#include <GroupTask.h>

Public Types
Local Types
typedef std::vector< MPTask >	TaskSet
	A set of individual tasks. More...

typedef GenericStateGraph< Cfg, DefaultWeight< Cfg > >	IndividualRoadmap

typedef GroupCfg< IndividualRoadmap >	GroupCfgType

typedef TaskSet::iterator	iterator

typedef TaskSet::const_iterator	const_iterator

Public Member Functions
Property Accessors
RobotGroup *	GetRobotGroup () const noexcept
	Get the robot associated with this task. More...

void	SetRobotGroup (RobotGroup *const _r)

const std::string &	GetLabel () const noexcept
	Get the semantic label for this task. More...

void	SetLabel (const std::string &_label) noexcept
	Set the semantic label for this task. More...

size_t	Size () const noexcept
	Get the number of individual tasks within this group task. More...

bool	Empty () const noexcept

nonstd::status &	GetStatus () noexcept
	Get the status object for this task. More...

const nonstd::status &	GetStatus () const noexcept

Individual Tasks
Access, modify, and iterate over the individual tasks.
size_t	GetNumGoals () const noexcept
	Get the number of goals in the longest (most goals) task. More...

void	AddTask (const MPTask &_t)

iterator	RemoveTask (iterator _iter)

iterator	begin () noexcept

iterator	end () noexcept

const_iterator	begin () const noexcept
	Get iterator to beginning of tasks. More...

const_iterator	end () const noexcept
	Get iterator to end of tasks. More...

Constraint Accessors
void	GetStartConstraintCenter (GroupCfgType &_center) const noexcept

Constraint Evaluation
bool	EvaluateStartConstraints (const GroupCfgType &_cfg) const

bool	EvaluatePathConstraints (const GroupCfgType &_cfg) const

bool	EvaluateGoalConstraints (const GroupCfgType &_cfg) const

bool	EvaluateGoalConstraints (const GroupCfgType &_cfg, const size_t _index) const

Disassembly Items
To be moved to a specialized derived class.
RobotGroup *	GetEndEffectorGroup () const noexcept
	Get the optional manipulator robot group associated with this task. More...

RobotGroup *	GetManipulatorGroup () const noexcept
	Get the optional manipulator robot group associated with this task. More...

Robot *	GetEndEffectorRobot ()
	Get the robot pointer for the (optional) end effector for the group task. More...

Robot *	GetManipulatorRobot ()
	Get the robot pointer for the (optional) manipulator for this group task. More...

Construction
	GroupTask (RobotGroup *const _robotGroup)

	GroupTask (MPProblem *const _problem, XMLNode &_node)

virtual	~GroupTask ()

static std::unique_ptr< GroupTask >	Factory (MPProblem *const _problem, XMLNode &_node)

Detailed Description

Describes a motion task for a group of robots as a set of individual tasks.

The individual tasks may be assigned to specific robots in the group, or they may be completable by any robot in the group.

Note: The goals are 'right-aligned' in that we assume that all robots must reach their last goal together.; Assigning a group task to another group will clear any assignments of robots to individual tasks because there is no universal way to map the new robots to the same set of tasks. The new group may be smaller/larger, have different labels/capabilities, etc.

Todo:: Move disassembly-specific items to a derived class specifically for disassembly tasks.

Member Typedef Documentation

◆ const_iterator

typedef TaskSet::const_iterator GroupTask::const_iterator

◆ GroupCfgType

typedef GroupCfg<IndividualRoadmap> GroupTask::GroupCfgType

◆ IndividualRoadmap

typedef GenericStateGraph<Cfg, DefaultWeight<Cfg> > GroupTask::IndividualRoadmap

◆ iterator

typedef TaskSet::iterator GroupTask::iterator

◆ TaskSet

typedef std::vector<MPTask> GroupTask::TaskSet

A set of individual tasks.

Constructor & Destructor Documentation

◆ GroupTask() [1/2]

GroupTask::GroupTask ( RobotGroup *const _robotGroup )

explicit

Create an empty task for a given robot.

Parameters

_robotGroup The robot group assigned to this task.

◆ GroupTask() [2/2]

GroupTask::GroupTask	(	MPProblem *const	_problem,
		XMLNode &	_node
	)

explicit

Parse the set of task constraints described in an XML node and verify that tasks are assigned to robots in group.

Parameters

_problem	The MPProblem for this task.
_node	The XML node to parse.

◆ ~GroupTask()

GroupTask::~GroupTask ( )

virtualdefault

Member Function Documentation

◆ AddTask()

void GroupTask::AddTask ( const MPTask & _t )

Add an individual task.

Parameters

_t	The individual task to add.

◆ begin() [1/2]

GroupTask::const_iterator GroupTask::begin ( ) const

noexcept

Get iterator to beginning of tasks.

◆ begin() [2/2]

GroupTask::iterator GroupTask::begin ( )

noexcept

◆ Empty()

bool GroupTask::Empty ( ) const

noexcept

Check if there are no individual tasks.

Returns: False if no tasks or all tasks empty

◆ end() [1/2]

GroupTask::const_iterator GroupTask::end ( ) const

noexcept

Get iterator to end of tasks.

◆ end() [2/2]

GroupTask::iterator GroupTask::end ( )

noexcept

◆ EvaluateGoalConstraints() [1/2]

bool GroupTask::EvaluateGoalConstraints ( const GroupCfgType & _cfg ) const

Evaluate whether a configuration satisfies the final goal constraints.

