#include <CompositeEdge.h>

Inheritance diagram for CompositeEdge< GraphType >:

Collaboration diagram for CompositeEdge< GraphType >:

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Public Types
Local Types
typedef GraphType::CfgType	IndividualCfg

typedef GraphType::EdgeType	IndividualEdge

typedef double	EdgeWeight

typedef stapl::edge_descriptor_impl< size_t >	ED

typedef CompositeState< GraphType >	CompositeStateType

typedef CompositeGraph< CompositeStateType, CompositeEdge >	GroupGraphType

typedef std::vector< CompositeStateType >	CompositePath

Public Member Functions
Construction
	CompositeEdge (GroupGraphType *const &_g=nullptr, const double _w=0.0, const CompositePath &_intermediates=CompositePath())

	CompositeEdge (RobotGroup *const &_g, const double _w=0.0, const CompositePath &_intermediates=CompositePath())

Ordering and Equality
virtual bool	operator== (const CompositeEdge &_w) const noexcept

virtual bool	operator!= (const CompositeEdge &_w) const noexcept

virtual bool	operator< (const CompositeEdge &_other) const noexcept

Graph Edge Weight
virtual EdgeWeight	GetWeight () const noexcept
	Get the numeric weight for this edge. More...

virtual void	SetWeight (const EdgeWeight _w) noexcept

Misc. Interface Functions
void	SetGroupGraph (GroupGraphType *const &_g)

virtual void	Clear () noexcept
	Reset the states of this object. More...

CompositePath &	GetIntermediates () noexcept
	Get the composite state intermediates. More...

const CompositePath &	GetIntermediates () const noexcept
	Get the composite state intermediates. More...

const size_t	GetNumIntermediates () noexcept
	Get the number of composite intermediates along this edge. More...

void	SetIntermediates (const CompositePath &_cfgs)
	Set the composite state intermediates. More...

virtual void	Write (std::ostream &_os) const

Individual Local Plans
virtual void	SetEdge (Robot *const _robot, const ED _ed)

void	SetEdge (const size_t _robot, IndividualEdge &&_edge)

void	SetEdge (Robot *const _robot, IndividualEdge &&_edge)

virtual IndividualEdge *	GetEdge (Robot *const _robot)

virtual const IndividualEdge *	GetEdge (Robot *const _robot) const

virtual IndividualEdge *	GetEdge (const size_t _robotIndex)

virtual const IndividualEdge *	GetEdge (const size_t _robotIndex) const

std::vector< IndividualEdge > &	GetLocalEdges () noexcept
	Get a vector of local edges in the plan. More...

void	ClearLocalEdges () noexcept
	Clear all local edges in the plan. More...

virtual std::vector< ED > &	GetEdgeDescriptors () noexcept

virtual size_t	GetNumRobots () const noexcept
	Get the number of robots given in this group local plan. More...

virtual std::unordered_set< Robot * >	GetActiveRobots ()

virtual void	SetTimeSteps (size_t _timesteps)
	Set the number of timesteps along this composite edge. More...

virtual size_t	GetTimeSteps () const
	Get the number of timesteps along this composite edge. More...

Stapl graph interface
virtual CompositeEdge	operator+ (const CompositeEdge &_other) const

virtual double	Weight () const noexcept
	Get the weight of the plan. More...

Protected Attributes
Internal State
GroupGraphType *	m_groupMap {nullptr}
	The composite graph that this edge is in. More...

RobotGroup *	m_group {nullptr}
	The robot group that this edge belongs to. More...

double	m_weight {std::numeric_limits<double>::infinity()}
	The edge weight. More...

CompositePath	m_intermediates
	Composite state intermediates. More...

std::vector< ED >	m_edges
	Descriptors of the individual edges. More...

std::vector< IndividualEdge >	m_localEdges
	Note that any edges added to m_localEdges must be valid and complete. More...

size_t	m_timesteps
	The number of timesteps along this edge. More...

Iteration
Iterate over the EDs in this edge.
typedef std::vector< ED >::iterator	iterator

typedef std::vector< ED >::const_iterator	const_iterator

virtual iterator	begin () noexcept

virtual iterator	end () noexcept

virtual const_iterator	begin () const noexcept

virtual const_iterator	end () const noexcept

Detailed Description

template<typename GraphType>
class CompositeEdge< GraphType >

A composite edge for multiple robots, which is composed of an individual edge for each robot. 'GraphType' refers to the individual robot graph type.

