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Parasol Planning Library (PPL)
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#include <GoalTracker.h>
Public Types | |
Roadmap Types | |
typedef Roadmap::VI | VI |
typedef Roadmap::VID | VID |
Local Types | |
typedef std::unordered_set< VID > | VIDSet |
Public Member Functions | |
Construction | |
GoalMap (Roadmap *const _r, const Task *const _t) | |
~GoalMap () | |
Interface | |
const VIDSet & | GetStartVIDs () const noexcept |
const VIDSet & | GetGoalVIDs (const size_t _index) const noexcept |
size_t | UnreachedGoalCount () const noexcept |
Check the number of unreached goals. More... | |
std::vector< size_t > | UnreachedGoalIndexes () const noexcept |
Hooks | |
Note that you must install the hooks after the object has settled in its final location in memory, or the this pointer will be corrupted and general mayhem will ensue. | |
void | InstallHooks () noexcept |
Install hooks in the roadmap for mapping new configurations. More... | |
void | RemoveHooks () noexcept |
Remove hooks from the roadmap. More... | |
Tracks the set of roadmap configurations which satisfy a task's constraints. Works for both individual and group roadmaps.
Note that this object should NOT live in the MPSolution because the solution is not tied to a particular task. However it does represent part of the solution, so perhaps we will refactor the MPSolution to contain a roadmap and set of task solutions (with goal tracker and path) for each robot.
typedef std::unordered_set<VID> GoalMap< Roadmap, Task >::VIDSet |
GoalMap< Roadmap, Task >::GoalMap | ( | Roadmap *const | _r, |
const Task *const | _t | ||
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Construct a goal map for a roadmap/task pair.
_r | The roadmap to track. |
_t | The task defining start/goal conditions. |
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noexcept |
Find the VIDs which satisfy a particular goal constraint.
_index | The goal constraint index. |
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noexcept |
Find the VIDs which satisfy the start constraint.
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noexcept |
Install hooks in the roadmap for mapping new configurations.
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noexcept |
Remove hooks from the roadmap.
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noexcept |
Check the number of unreached goals.
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noexcept |
Get the indexes of the goal constraints which have not yet been satisfied.