#include <GroupLocalPlan.h>

Inheritance diagram for GroupLocalPlan< GraphType >:

Collaboration diagram for GroupLocalPlan< GraphType >:

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Public Types
Local Types
typedef CompositeEdge< GraphType >	BaseType

typedef BaseType::GroupGraphType	GroupGraphType

typedef GraphType::CfgType	CfgType

typedef GraphType::EdgeType	IndividualEdge

typedef double	EdgeWeight

typedef GroupCfg< GraphType >	GroupCfgType

typedef GroupRoadmap< GroupCfgType, GroupLocalPlan >	GroupRoadmapType

typedef std::vector< GroupCfgType >	GroupCfgPath

typedef BaseType::CompositePath	CompositePath

typedef stapl::edge_descriptor_impl< size_t >	ED

typedef std::vector< size_t >	Formation

Public Types inherited from CompositeEdge< GraphType >
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

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

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

Public Member Functions
Construction
	GroupLocalPlan (GroupRoadmapType *const &_g=nullptr, const std::string &_lpLabel="", const double _w=0.0, const GroupCfgPath &_path=GroupCfgPath())

	GroupLocalPlan (RobotGroup *const &_g, const std::string &_lpLabel="", const double _w=0.0, const GroupCfgPath &_path=GroupCfgPath())

virtual	~GroupLocalPlan ()=default

Misc. Interface Functions
void	SetGroupRoadmap (GroupRoadmapType *const &_g)

void	SetFormation (const Formation &_indices)

const Formation &	GetFormation () const noexcept

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

GroupCfgPath &	GetIntermediates () noexcept
	Get the group configuration intermediates. More...

const GroupCfgPath &	GetIntermediates () const noexcept
	Get the group configuration intermediates. More...

void	SetIntermediates (const GroupCfgPath &_cfgs)
	Set the group configuration intermediates. More...

const std::string &	GetLPLabel () const noexcept
	Get the string label of this current local plan. More...

void	SetLPLabel (const std::string _label) noexcept

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

Public Member Functions inherited from CompositeEdge< GraphType >
	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())

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

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

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

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

virtual void	SetWeight (const EdgeWeight _w) noexcept

void	SetGroupGraph (GroupGraphType *const &_g)

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

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...

virtual CompositeEdge	operator+ (const CompositeEdge &_other) const

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

virtual iterator	begin () noexcept

virtual iterator	end () noexcept

virtual const_iterator	begin () const noexcept

virtual const_iterator	end () const noexcept

Additional Inherited Members
Protected Attributes inherited from CompositeEdge< GraphType >
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...

Detailed Description

template<typename GraphType>
class GroupLocalPlan< GraphType >

A local plan for multiple robots. Each robot will be executing this motion simultaneously, and the total time is the same for each robot.

Member Typedef Documentation

◆ BaseType

template<typename GraphType >

typedef CompositeEdge<GraphType> GroupLocalPlan< GraphType >::BaseType

◆ CfgType

template<typename GraphType >

typedef GraphType::CfgType GroupLocalPlan< GraphType >::CfgType

◆ CompositePath

template<typename GraphType >

typedef BaseType::CompositePath GroupLocalPlan< GraphType >::CompositePath

◆ ED

template<typename GraphType >

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

◆ EdgeWeight

template<typename GraphType >

typedef double GroupLocalPlan< GraphType >::EdgeWeight

◆ Formation

template<typename GraphType >

typedef std::vector<size_t> GroupLocalPlan< GraphType >::Formation

A formation represents a group of robots which are maintaining their configurations relative to a leader, such as maintaining a square or V-shape while moving. The values are robot indexes (within the group, not problem) with the first index denoting the leader robot.

◆ GroupCfgPath

template<typename GraphType >

typedef std::vector<GroupCfgType> GroupLocalPlan< GraphType >::GroupCfgPath

◆ GroupCfgType

template<typename GraphType >

typedef GroupCfg<GraphType> GroupLocalPlan< GraphType >::GroupCfgType

◆ GroupGraphType

template<typename GraphType >

typedef BaseType::GroupGraphType GroupLocalPlan< GraphType >::GroupGraphType

◆ GroupRoadmapType

template<typename GraphType >

typedef GroupRoadmap<GroupCfgType, GroupLocalPlan> GroupLocalPlan< GraphType >::GroupRoadmapType

◆ IndividualEdge

template<typename GraphType >

typedef GraphType::EdgeType GroupLocalPlan< GraphType >::IndividualEdge

Constructor & Destructor Documentation

◆ GroupLocalPlan() [1/2]

template<typename GraphType >

GroupLocalPlan< GraphType >::GroupLocalPlan	(	GroupRoadmapType *const &	_g = `nullptr`,
		const std::string &	_lpLabel = `""`,
		const double	_w = `0.0`,
		const GroupCfgPath &	_path = `GroupCfgPath()`
	)

Constructs a GroupLocalPlan.

