PPL API Reference |
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Classes | |
struct | Solver |
Public Member Functions | |
Construction | |
TMPLibrary () | |
TMPLibrary (const std::string &_filename) | |
~TMPLibrary () | |
Configuration | |
void | ReadXMLFile (const std::string &_filename) |
TMPStrategyMethod Accessors | |
TMPStrategyMethodPointer | GetTMPStrategy (const std::string &_l) |
Get a TMPStrategyMethod method. | |
void | AddTMPStrategy (TMPStrategyMethodPointer _sm, const std::string &_l) |
PoIPlacementMethod Accessors | |
PoIPlacementMethodPointer | GetPoIPlacementMethod (const std::string &_l) |
Get a Point-of-Interest placement method. | |
void | AddPoIPlacementMethod (PoIPlacementMethodPointer _pm, const std::string &_l) |
TaskEvaluator Accessors | |
TaskEvaluatorMethodPointer | GetTaskEvaluator (const std::string &_l) |
Get a Task Evaluator. | |
void | AddTaskEvaluator (TaskEvaluatorMethodPointer _te, const std::string &_l) |
Task Decomposition Accessors | |
TaskDecomposerMethodPointer | GetTaskDecomposer (const std::string &_l) |
Get a TaskDecomposition. | |
void | AddTaskDecomposer (TaskDecomposerMethodPointer _td, const std::string &_l) |
Task ALlocator Accessors | |
TaskAllocatorMethodPointer | GetTaskAllocator (const std::string &_l) |
Get a TaskAllocator. | |
void | AddTaskAllocator (TaskAllocatorMethodPointer _ta, const std::string &_l) |
TMPTool Accessors | |
TMPTools * | GetTMPTools () |
Get the TMP tool container. | |
Input Accessors | |
MPLibrary * | GetMPLibrary () const noexcept |
void | SetMPLibrary (MPLibrary *_l) noexcept |
MPProblem * | GetMPProblem () const noexcept |
void | SetMPProblem (MPProblem *const _problem) noexcept |
std::vector< std::shared_ptr< MPTask > > & | GetTasks () noexcept |
void | AddTask (MPTask *const _task) noexcept |
void | AddTask (std::shared_ptr< MPTask > const _task) noexcept |
void | ClearTasks () |
std::vector< std::shared_ptr< GroupTask > > | GetGroupTasks () const noexcept |
void | AddGroupTask (GroupTask *const _task) noexcept |
void | AddGroupTask (std::shared_ptr< GroupTask > const _task) noexcept |
void | ClearGroupTasks () |
const std::string & | GetBaseFilename () const noexcept |
void | SetBaseFilename (const std::string &_s) noexcept |
Solution Accessors | |
Plan * | GetPlan () |
void | SetPlan (Plan *_plan) |
StateGraphPointer | GetStateGraph (const std::string &_l) |
void | AddStateGraph (StateGraphPointer _sg, const std::string &_l) |
Execution | |
void | Solve (MPProblem *_problem, Decomposition *_decomp, Plan *_plan, Coordinator *_coordinator, std::vector< Robot * > _team) |
void | InitializeMPProblem (MPProblem *_problem) |
Debug | |
void | Print (std::ostream &) const |
Public Types | |
Method Set Types | |
typedef TMPMethodSet< TMPStrategyMethod > | TMPStrategyMethodSet |
typedef TMPMethodSet< PoIPlacementMethod > | PoIPlacementMethodSet |
typedef TMPMethodSet< TaskEvaluatorMethod > | TaskEvaluatorMethodSet |
typedef TMPMethodSet< TaskDecomposerMethod > | TaskDecomposerMethodSet |
typedef TMPMethodSet< TaskAllocatorMethod > | TaskAllocatorMethodSet |
typedef TMPMethodSet< StateGraph > | StateGraphSet |
Method Pointer Types | |
typedef TMPStrategyMethodSet::TMPMethodPointer | TMPStrategyMethodPointer |
typedef PoIPlacementMethodSet::TMPMethodPointer | PoIPlacementMethodPointer |
typedef TaskEvaluatorMethodSet::TMPMethodPointer | TaskEvaluatorMethodPointer |
typedef TaskDecomposerMethodSet::TMPMethodPointer | TaskDecomposerMethodPointer |
typedef TaskAllocatorMethodSet::TMPMethodPointer | TaskAllocatorMethodPointer |
typedef StateGraphSet::TMPMethodPointer | StateGraphPointer |
A collection of TMP planning algorithms that can operate on a specific MPProblem comprised of MPTasks.
void TMPLibrary::ReadXMLFile | ( | const std::string & | _filename | ) |
Read an XML file to set the algorithms and parameters in this instance.
_filename | The XML file name. |
void TMPLibrary::AddTMPStrategy | ( | TMPStrategyMethodPointer | _sm, |
const std::string & | _l | ||
) |
Add a TMPStrategyMethod pointer
TMPStrategyMethodPointer |
void TMPLibrary::AddPoIPlacementMethod | ( | PoIPlacementMethodPointer | _pm, |
const std::string & | _l | ||
) |
Add a Point-of-Interest placement method pointer
PoIPlacementMethodPointer |
void TMPLibrary::AddTaskEvaluator | ( | TaskEvaluatorMethodPointer | _te, |
const std::string & | _l | ||
) |
Add a TaskEvalutorMethod pointer
TaskEvaluatorMethodPointer |
void TMPLibrary::AddTaskDecomposer | ( | TaskDecomposerMethodPointer | _td, |
const std::string & | _l | ||
) |
Add a TaskDecomposition pointer
TaskDecomposerMethodPointer |
void TMPLibrary::AddTaskAllocator | ( | TaskAllocatorMethodPointer | _ta, |
const std::string & | _l | ||
) |
Add a TaskAlloctor pointer
TaskAllocatorMethodPointer |