a specific robot by label.

Parameters

_label Label of robot to get

◆ GetRobotsOfType()

const std::vector< Robot * > MPProblem::GetRobotsOfType ( std::string _type ) const

noexcept

Get all robots of a specified type.

Parameters

_type Type of robots to retrieve

Returns: List of robots of type _type

◆ NumRobotGroups()

size_t MPProblem::NumRobotGroups ( ) const

noexcept

Group versions: Get the number of robot groups in our problem.

◆ GetRobotGroup() [1/2]

RobotGroup * MPProblem::GetRobotGroup ( const size_t _index ) const

noexcept

Get a specific robot group by index.

Parameters

_index Index of robot group to retrieve

◆ GetRobotGroup() [2/2]

RobotGroup * MPProblem::GetRobotGroup ( const std::string & _label ) const

noexcept

Get a specific robot group by group's label.

Parameters

_label Label of robot group to retrieve

◆ GetRobotGroups()

const std::vector< std::unique_ptr< RobotGroup > > & MPProblem::GetRobotGroups ( ) const

noexcept

Get all robot groups in this problem.

Returns: List of robot groups

◆ GetInitialCfg()

Cfg MPProblem::GetInitialCfg ( Robot * _r )

Get initial configuration of a robot

Parameters

_r	Robot whose configuration to retrieve

◆ SetInitialCfg()

void MPProblem::SetInitialCfg	(	Robot *	_r,
		Cfg	_cfg
	)

Get initial configuration of a robot

Parameters

_r	Robot whose configuration to retrieve
_cfg	Configuration to set for _r

◆ GetTask()

MPTask * MPProblem::GetTask ( std::string _label )

Get task by label

Parameters

_label Label of task to retrieve

◆ GetTasks() [1/2]

std::vector< std::shared_ptr< MPTask > > MPProblem::GetTasks ( Robot *const _robot ) const

noexcept

Get the unfinished tasks currently assigned to a given robot.

Parameters

_robot The robot to retrieve tasks for.

Returns: The set of tasks currently assigned to _robot.

◆ GetTasks() [2/2]

std::vector< std::shared_ptr< GroupTask > > MPProblem::GetTasks ( RobotGroup *const _group ) const

noexcept

Group overload Get the unfinished tasks currently assigned to a group of robots.

Parameters

_group The robot group to retrieve tasks for.

Returns: The set of group tasks currently assigned to _group.

◆ AddTask()

void MPProblem::AddTask ( std::unique_ptr< MPTask > && _task )

Add a task to the problem. The assigned robot will be taken from the task object.

Parameters

_task The new task.

◆ ReassignTask()

void MPProblem::ReassignTask	(	MPTask *const	_task,
		Robot *const	_newOwner
	)

Reassign a task to another robot.

Parameters

_task	The task to reassign.
_newOwner	The new robot assigned to _task.

◆ AddDecomposition()

void MPProblem::AddDecomposition	(	Robot *	_coordinator,
		std::unique_ptr< Decomposition > &&	_decomp
	)

Assign task decomposition to a robot

Parameters

_coordinator	Robot to assign task to
_decomp	The decomposition task to assign

◆ GetDecompositions()

const std::vector< std::unique_ptr< Decomposition > > & MPProblem::GetDecompositions ( Robot * _coordinator )

Get set of decomposition tasks for given robot

Parameters

_coordinator Robot to return task decompositions for

◆ AddDynamicObstacle()

void MPProblem::AddDynamicObstacle ( DynamicObstacle && _obstacle )

Add dynamic obstacle to this problem

Parameters

Dynamic obstacle to add

◆ Print()

void MPProblem::Print ( std::ostream & _os ) const

virtual

Print the environment, robot, and task information.

Parameters

_os	Stream to print to

◆ SetBaseFilename()

void MPProblem::SetBaseFilename ( const std::string & _s )

Set the base filename for output files.

Parameters

_s	New base filename

◆ GetPath()

string MPProblem::GetPath ( const std::string & _filename = "" )

Get the base path for input files to a file name.

Parameters

_filename The filename to modify.

Returns: The base path + filename, or just the path if no name is given.

◆ SetPath()

void MPProblem::SetPath ( const std::string & _filename )

Set the base path for input files.

Parameters

_fileName File path to set

◆ GetInteractionInformations()

std::vector< std::unique_ptr< InteractionInformation > > & MPProblem::GetInteractionInformations ( )

Return the list of handoff templates defined in the problem

Returns: vector of handoff templates

◆ ParseChild()

void MPProblem::ParseChild ( XMLNode & _node )

protected

Helper for parsing XML nodes of various types.

Parameters

_node The child node to be parsed.

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

MPProblem.h
MPProblem.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MPProblem()

Member Function Documentation

◆ ReadXMLFile()

◆ SetEnvironment()

◆ GetRobot() [1/2]

◆ GetRobot() [2/2]

◆ GetRobotsOfType()

◆ NumRobotGroups()

◆ GetRobotGroup() [1/2]

◆ GetRobotGroup() [2/2]

◆ GetRobotGroups()

◆ GetInitialCfg()

◆ SetInitialCfg()

◆ GetTask()

◆ GetTasks() [1/2]

◆ GetTasks() [2/2]

◆ AddTask()

◆ ReassignTask()

◆ AddDecomposition()

◆ GetDecompositions()

◆ AddDynamicObstacle()

◆ Print()

◆ SetBaseFilename()

◆ GetPath()

◆ SetPath()

◆ GetInteractionInformations()

◆ ParseChild()