#include <CompositeState.h>

Inheritance diagram for CompositeState< GraphType >:

Collaboration diagram for CompositeState< GraphType >:

[legend]

Public Types
Local Types
typedef size_t	VID
	A VID in an individual graph. More...

typedef std::vector< VID >	VIDSet
	A set of VIDs from indiv. graphs. More...

typedef GraphType::CfgType	CfgType
	The indiv. graph vertex type. More...

typedef CompositeEdge< GraphType >	CompositeEdgeType

typedef CompositeGraph< CompositeState, CompositeEdgeType >	GroupGraphType

typedef GraphType	IndividualGraph

Public Member Functions
Construction
	CompositeState (GroupGraphType *const _groupGraph=nullptr)

	CompositeState (RobotGroup *const _group)

Equality
virtual bool	operator== (const CompositeState &_other) const noexcept

virtual bool	operator!= (const CompositeState &_other) const noexcept

Robots
Access the robots within this composite state.
virtual size_t	GetNumRobots () const noexcept
	Get the number of robots in this composite state. More...

virtual const std::vector< Robot * > &	GetRobots () const noexcept
	Get the full vector of robot pointers. More...

virtual Robot *	GetRobot (const size_t _index) const

Graph Accessors
These functions provide access to the related group graph (if any) and descriptors for individual states.
virtual GroupGraphType *	GetGroupGraph () const noexcept
	Get the group graph this composite state is with respect to. More...

virtual void	SetGroupGraph (GroupGraphType *_newGraph)
	Set the composite graph that this composite state exists within. More...

virtual VID	GetVID (const size_t _index) const noexcept

virtual VID	GetVID (Robot *const _robot) const

Individual States
These functions manage the individual states that comprise this composite state.
virtual void	SetRobotCfg (Robot *const _robot, const VID _vid)

virtual void	SetRobotCfg (const size_t _index, const VID _vid)

virtual void	SetRobotCfg (Robot *const _robot, CfgType &&_cfg)

virtual void	SetRobotCfg (const size_t _index, CfgType &&_cfg)

virtual CfgType &	GetRobotCfg (Robot *const _robot)

virtual CfgType &	GetRobotCfg (const size_t _index)

virtual const CfgType &	GetRobotCfg (Robot *const _robot) const

virtual const CfgType &	GetRobotCfg (const size_t _index) const

void	ClearLocalCfgs ()
	Clear the Local Cfg information. More...

Protected Member Functions
Helpers
virtual void	VerifyIndex (const size_t _robotIndex) const noexcept

virtual bool	IsLocalCfg (const size_t _robotIndex) const noexcept

virtual void	InitializeLocalCfgs () noexcept
	Initialize the set of local configurations if not already done. More...

Protected Attributes
Internal State
GroupGraphType *	m_groupMap {nullptr}
	The group graph. More...

RobotGroup *	m_group {nullptr}
	The robot group for this state. More...

VIDSet	m_vids
	The individual VIDs in this aggregate state. More...

std::vector< CfgType >	m_localCfgs
	Individual states not in a map. More...

Detailed Description

template<typename GraphType>
class CompositeState< GraphType >

An aggregate state which represents a state for each robot in a robot group. 'GraphType' represents the individual graph type for a single robot.

Member Typedef Documentation

◆ CfgType

template<typename GraphType >

typedef GraphType::CfgType CompositeState< GraphType >::CfgType

The indiv. graph vertex type.

◆ CompositeEdgeType

template<typename GraphType >

typedef CompositeEdge<GraphType> CompositeState< GraphType >::CompositeEdgeType

◆ GroupGraphType

template<typename GraphType >

typedef CompositeGraph<CompositeState, CompositeEdgeType> CompositeState< GraphType >::GroupGraphType

◆ IndividualGraph

template<typename GraphType >

typedef GraphType CompositeState< GraphType >::IndividualGraph

◆ VID

template<typename GraphType >

typedef size_t CompositeState< GraphType >::VID

A VID in an individual graph.

◆ VIDSet

template<typename GraphType >

typedef std::vector<VID> CompositeState< GraphType >::VIDSet

A set of VIDs from indiv. graphs.

