Decomposition Class Reference

#include <Decomposition.h>

Public Member Functions
Construction
	Decomposition ()
	Decomposition (std::shared_ptr< SemanticTask > _mainTask)
	Decomposition (XMLNode &_node, MPProblem *_problem)
	~Decomposition ()
Accessors
const std::string	GetLabel () const
	Return the label for the decomposition. More...
Robot *	GetCoordinator () const
	Return the robot responsible for the decomposition. More...
void	SetCoordinator (Robot *_robot)
SemanticTask *	GetRootTask ()
	Return the root task in the decomposition tree. More...
void	SetRootTask (SemanticTask *_task)
void	AddTask (std::shared_ptr< SemanticTask > _task)
SemanticTask *	GetTask (std::string _label)
std::vector< SemanticTask * > &	GetMotionTasks ()
	Return the set of tasks with corresponding motion tasks. More...
std::vector< SemanticTask * > &	GetGroupMotionTasks ()
void	AddMotionTask (SemanticTask *_task)
void	AddGroupMotionTask (SemanticTask *_task)
const std::unordered_map< std::string, std::shared_ptr< SemanticTask > > &	GetTaskMap () const
	Return the map of all semantic tasks in the decomposition. More...
void	SetComplete (bool _complete=true)
bool	IsComplete ()
	Checks if the decompsition has been marked complete. More...

Constructor & Destructor Documentation

Decomposition() [1/3]

Decomposition::Decomposition

(

)

Decomposition() [2/3]

Decomposition::Decomposition

(

std::shared_ptr< SemanticTask >

_mainTask

)

Parameters

_mainTask

The root task in the decomposition tree.

Decomposition() [3/3]

Decomposition::Decomposition	(	XMLNode &	_node,
		MPProblem *	_problem
	)

Parameters

_node	The xml node containing the decomposition information.
_problem	The parent MPProblem that this decomposition belongs to.

~Decomposition()

Decomposition::~Decomposition

(

)

Member Function Documentation

AddGroupMotionTask()

void Decomposition::AddGroupMotionTask

(

SemanticTask *

_task

)

Add a semantic task to the set of tasks with group motion tasks.

Parameters

_task

Task with corresponding group motion task.

AddMotionTask()

void Decomposition::AddMotionTask

(

SemanticTask *

_task

)

Add a semantic task to the set of tasks with motion tasks.

Parameters

_task

Task with corresponding motion task.

AddTask()

void Decomposition::AddTask

(

std::shared_ptr< SemanticTask >

_task

)

Add a new task to the decomposition.

Parameters

_task

New task to add to decomposition.

GetCoordinator()

Robot * Decomposition::GetCoordinator

(

)

const

Return the robot responsible for the decomposition.

GetGroupMotionTasks()

std::vector< SemanticTask * > & Decomposition::GetGroupMotionTasks

(

)

Return the set of tasks with corresponding group motion tasks.

GetLabel()

const std::string Decomposition::GetLabel

(

)

const

Return the label for the decomposition.

GetMotionTasks()

std::vector< SemanticTask * > & Decomposition::GetMotionTasks

(

)

Return the set of tasks with corresponding motion tasks.

GetRootTask()

SemanticTask * Decomposition::GetRootTask

(

)

Return the root task in the decomposition tree.

GetTask()

SemanticTask * Decomposition::GetTask

(

std::string

_label

)

Return the named task from the decomposition.

Parameters

_label

Label of desired task.

GetTaskMap()

const std::unordered_map< std::string, std::shared_ptr< SemanticTask > > & Decomposition::GetTaskMap

(

)

const

Return the map of all semantic tasks in the decomposition.

IsComplete()

bool Decomposition::IsComplete

(

)

Checks if the decompsition has been marked complete.

SetComplete()

void Decomposition::SetComplete

(

bool

_complete = true

)

Marks the decomposition as (in)complete.

Parameters

_complete

Flag indicating complete status.

SetCoordinator()

void Decomposition::SetCoordinator

(

Robot *

_robot

)

Set the coordinator responsible for the decomposition.

Parameters

_robot

The new coordinator responsible for the decomposition.

SetRootTask()

void Decomposition::SetRootTask

(

SemanticTask *

_task

)

Set the root task for the decomposition tree.

Parameters

_task

The new root task in the decomp tree.

---

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/TaskHierarchy/Decomposition.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/TaskHierarchy/Decomposition.cpp