Parameters

_g	The group roadmap in which this edge exists.
_lpLabel	The string label to assign to this plan. Defaults to empty string.
_w	The weight of the plan. Defaults to 0.0.
_path	The path to be given by the plan. Defaults to GroupCfgPath().

◆ GroupLocalPlan() [2/2]

template<typename GraphType >

GroupLocalPlan< GraphType >::GroupLocalPlan	(	RobotGroup *const &	_g,
		const std::string &	_lpLabel = `""`,
		const double	_w = `0.0`,
		const GroupCfgPath &	_path = `GroupCfgPath()`
	)

Constructs a GroupLocalPlan.

Parameters

_g	The robot group for which this edge exists.
_lpLabel	The string label to assign to this plan. Defaults to empty string.
_w	The weight of the plan. Defaults to 0.0.
_path	The path to be given by the plan. Defaults to GroupCfgPath().

◆ ~GroupLocalPlan()

template<typename GraphType >

virtual GroupLocalPlan< GraphType >::~GroupLocalPlan ( )

virtualdefault

Member Function Documentation

◆ Clear()

template<typename GraphType >

void GroupLocalPlan< GraphType >::Clear

virtualnoexcept

Reset the states of this object.

Reimplemented from CompositeEdge< GraphType >.

◆ GetFormation()

template<typename GraphType >

const GroupLocalPlan< GraphType >::Formation & GroupLocalPlan< GraphType >::GetFormation

noexcept

Get the formation of the robots. The first index is the leader.

Returns: The vector of formation robot indices.

◆ GetIntermediates() [1/2]

template<typename GraphType >

const GroupLocalPlan< GraphType >::GroupCfgPath & GroupLocalPlan< GraphType >::GetIntermediates

noexcept

Get the group configuration intermediates.

◆ GetIntermediates() [2/2]

template<typename GraphType >

GroupLocalPlan< GraphType >::GroupCfgPath & GroupLocalPlan< GraphType >::GetIntermediates

noexcept

Get the group configuration intermediates.

◆ GetLPLabel()

template<typename GraphType >

const std::string & GroupLocalPlan< GraphType >::GetLPLabel

noexcept

Get the string label of this current local plan.

◆ operator+()

template<typename GraphType >

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

virtual

Add two group local plans. This only adds weights, it doesn't take intermediates into account.

◆ SetFormation()

template<typename GraphType >

void GroupLocalPlan< GraphType >::SetFormation ( const Formation & _indices )

Set the formation of the robots. The first index is the leader.

Parameters

_indices The vector of robot indices given.

◆ SetGroupRoadmap()

template<typename GraphType >

void GroupLocalPlan< GraphType >::SetGroupRoadmap ( GroupRoadmapType *const & _g )

Set the group roadmap to which this plan belongs.

Parameters

_g	The given group roadmap.

◆ SetIntermediates()

template<typename GraphType >

void GroupLocalPlan< GraphType >::SetIntermediates ( const GroupCfgPath & _cfgs )

Set the group configuration intermediates.

◆ SetLPLabel()

template<typename GraphType >

void GroupLocalPlan< GraphType >::SetLPLabel ( const std::string _label )

noexcept

Set the string label of this current local plan.

Parameters

_label The desired string label.

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

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename GraphType> class GroupLocalPlan< GraphType >

Member Typedef Documentation

◆ BaseType

◆ CfgType

◆ CompositePath

◆ ED

◆ EdgeWeight

◆ Formation

◆ GroupCfgPath

◆ GroupCfgType

◆ GroupGraphType

◆ GroupRoadmapType

◆ IndividualEdge

Constructor & Destructor Documentation

◆ GroupLocalPlan() [1/2]

◆ GroupLocalPlan() [2/2]

◆ ~GroupLocalPlan()

Member Function Documentation

◆ Clear()

◆ GetFormation()

◆ GetIntermediates() [1/2]

◆ GetIntermediates() [2/2]

◆ GetLPLabel()

◆ operator+()

◆ SetFormation()

◆ SetGroupRoadmap()

◆ SetIntermediates()

◆ SetLPLabel()

template<typename GraphType>
class GroupLocalPlan< GraphType >