#include <InteractionInformation.h>

Collaboration diagram for InteractionInformation:

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Public Member Functions
Construction
	InteractionInformation (MPProblem *_problem, XMLNode &_node)

Accessors
std::string	GetLabel () const
	Get label for handoff template. More...

size_t	GetMaxAttempts () const
	Get max attempts for placing template in real environment. More...

MPProblem *	GetMPProblem () const
	Get MPProblem for handoff. More...

std::vector< std::shared_ptr< MPTask > > &	GetInteractionTasks ()
	Get interaction tasks for handoff. More...

std::vector< std::shared_ptr< MPTask > > &	GetTypeTasks (const std::string &_s)

double	GetInteractionWeight () const
	Get interaction weight. More...

void	AddTemplateLocation (Cfg _location)

std::vector< Cfg > &	GetTemplateLocations ()
	Gets the set of locations to place ITs. More...

std::vector< Cfg >	GetInteractionPositions ()
	Gets the final position of robots at each of the IT locations. More...

std::vector< std::pair< Cfg, Cfg > >	GetInteractionPositionPairs ()

std::vector< std::vector< Cfg > >	GetInteractionPaths ()
	Gets the paths of robots at each of the IT locations. More...

std::vector< Cfg >	GetInteractionPosition (std::string _capability)
	Get the final position of robot of input capability. More...

std::vector< std::vector< Cfg > >	GetInteractionPath (std::string _capability)
	Get the paths of robot of input capability. More...

bool	SavedPaths ()

Environment *	GetInteractionEnvironment ()
	Gets the environment to plan the interaction in. More...

Protected Attributes
MPProblem *	m_problem {nullptr}
	The handoff template problem. More...

std::vector< std::shared_ptr< MPTask > >	m_tasks
	The set of tasks that must be performed to handoff. More...

std::unordered_map< std::string, std::vector< std::shared_ptr< MPTask > > >	m_taskType
	The list of tasks stored by type. More...

std::string	m_label
	The handoff label. More...

size_t	m_maxAttempts
	The number of attempts to try and place the template in the environment. More...

double	m_interactionWeight {0}
	The weight of the edge between interaction cfgs. More...

std::vector< Cfg >	m_handoffLocations
	The locations for manually placed handoffs. More...

std::unique_ptr< Environment >	m_interactionEnvironment
	Environment to plan the interaction in. More...

bool	m_savePaths

Detailed Description

This represents a Handoff Template, which stores the tasks required for robots to perform a handoff.

Constructor & Destructor Documentation

◆ InteractionInformation()

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

Parse tasks in Handoff template

Parameters

_problem	MPProblem for Handoff
_node	XMLNode to parse

Member Function Documentation

◆ AddTemplateLocation()

void InteractionInformation::AddTemplateLocation ( Cfg _location )

Adds an addition location to place an IT

Parameters

_location Location to add to handoff locations

◆ GetInteractionEnvironment()

Environment * InteractionInformation::GetInteractionEnvironment ( )

Gets the environment to plan the interaction in.

◆ GetInteractionPath()

std::vector<std::vector<Cfg> > InteractionInformation::GetInteractionPath ( std::string _capability )

Get the paths of robot of input capability.

◆ GetInteractionPaths()

std::vector<std::vector<Cfg> > InteractionInformation::GetInteractionPaths ( )

Gets the paths of robots at each of the IT locations.

◆ GetInteractionPosition()

std::vector<Cfg> InteractionInformation::GetInteractionPosition ( std::string _capability )

Get the final position of robot of input capability.

◆ GetInteractionPositionPairs()

std::vector<std::pair<Cfg,Cfg> > InteractionInformation::GetInteractionPositionPairs ( )

Gets the final position of robot pairs at each of the IT locations. First is the robot handing off. Second is robot receving.

◆ GetInteractionPositions()

std::vector<Cfg> InteractionInformation::GetInteractionPositions ( )

Gets the final position of robots at each of the IT locations.

◆ GetInteractionTasks()

std::vector< std::shared_ptr< MPTask > > & InteractionInformation::GetInteractionTasks ( )

Get interaction tasks for handoff.

◆ GetInteractionWeight()

double InteractionInformation::GetInteractionWeight ( ) const

Get interaction weight.

◆ GetLabel()

std::string InteractionInformation::GetLabel ( ) const

Get label for handoff template.

◆ GetMaxAttempts()

size_t InteractionInformation::GetMaxAttempts ( ) const

Get max attempts for placing template in real environment.

◆ GetMPProblem()

MPProblem * InteractionInformation::GetMPProblem ( ) const

Get MPProblem for handoff.

◆ GetTemplateLocations()

std::vector< Cfg > & InteractionInformation::GetTemplateLocations ( )

Gets the set of locations to place ITs.

◆ GetTypeTasks()

std::vector< std::shared_ptr< MPTask > > & InteractionInformation::GetTypeTasks ( const std::string & _s )

Get all tasks of the given type

Parameters

_s	Type of tasks desired

◆ SavedPaths()

bool InteractionInformation::SavedPaths ( )

Get if paths are saved

Returns: True if paths are saved

Field Documentation

◆ m_handoffLocations

std::vector<Cfg> InteractionInformation::m_handoffLocations

protected

The locations for manually placed handoffs.

◆ m_interactionEnvironment

std::unique_ptr<Environment> InteractionInformation::m_interactionEnvironment

protected

Environment to plan the interaction in.

◆ m_interactionWeight

double InteractionInformation::m_interactionWeight {0}

protected

The weight of the edge between interaction cfgs.

◆ m_label

std::string InteractionInformation::m_label

protected

The handoff label.

◆ m_maxAttempts

size_t InteractionInformation::m_maxAttempts

protected

The number of attempts to try and place the template in the environment.

◆ m_problem

MPProblem* InteractionInformation::m_problem {nullptr}

protected

The handoff template problem.

◆ m_savePaths

bool InteractionInformation::m_savePaths

protected

Indicates if the interaction template should save the entire paths of the interaction or just the final configurations.

◆ m_tasks

std::vector<std::shared_ptr<MPTask> > InteractionInformation::m_tasks

protected

The set of tasks that must be performed to handoff.

◆ m_taskType

std::unordered_map<std::string,std::vector<std::shared_ptr<MPTask> > > InteractionInformation::m_taskType

protected

The list of tasks stored by type.

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ InteractionInformation()

Member Function Documentation

◆ AddTemplateLocation()

◆ GetInteractionEnvironment()

◆ GetInteractionPath()

◆ GetInteractionPaths()

◆ GetInteractionPosition()

◆ GetInteractionPositionPairs()

◆ GetInteractionPositions()

◆ GetInteractionTasks()

◆ GetInteractionWeight()

◆ GetLabel()

◆ GetMaxAttempts()

◆ GetMPProblem()

◆ GetTemplateLocations()

◆ GetTypeTasks()

◆ SavedPaths()

Field Documentation

◆ m_handoffLocations

◆ m_interactionEnvironment

◆ m_interactionWeight

◆ m_label

◆ m_maxAttempts

◆ m_problem

◆ m_savePaths

◆ m_tasks

◆ m_taskType