Constructor & Destructor Documentation

◆ CompositeState() [1/2]

template<typename GraphType >

CompositeState< GraphType >::CompositeState ( GroupGraphType *const _groupGraph = nullptr )

explicit

Construct a composite state.

Parameters

_groupGraph The composite graph to which this state belongs.

◆ CompositeState() [2/2]

template<typename GraphType >

CompositeState< GraphType >::CompositeState ( RobotGroup *const _group )

explicit

Construct a composite state.

Parameters

_group The robot group to which this state belongs if it is not in a graph.

Member Function Documentation

◆ ClearLocalCfgs()

template<typename GraphType >

void CompositeState< GraphType >::ClearLocalCfgs

Clear the Local Cfg information.

◆ GetGroupGraph()

template<typename GraphType >

CompositeState< GraphType >::GroupGraphType * CompositeState< GraphType >::GetGroupGraph

virtualnoexcept

Get the group graph this composite state is with respect to.

◆ GetNumRobots()

template<typename GraphType >

size_t CompositeState< GraphType >::GetNumRobots

virtualnoexcept

Get the number of robots in this composite state.

◆ GetRobot()

template<typename GraphType >

Robot * CompositeState< GraphType >::GetRobot ( const size_t _index ) const

virtual

Get the robot pointer for a group member by index.

Parameters

_index The desired index.

Todo:: Remove this after we are very sure things are working.

◆ GetRobotCfg() [1/4]

template<typename GraphType >

CompositeState< GraphType >::CfgType & CompositeState< GraphType >::GetRobotCfg ( const size_t _index )

virtual

Get the individual state (cfg) for a robot in the group.

Parameters

_index The index of the robot.

Returns: The individual state for the indexed robot.

◆ GetRobotCfg() [2/4]

template<typename GraphType >

const CompositeState< GraphType >::CfgType & CompositeState< GraphType >::GetRobotCfg ( const size_t _index ) const

virtual

Get the individual state (cfg) for a robot in the group.

Parameters

_index The index of the robot.

Returns: The individual state for the indexed robot.

◆ GetRobotCfg() [3/4]

template<typename GraphType >

CompositeState< GraphType >::CfgType & CompositeState< GraphType >::GetRobotCfg ( Robot *const _robot )

virtual

Get the individual state (cfg) for a robot in the group.

Parameters

_robot The robot which the state refers to.

Returns: The individual state for the indexed robot.

◆ GetRobotCfg() [4/4]

template<typename GraphType >

const CompositeState< GraphType >::CfgType & CompositeState< GraphType >::GetRobotCfg ( Robot *const _robot ) const

virtual

Get the individual state (cfg) for a robot in the group.

Parameters

_robot The robot which the state refers to.

Returns: The individual state for the indexed robot.

◆ GetRobots()

template<typename GraphType >

const std::vector< Robot * > & CompositeState< GraphType >::GetRobots

virtualnoexcept

Get the full vector of robot pointers.

◆ GetVID() [1/2]

template<typename GraphType >

CompositeState< GraphType >::VID CompositeState< GraphType >::GetVID ( const size_t _index ) const

virtualnoexcept

Get the VID for a particular robot.

Parameters

_index The index (within the group) of the robot.

Returns: The VID of the robot's individual state, or INVALID_VID if it is not a valid VID in the invididual graph.

◆ GetVID() [2/2]

template<typename GraphType >

CompositeState< GraphType >::VID CompositeState< GraphType >::GetVID ( Robot *const _robot ) const

virtual

Get the VID for a particular robot.

Parameters

_robot The a robot within the group.

Returns: The VID of the robot's individual state, or INVALID_VID if it is not a valid VID in the invididual graph.

◆ InitializeLocalCfgs()

template<typename GraphType >

void CompositeState< GraphType >::InitializeLocalCfgs

protectedvirtualnoexcept

Initialize the set of local configurations if not already done.

◆ IsLocalCfg()

template<typename GraphType >

bool CompositeState< GraphType >::IsLocalCfg ( const size_t _robotIndex ) const

protectedvirtualnoexcept

Return whether the cfg for the robot is local to the group cfg, or if it's in an individual roadmap already.