Member Typedef Documentation

◆ CompositePath

template<typename GraphType >

typedef std::vector<CompositeStateType> CompositeEdge< GraphType >::CompositePath

◆ CompositeStateType

template<typename GraphType >

typedef CompositeState<GraphType> CompositeEdge< GraphType >::CompositeStateType

◆ const_iterator

template<typename GraphType >

typedef std::vector<ED>::const_iterator CompositeEdge< GraphType >::const_iterator

◆ ED

template<typename GraphType >

typedef stapl::edge_descriptor_impl<size_t> CompositeEdge< GraphType >::ED

◆ EdgeWeight

template<typename GraphType >

typedef double CompositeEdge< GraphType >::EdgeWeight

◆ GroupGraphType

template<typename GraphType >

typedef CompositeGraph<CompositeStateType, CompositeEdge> CompositeEdge< GraphType >::GroupGraphType

◆ IndividualCfg

template<typename GraphType >

typedef GraphType::CfgType CompositeEdge< GraphType >::IndividualCfg

◆ IndividualEdge

template<typename GraphType >

typedef GraphType::EdgeType CompositeEdge< GraphType >::IndividualEdge

◆ iterator

template<typename GraphType >

typedef std::vector<ED>::iterator CompositeEdge< GraphType >::iterator

Constructor & Destructor Documentation

◆ CompositeEdge() [1/2]

template<typename GraphType >

CompositeEdge< GraphType >::CompositeEdge	(	GroupGraphType *const &	_g = `nullptr`,
		const double	_w = `0.0`,
		const CompositePath &	_intermediates = `CompositePath()`
	)

Constructs a CompositeEdge.

Parameters

_g	The group roadmap in which this edge exists.
_w	The weight of the plan. Defaults to 0.0.
_intermediates	The intermediates along the edge. Defaults to CompositePath().

◆ CompositeEdge() [2/2]

template<typename GraphType >

CompositeEdge< GraphType >::CompositeEdge	(	RobotGroup *const &	_g,
		const double	_w = `0.0`,
		const CompositePath &	_intermediates = `CompositePath()`
	)

Constructs a CompositeEdge.

Parameters

_g	The robot group to which this edge exists.
_w	The weight of the plan. Defaults to 0.0.
_intermediates	The intermediates along the edge. Defaults to CompositePath().

Member Function Documentation

◆ begin() [1/2]

template<typename GraphType >

CompositeEdge< GraphType >::const_iterator CompositeEdge< GraphType >::begin

virtualnoexcept

◆ begin() [2/2]

template<typename GraphType >

CompositeEdge< GraphType >::iterator CompositeEdge< GraphType >::begin

virtualnoexcept

◆ Clear()

template<typename GraphType >

void CompositeEdge< GraphType >::Clear

virtualnoexcept

Reset the states of this object.

Reimplemented in GroupLocalPlan< GraphType >.

◆ ClearLocalEdges()

template<typename GraphType >

void CompositeEdge< GraphType >::ClearLocalEdges

noexcept

Clear all local edges in the plan.

◆ end() [1/2]

template<typename GraphType >

CompositeEdge< GraphType >::const_iterator CompositeEdge< GraphType >::end

virtualnoexcept

◆ end() [2/2]

template<typename GraphType >

CompositeEdge< GraphType >::iterator CompositeEdge< GraphType >::end

virtualnoexcept

◆ GetActiveRobots()

template<typename GraphType >

std::unordered_set< Robot * > CompositeEdge< GraphType >::GetActiveRobots

virtual

Get a vector of the robots who move along this composite edge (i.e. the individual source vertex differs from the target vertex).

◆ GetEdge() [1/4]

template<typename GraphType >

CompositeEdge< GraphType >::IndividualEdge * CompositeEdge< GraphType >::GetEdge ( const size_t _robotIndex )

virtual

Get the individual edge for a robot.

Parameters

_robotIndex The group index of the robot which the edge refers to.

Returns: A pointer to the edge for _robot. It will be null if it has not yet been set.

◆ GetEdge() [2/4]

template<typename GraphType >

const CompositeEdge< GraphType >::IndividualEdge * CompositeEdge< GraphType >::GetEdge ( const size_t _robotIndex ) const

virtual

Get the individual edge for a robot.