Parameters

_cfg	The configuration to check.

Returns: True if each robot satsifies its last individual goal constraints at _cfg.

◆ EvaluateGoalConstraints() [2/2]

bool GroupTask::EvaluateGoalConstraints	(	const GroupCfgType &	_cfg,
		const size_t	_index
	)		const

Evaluate whether a configuration satisfies the constraints for a designated goal.

Parameters

_cfg	The configuration to check.
_index	The goal index to check.

Returns: True if each robot satsifies its individual goal constraints at _cfg for goal _index.

◆ EvaluatePathConstraints()

bool GroupTask::EvaluatePathConstraints ( const GroupCfgType & _cfg ) const

Evaluate whether a configuration satisfies the path constraints.

Parameters

_cfg	The configuration to check.

Returns: True if each robot satsifies its individual path constraints at _cfg.

◆ EvaluateStartConstraints()

bool GroupTask::EvaluateStartConstraints ( const GroupCfgType & _cfg ) const

Evaluate whether a configuration satisfies the start constraints.

Parameters

_cfg	The configuration to check.

Returns: True if each robot satsifies its individual start constraints at _cfg.

◆ Factory()

std::unique_ptr< GroupTask > GroupTask::Factory	(	MPProblem *const	_problem,
		XMLNode &	_node
	)

static

Generate a group task of the appropriate type.

Parameters

_problem	The MPProblem for this task.
_node	The XML node to parse.

◆ GetEndEffectorGroup()

RobotGroup * GroupTask::GetEndEffectorGroup ( ) const

noexcept

Get the optional manipulator robot group associated with this task.

◆ GetEndEffectorRobot()

Robot * GroupTask::GetEndEffectorRobot ( )

Get the robot pointer for the (optional) end effector for the group task.

Todo:: This uses magic strings in the XML files, let's find a better way.

◆ GetLabel()

const std::string & GroupTask::GetLabel ( ) const

noexcept

Get the semantic label for this task.

◆ GetManipulatorGroup()

RobotGroup * GroupTask::GetManipulatorGroup ( ) const

noexcept

Get the optional manipulator robot group associated with this task.

◆ GetManipulatorRobot()

Robot * GroupTask::GetManipulatorRobot ( )

Get the robot pointer for the (optional) manipulator for this group task.

Todo:: This uses magic strings in the XML files, let's find a better way.

◆ GetNumGoals()

size_t GroupTask::GetNumGoals ( ) const

noexcept

Get the number of goals in the longest (most goals) task.

◆ GetRobotGroup()

RobotGroup * GroupTask::GetRobotGroup ( ) const

noexcept

Get the robot associated with this task.

◆ GetStartConstraintCenter()

void GroupTask::GetStartConstraintCenter ( GroupCfgType & _center ) const

noexcept

Uses the robot group in _center to populate all of the individual cfgs in that group cfg.

Todo:: This is a hack that was needed to move the disassembly work forward before we had flushed out the tasks/groups. To be removed at the earliest opportunity.

Parameters

_center Robot group to populate from

◆ GetStatus() [1/2]

const nonstd::status & GroupTask::GetStatus ( ) const

noexcept

◆ GetStatus() [2/2]

nonstd::status & GroupTask::GetStatus ( )

noexcept

Get the status object for this task.

◆ RemoveTask()

GroupTask::iterator GroupTask::RemoveTask ( iterator _iter )

Remove an individual task.

Parameters

_iter An iterator to the task to remove.

Returns: An iterator to the following element.

◆ SetLabel()

void GroupTask::SetLabel ( const std::string & _label )

noexcept

Set the semantic label for this task.

◆ SetRobotGroup()

void GroupTask::SetRobotGroup ( RobotGroup *const _r )

Assign this task to another robot group. If the new group is different, all individual tasks will have their robot pointers cleared (since there is no universal means of mapping the individual tasks to the new robots).

Parameters

_r	The destination robot which will receive this assignment.

◆ Size()

size_t GroupTask::Size ( ) const

noexcept

Get the number of individual tasks within this group task.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/GroupTask.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/GroupTask.cpp

Public Types

Public Member Functions

Disassembly Items

Construction

Detailed Description

Member Typedef Documentation

◆ const_iterator

◆ GroupCfgType

◆ IndividualRoadmap

◆ iterator

◆ TaskSet

Constructor & Destructor Documentation

◆ GroupTask() [1/2]

◆ GroupTask() [2/2]

◆ ~GroupTask()

Member Function Documentation

◆ AddTask()

◆ begin() [1/2]

◆ begin() [2/2]

◆ Empty()

◆ end() [1/2]

◆ end() [2/2]

◆ EvaluateGoalConstraints() [1/2]

◆ EvaluateGoalConstraints() [2/2]

◆ EvaluatePathConstraints()

◆ EvaluateStartConstraints()

◆ Factory()

◆ GetEndEffectorGroup()

◆ GetEndEffectorRobot()

◆ GetLabel()

◆ GetManipulatorGroup()

◆ GetManipulatorRobot()

◆ GetNumGoals()

◆ GetRobotGroup()

◆ GetStartConstraintCenter()

◆ GetStatus() [1/2]

◆ GetStatus() [2/2]

◆ RemoveTask()

◆ SetLabel()

◆ SetRobotGroup()

◆ Size()