TRPGoalMap< MPTraits > Class Template Reference

Public Member Functions
Construction
	TRPGoalMap ()
	TRPGoalMap (Robot *_robot, std::string _queryMethod, MPLibrary *_library)
virtual	~TRPGoalMap ()
Vertex Accessors
const size_t	GetNumVertices () const noexcept
std::vector< size_t > *	GetGoalDescriptors ()
std::vector< size_t > *	GetDepotDescriptors ()
Path Accessors
const Path &	GetPath (const size_t _i1, const size_t _i2) const noexcept
Problem Customization
void	AddDepots (std::vector< Robot * > _workers)
Modifiers
void	Print (std::ostream &_os) const
	Write the goal graph to an output stream.

Public Types
Local Types
typedef stapl::sequential::graph< stapl::DIRECTED, stapl::NONMULTIEDGES, std::shared_ptr< Constraint >, PathType< MPTraits > >	GoalGraph
typedef GoalGraph::vertex_iterator	iterator
typedef GoalGraph::const_vertex_iterator	const_iterator
typedef GoalGraph::edge_iterator	edge_iterator
typedef GoalGraph::const_edge_iterator	const_edge_iterator
typedef GoalGraph::adj_edge_iterator	adj_edge_iterator
typedef GoalGraph::const_adj_edge_iterator	const_adj_edge_iterator
typedef GoalGraph::vertex_descriptor	vertex_descriptor
typedef GoalGraph::edge_descriptor	edge_descriptor
typedef MPTraits::RoadmapType	RoadmapType
typedef RoadmapType::VID	VID
typedef MPTraits::Path	Path
typedef MPTraits::MPLibrary	MPLibrary

Detailed Description

template<typename MPTraits>
class TRPGoalMap< MPTraits >

Todo:

What is this?

Constructor & Destructor Documentation

TRPGoalMap()

template<typename MPTraits >

TRPGoalMap< MPTraits >::TRPGoalMap	(	Robot *	_robot,
		std::string	_queryMethod,
		MPLibrary *	_library
	)

Construct TRPGoalMap

Parameters

_robot	Robot coordinator assigned to all goals
_queryMethod	Query method for finding shortest paths
_library	Library fir calculating paths

Member Function Documentation

GetNumVertices()

template<typename MPTraits >

const size_t TRPGoalMap< MPTraits >::GetNumVertices

noexcept

Get the number of vertices contained in the goal map.

Returns

Number of vertices.

GetGoalDescriptors()

template<typename MPTraits >

std::vector< size_t > * TRPGoalMap< MPTraits >::GetGoalDescriptors

Get the set of descriptors for the goal vertices.

Returns

Set of descriptors for the goal vertices.

GetDepotDescriptors()

template<typename MPTraits >

std::vector< size_t > * TRPGoalMap< MPTraits >::GetDepotDescriptors

Get the set of descriptors for the depot vertices (used in TRP).

Returns

Set of descriptors for the depot vertices.

GetPath()

template<typename MPTraits >

const TRPGoalMap< MPTraits >::Path & TRPGoalMap< MPTraits >::GetPath ( const size_t  _i1, const size_t  _i2  ) const

noexcept

Get a particular path.

Parameters

_i1	Origin vertex descriptor.
_i2	Destination vertex descriptor.

Returns

Path with given origin and destination.

AddDepots()

template<typename MPTraits >

void TRPGoalMap< MPTraits >::AddDepots

(

std::vector< Robot * >

_workers

)

Add the depots needed for TRP->ATSP

Parameters

_workers

Set of robots to use for depot locations.

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

• TRPGoalMap.h