Parameters

_robotIndex The group index of the robot which the edge refers to.

Returns: A pointer to the edge for _robot. It will be null if it has not yet been set.

◆ GetEdge() [3/4]

template<typename GraphType >

CompositeEdge< GraphType >::IndividualEdge * CompositeEdge< GraphType >::GetEdge ( Robot *const _robot )

virtual

Get the individual edge for a robot.

Parameters

_robot The robot which the edge refers to.

Returns: A pointer to the edge for _robot. It will be null if it has not yet been set.

◆ GetEdge() [4/4]

template<typename GraphType >

const CompositeEdge< GraphType >::IndividualEdge * CompositeEdge< GraphType >::GetEdge ( Robot *const _robot ) const

virtual

Get the individual edge for a robot.

Parameters

_robot The robot which the edge refers to.

Returns: A pointer to the edge for _robot. It will be null if it has not yet been set.

◆ GetEdgeDescriptors()

template<typename GraphType >

std::vector< typename CompositeEdge< GraphType >::ED > & CompositeEdge< GraphType >::GetEdgeDescriptors

virtualnoexcept

Get a vector of individual edge descriptors. An edge descriptor will be invalid if an individual edge is local.

◆ GetIntermediates() [1/2]

template<typename GraphType >

const CompositeEdge< GraphType >::CompositePath & CompositeEdge< GraphType >::GetIntermediates

noexcept

Get the composite state intermediates.

◆ GetIntermediates() [2/2]

template<typename GraphType >

CompositeEdge< GraphType >::CompositePath & CompositeEdge< GraphType >::GetIntermediates

noexcept

Get the composite state intermediates.

◆ GetLocalEdges()

template<typename GraphType >

std::vector< typename CompositeEdge< GraphType >::IndividualEdge > & CompositeEdge< GraphType >::GetLocalEdges

noexcept

Get a vector of local edges in the plan.

◆ GetNumIntermediates()

template<typename GraphType >

const size_t CompositeEdge< GraphType >::GetNumIntermediates

noexcept

Get the number of composite intermediates along this edge.

◆ GetNumRobots()

template<typename GraphType >

size_t CompositeEdge< GraphType >::GetNumRobots

virtualnoexcept

Get the number of robots given in this group local plan.

◆ GetTimeSteps()

template<typename GraphType >

size_t CompositeEdge< GraphType >::GetTimeSteps

virtual

Get the number of timesteps along this composite edge.

◆ GetWeight()

template<typename GraphType >

CompositeEdge< GraphType >::EdgeWeight CompositeEdge< GraphType >::GetWeight

virtualnoexcept

Get the numeric weight for this edge.

◆ operator!=()

template<typename GraphType >

bool CompositeEdge< GraphType >::operator!= ( const CompositeEdge< GraphType > & _w ) const

virtualnoexcept

Check if the given edge is unequal to the current.

Parameters

_w	The given edge.

◆ operator+()

template<typename GraphType >

CompositeEdge< GraphType > CompositeEdge< GraphType >::operator+ ( const CompositeEdge< GraphType > & _other ) const

virtual

Add two composite edges. This only adds weights, it doesn't take intermediates into account.

◆ operator<()

template<typename GraphType >

bool CompositeEdge< GraphType >::operator< ( const CompositeEdge< GraphType > & _other ) const

inlinevirtualnoexcept

Check if the given edge is less than the current.

Parameters

_other The given edge.

◆ operator==()

template<typename GraphType >

bool CompositeEdge< GraphType >::operator== ( const CompositeEdge< GraphType > & _w ) const

virtualnoexcept

Check if the given edge is equal to the current.

Parameters

_w	The given edge.

◆ SetEdge() [1/3]

template<typename GraphType >

void CompositeEdge< GraphType >::SetEdge	(	const size_t	_robot,
		IndividualEdge &&	_edge
	)

Set the individual edge for a robot to a local copy of an edge.

Parameters

_robot	The robot which the edge refers to.
_edge	The edge.

◆ SetEdge() [2/3]

template<typename GraphType >

void CompositeEdge< GraphType >::SetEdge	(	Robot *const	_robot,
		const ED	_ed
	)

virtual

Set the individual edge for a robot to a graph copy of an edge.

Parameters

_robot	The robot which the edge refers to.
_ed	The edge descriptor.