◆ operator!=()

template<typename GraphType >

bool CompositeState< GraphType >::operator!= ( const CompositeState< GraphType > & _other ) const

virtualnoexcept

Check if the current and given composite states are unequal.

Parameters

_other The given composite state.

Returns: True if unequal, false otherwise.

◆ operator==()

template<typename GraphType >

bool CompositeState< GraphType >::operator== ( const CompositeState< GraphType > & _other ) const

virtualnoexcept

Check if the current and given composite states are equal.

Parameters

_other The given composite state.

Returns: True if equal, false otherwise.

◆ SetGroupGraph()

template<typename GraphType >

void CompositeState< GraphType >::SetGroupGraph ( GroupGraphType * _newGraph )

virtual

Set the composite graph that this composite state exists within.

◆ SetRobotCfg() [1/4]

template<typename GraphType >

void CompositeState< GraphType >::SetRobotCfg	(	const size_t	_index,
		CfgType &&	_cfg
	)

virtual

Set the individual state (cfg) for a robot to a graph copy of a state.

Parameters

_index	The robot's group index which the state refers to.
_vid	The state descriptor.

◆ SetRobotCfg() [2/4]

template<typename GraphType >

void CompositeState< GraphType >::SetRobotCfg	(	const size_t	_index,
		const VID	_vid
	)

virtual

Set the individual state (cfg) for a robot to a graph copy of a state.

Parameters

_index	The robot's group index which the state refers to.
_vid	The state descriptor.

◆ SetRobotCfg() [3/4]

template<typename GraphType >

void CompositeState< GraphType >::SetRobotCfg	(	Robot *const	_robot,
		CfgType &&	_cfg
	)

virtual

Set the individual state (cfg) for a robot to a graph copy of a state.

Parameters

_robot	The robot which the state refers to.
_vid	The state descriptor.

◆ SetRobotCfg() [4/4]

template<typename GraphType >

void CompositeState< GraphType >::SetRobotCfg	(	Robot *const	_robot,
		const VID	_vid
	)

virtual

Set the individual state (cfg) for a robot to a graph copy of a state.

Parameters

_robot	The robot which the state refers to.
_vid	The state descriptor.

◆ VerifyIndex()

template<typename GraphType >

void CompositeState< GraphType >::VerifyIndex ( const size_t _robotIndex ) const

inlineprotectedvirtualnoexcept

Verify that an index is valid. Throw an exception if not.

Parameters

_robotIndex The (group) index to verify.

Field Documentation

◆ m_group

template<typename GraphType >

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

protected

The robot group for this state.

◆ m_groupMap

template<typename GraphType >

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

protected

The group graph.

◆ m_localCfgs

template<typename GraphType >

std::vector<CfgType> CompositeState< GraphType >::m_localCfgs

protected

Individual states not in a map.

◆ m_vids

template<typename GraphType >

VIDSet CompositeState< GraphType >::m_vids

protected

The individual VIDs in this aggregate state.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename GraphType> class CompositeState< GraphType >

Member Typedef Documentation

◆ CfgType

◆ CompositeEdgeType

◆ GroupGraphType

◆ IndividualGraph

◆ VID

◆ VIDSet

Constructor & Destructor Documentation

◆ CompositeState() [1/2]

◆ CompositeState() [2/2]

Member Function Documentation

◆ ClearLocalCfgs()

◆ GetGroupGraph()

◆ GetNumRobots()

◆ GetRobot()

◆ GetRobotCfg() [1/4]

◆ GetRobotCfg() [2/4]

◆ GetRobotCfg() [3/4]

◆ GetRobotCfg() [4/4]

◆ GetRobots()

◆ GetVID() [1/2]

◆ GetVID() [2/2]

◆ InitializeLocalCfgs()

◆ IsLocalCfg()

◆ operator!=()

◆ operator==()

◆ SetGroupGraph()

◆ SetRobotCfg() [1/4]

◆ SetRobotCfg() [2/4]

◆ SetRobotCfg() [3/4]

◆ SetRobotCfg() [4/4]

◆ VerifyIndex()

Field Documentation

◆ m_group

◆ m_groupMap

◆ m_localCfgs

◆ m_vids

template<typename GraphType>
class CompositeState< GraphType >