CBS.h File Reference

#include <functional>
#include <queue>
#include <unordered_set>
#include <unordered_map>
#include <vector>

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Data Structures
struct	CBSNode< IndividualTask, ConstraintType, IndividualSolution >

Typedefs
template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >
using	CBSLowLevelPlanner = std::function< bool(CBSNode< IndividualTask, ConstraintType, IndividualSolution > &_node, IndividualTask *_task)>
template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >
using	CBSValidationFunction = std::function< std::vector< std::pair< IndividualTask *, ConstraintType > >(CBSNode< IndividualTask, ConstraintType, IndividualSolution > &_node)>
template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >
using	CBSCostFunction = std::function< double(CBSNode< IndividualTask, ConstraintType, IndividualSolution > &_node)>
template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >
using	CBSSplitNodeFunction = std::function< std::vector< CBSNode< IndividualTask, ConstraintType, IndividualSolution > >(CBSNode< IndividualTask, ConstraintType, IndividualSolution > &_node, std::vector< std::pair< IndividualTask *, ConstraintType > > _constraints, CBSLowLevelPlanner< IndividualTask, ConstraintType, IndividualSolution > &_lowlevel, CBSCostFunction< IndividualTask, ConstraintType, IndividualSolution > &_cost)>
template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >
using	CBSInitialFunction = std::function< void(std::vector< CBSNode< IndividualTask, ConstraintType, IndividualSolution > > &_root, std::vector< IndividualTask * > _tasks, CBSLowLevelPlanner< IndividualTask, ConstraintType, IndividualSolution > &_lowlevel, CBSCostFunction< IndividualTask, ConstraintType, IndividualSolution > &_cost)>

Functions
template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >
CBSInitialFunction< IndividualTask, ConstraintType, IndividualSolution >	CBSDefaultInitialFunction ()
template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >
CBSNode< IndividualTask, ConstraintType, IndividualSolution >	CBS (std::vector< IndividualTask * > _tasks, CBSValidationFunction< IndividualTask, ConstraintType, IndividualSolution > &_validate, CBSSplitNodeFunction< IndividualTask, ConstraintType, IndividualSolution > &_split, CBSLowLevelPlanner< IndividualTask, ConstraintType, IndividualSolution > &_lowlevel, CBSCostFunction< IndividualTask, ConstraintType, IndividualSolution > &_cost)
template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >
CBSNode< IndividualTask, ConstraintType, IndividualSolution >	CBS (std::vector< IndividualTask * > _tasks, CBSValidationFunction< IndividualTask, ConstraintType, IndividualSolution > &_validate, CBSSplitNodeFunction< IndividualTask, ConstraintType, IndividualSolution > &_split, CBSLowLevelPlanner< IndividualTask, ConstraintType, IndividualSolution > &_lowlevel, CBSCostFunction< IndividualTask, ConstraintType, IndividualSolution > &_cost, CBSInitialFunction< IndividualTask, ConstraintType, IndividualSolution > &_initial)

Typedef Documentation

CBSCostFunction

template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >

using CBSCostFunction = std::function<double(CBSNode<IndividualTask, ConstraintType, IndividualSolution>& _node)>

CBSInitialFunction

template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >

using CBSInitialFunction = std::function<void( std::vector<CBSNode<IndividualTask, ConstraintType, IndividualSolution> >& _root, std::vector<IndividualTask*> _tasks, CBSLowLevelPlanner<IndividualTask, ConstraintType, IndividualSolution>& _lowlevel, CBSCostFunction<IndividualTask, ConstraintType, IndividualSolution>& _cost)>

CBSLowLevelPlanner

template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >

using CBSLowLevelPlanner = std::function<bool(CBSNode<IndividualTask, ConstraintType, IndividualSolution>& _node, IndividualTask* _task)>

CBSSplitNodeFunction

template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >

using CBSSplitNodeFunction = std::function<std::vector<CBSNode<IndividualTask,ConstraintType,IndividualSolution> >( CBSNode<IndividualTask, ConstraintType, IndividualSolution>& _node, std::vector<std::pair<IndividualTask*, ConstraintType> > _constraints, CBSLowLevelPlanner<IndividualTask, ConstraintType, IndividualSolution>& _lowlevel, CBSCostFunction<IndividualTask, ConstraintType, IndividualSolution>& _cost)>

CBSValidationFunction

template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >

using CBSValidationFunction = std::function<std::vector<std::pair<IndividualTask*, ConstraintType> >( CBSNode<IndividualTask, ConstraintType, IndividualSolution>& _node)>

Function Documentation

CBS() [1/2]

template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >

CBSNode<IndividualTask, ConstraintType, IndividualSolution> CBS	(	std::vector< IndividualTask * >	_tasks,
		CBSValidationFunction< IndividualTask, ConstraintType, IndividualSolution > &	_validate,
		CBSSplitNodeFunction< IndividualTask, ConstraintType, IndividualSolution > &	_split,
		CBSLowLevelPlanner< IndividualTask, ConstraintType, IndividualSolution > &	_lowlevel,
		CBSCostFunction< IndividualTask, ConstraintType, IndividualSolution > &	_cost
	)

CBS() [2/2]

template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >

CBSNode<IndividualTask, ConstraintType, IndividualSolution> CBS	(	std::vector< IndividualTask * >	_tasks,
		CBSValidationFunction< IndividualTask, ConstraintType, IndividualSolution > &	_validate,
		CBSSplitNodeFunction< IndividualTask, ConstraintType, IndividualSolution > &	_split,
		CBSLowLevelPlanner< IndividualTask, ConstraintType, IndividualSolution > &	_lowlevel,
		CBSCostFunction< IndividualTask, ConstraintType, IndividualSolution > &	_cost,
		CBSInitialFunction< IndividualTask, ConstraintType, IndividualSolution > &	_initial
	)

CBSDefaultInitialFunction()

template<typename IndividualTask , typename ConstraintType , typename IndividualSolution >

CBSInitialFunction<IndividualTask, ConstraintType, IndividualSolution> CBSDefaultInitialFunction

(

)