◆ SetEdge() [3/3]

template<typename GraphType >

void CompositeEdge< GraphType >::SetEdge	(	Robot *const	_robot,
		IndividualEdge &&	_edge
	)

Set the individual edge for a robot to a local copy of an edge.

Parameters

_robot	The robot which the edge refers to.
_edge	The edge.

◆ SetGroupGraph()

template<typename GraphType >

void CompositeEdge< GraphType >::SetGroupGraph ( GroupGraphType *const & _g )

Set the composite graph that this composite edge lies within.

Parameters

_g	The composite graph to associate the edge with.

◆ SetIntermediates()

template<typename GraphType >

void CompositeEdge< GraphType >::SetIntermediates ( const CompositePath & _cfgs )

Set the composite state intermediates.

◆ SetTimeSteps()

template<typename GraphType >

void CompositeEdge< GraphType >::SetTimeSteps ( size_t _timesteps )

virtual

Set the number of timesteps along this composite edge.

◆ SetWeight()

template<typename GraphType >

void CompositeEdge< GraphType >::SetWeight ( const EdgeWeight _w )

virtualnoexcept

Set the numeric weight for this edge.

Parameters

_w	The numeric weight.

◆ Weight()

template<typename GraphType >

double CompositeEdge< GraphType >::Weight

virtualnoexcept

Get the weight of the plan.

◆ Write()

template<typename GraphType >

void CompositeEdge< GraphType >::Write ( std::ostream & _os ) const

virtual

Write an edge to an output stream.

Parameters

_os	The output stream to write to.

Field Documentation

◆ m_edges

template<typename GraphType >

std::vector<ED> CompositeEdge< GraphType >::m_edges

protected

Descriptors of the individual edges.

◆ m_group

template<typename GraphType >

RobotGroup* CompositeEdge< GraphType >::m_group {nullptr}

protected

The robot group that this edge belongs to.

◆ m_groupMap

template<typename GraphType >

GroupGraphType* CompositeEdge< GraphType >::m_groupMap {nullptr}

protected

The composite graph that this edge is in.

◆ m_intermediates

template<typename GraphType >

CompositePath CompositeEdge< GraphType >::m_intermediates

protected

Composite state intermediates.

◆ m_localEdges

template<typename GraphType >

std::vector<IndividualEdge> CompositeEdge< GraphType >::m_localEdges

protected

Note that any edges added to m_localEdges must be valid and complete.

Edges which are not in a map.

◆ m_timesteps

template<typename GraphType >

size_t CompositeEdge< GraphType >::m_timesteps

protected

The number of timesteps along this edge.

◆ m_weight

template<typename GraphType >

double CompositeEdge< GraphType >::m_weight {std::numeric_limits<double>::infinity()}

protected

The edge weight.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/CompositeEdge.h

Public Types

Public Member Functions

Protected Attributes

Iteration

Detailed Description

template<typename GraphType> class CompositeEdge< GraphType >

Member Typedef Documentation

◆ CompositePath

◆ CompositeStateType

◆ const_iterator

◆ ED

◆ EdgeWeight

◆ GroupGraphType

◆ IndividualCfg

◆ IndividualEdge

◆ iterator

Constructor & Destructor Documentation

◆ CompositeEdge() [1/2]

◆ CompositeEdge() [2/2]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ Clear()

◆ ClearLocalEdges()

◆ end() [1/2]

◆ end() [2/2]

◆ GetActiveRobots()

◆ GetEdge() [1/4]

◆ GetEdge() [2/4]

◆ GetEdge() [3/4]

◆ GetEdge() [4/4]

◆ GetEdgeDescriptors()

◆ GetIntermediates() [1/2]

◆ GetIntermediates() [2/2]

◆ GetLocalEdges()

◆ GetNumIntermediates()

◆ GetNumRobots()

◆ GetTimeSteps()

◆ GetWeight()

◆ operator!=()

◆ operator+()

◆ operator<()

◆ operator==()

◆ SetEdge() [1/3]

◆ SetEdge() [2/3]

◆ SetEdge() [3/3]

◆ SetGroupGraph()

◆ SetIntermediates()

◆ SetTimeSteps()

◆ SetWeight()

◆ Weight()

◆ Write()

Field Documentation

◆ m_edges

◆ m_group

◆ m_groupMap

◆ m_intermediates

◆ m_localEdges

◆ m_timesteps

◆ m_weight

template<typename GraphType>
class CompositeEdge< GraphType >