MPSolutionType< MPTraits > Class Template Reference

Classes
struct	GroupSolution
	The outputs for a robot group. More...
struct	RobotSolution
	The outputs for an individual robot. More...

Public Member Functions
Construction
	MPSolutionType (Robot *const _r)
	MPSolutionType (RobotGroup *const _g)
Modifiers
void	AddRobot (Robot *const _r) noexcept
void	SetRobot (Robot *const _r) noexcept
void	SetRoadmap (Robot *const _r, RoadmapType *_roadmap) noexcept
void	SetPath (Robot *const _r, Path *_path) noexcept
void	AddRobotGroup (RobotGroup *const _g) noexcept
void	SetGroupRoadmap (RobotGroup *const _g, GroupRoadmapType *_roadmap) noexcept
void	SetGroupPath (RobotGroup *const _r, GroupPathType *_path) noexcept
Accessors
RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
Path *	GetPath (Robot *const _r=nullptr) const noexcept
LocalObstacleMap *	GetLocalObstacleMap (Robot *const _r=nullptr) const noexcept
GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
GroupPathType *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
StatClass *	GetStatClass () const noexcept
Robot *	GetRobot () const noexcept
RobotGroup *	GetRobotGroup () const noexcept

Public Types
Solution Object Types
typedef MPTraits::Path	Path
typedef MPTraits::RoadmapType	RoadmapType
typedef MPTraits::LocalObstacleMap	LocalObstacleMap
typedef MPTraits::GroupRoadmapType	GroupRoadmapType
typedef MPTraits::GroupPathType	GroupPathType

Detailed Description

template<typename MPTraits>
class MPSolutionType< MPTraits >

Container for the output of a planning algorithm. Includes free and blocked roadmaps, a path, and a local obstacle map for each robot. Also includes a stat class for performance tracking.

Todo:

Currently this object can represent a solution for each single robot and several robot group. It can almost support multiple of each - it just needs an interface for adding more robots/groups to the container.

Note

This object makes only one stat class, which is shared across all uses.

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

• MPSolution.h