#include <MPProblem.h>

Collaboration diagram for MPProblem:

[legend]

Public Member Functions
Construction
	MPProblem ()
	Instantiate an empty MPProblem. More...

	MPProblem (const std::string &_filename)

	MPProblem (XMLNode _mpNode, XMLNode _input)

	MPProblem (const MPProblem &_other)
	Copy. More...

	MPProblem (MPProblem &&_other)=delete

virtual	~MPProblem ()

Assignment
MPProblem &	operator= (const MPProblem &_other)
	Copy. More...

MPProblem &	operator= (MPProblem &&_other)=delete

XML File Parsing
const std::string &	GetXMLFilename () const
	Get the XML filename from which this object was parsed. More...

void	ReadXMLFile (const std::string &_filename)

void	ProcessXML (XMLNode mpNode, XMLNode input)

Environment Accessors
Environment *	GetEnvironment ()
	Get the environment object. More...

void	SetEnvironment (std::unique_ptr< Environment > &&_e)

Robot Accessors
size_t	NumRobots () const noexcept
	Get the number of robots in our problem. More...

Robot *	GetRobot (const size_t _index) const noexcept

Robot *	GetRobot (const std::string &_label) const noexcept

const std::vector< std::unique_ptr< Robot > > &	GetRobots () const noexcept
	Get all robots in this problem. More...

const std::vector< Robot * >	GetRobotsOfType (std::string _type) const noexcept

size_t	NumRobotGroups () const noexcept

RobotGroup *	GetRobotGroup (const size_t _index) const noexcept

RobotGroup *	GetRobotGroup (const std::string &_label) const noexcept

const std::vector< std::unique_ptr< RobotGroup > > &	GetRobotGroups () const noexcept

Cfg	GetInitialCfg (Robot *_r)

void	SetInitialCfg (Robot *_r, Cfg _cfg)

Task Accessors
MPTask *	GetTask (std::string _label)

std::vector< std::shared_ptr< MPTask > >	GetTasks (Robot *const _robot) const noexcept

std::vector< std::shared_ptr< GroupTask > >	GetTasks (RobotGroup *const _group) const noexcept

void	AddTask (std::unique_ptr< MPTask > &&_task)

void	ReassignTask (MPTask const _task, Robot const _newOwner)

void	AddDecomposition (Robot *_coordinator, std::unique_ptr< Decomposition > &&_decomp)

const std::vector< std::unique_ptr< Decomposition > > &	GetDecompositions (Robot *_coordinator)

const std::unordered_map< Robot *, std::vector< std::unique_ptr< Decomposition > > > &	GetDecompositions ()
	Get map of robots to decompositions. More...

Dynamic Obstacle Accessors
const std::vector< DynamicObstacle > &	GetDynamicObstacles () const noexcept
	Get all of the dynamic obstacles in this problem. More...

void	AddDynamicObstacle (DynamicObstacle &&_obstacle)

void	ClearDynamicObstacles ()
	Remove all of the dynamic obstacles in this problem. More...

Debugging
virtual void	Print (std::ostream &_os) const

File Path Accessors
const std::string &	GetBaseFilename () const
	Get the base filename for output files. More...

void	SetBaseFilename (const std::string &_s)

std::string	GetPath (const std::string &_filename="")

void	SetPath (const std::string &_filename)

Handoff Template Accessors
std::vector< std::unique_ptr< InteractionInformation > > &	GetInteractionInformations ()

Protected Member Functions
Construction Helpers
void	ParseChild (XMLNode &_node)

void	MakePointRobot ()
	Create a pseudo-point robot. More...

Protected Attributes
Core Properties
std::unique_ptr< Environment >	m_environment
	The planning environment. More...

std::vector< std::unique_ptr< Robot > >	m_robots
	The robots in our problem. More...

std::vector< std::unique_ptr< RobotGroup > >	m_robotGroups
	Robot groups. More...

std::unique_ptr< Robot >	m_pointRobot
	A pseudo point-robot. More...

std::unordered_map< std::string, std::vector< Robot * > >	m_robotCapabilityMap
	Map of robot type to set of robots. More...

std::unordered_map< Robot *, Cfg >	m_initialCfgs
	Map of robot initial locations. More...

std::vector< DynamicObstacle >	m_dynamicObstacles
	The dynamic obstacles in our problem. More...

std::vector< std::unique_ptr< InteractionInformation > >	m_interactionInformations
	All handoff templates for a problem. More...

std::unordered_map< Robot *, std::list< std::shared_ptr< MPTask > > >	m_taskMap
	Map the tasks assigned to each robot. More...

std::unordered_map< RobotGroup *, std::list< std::shared_ptr< GroupTask > > >	m_groupTaskMap
	Map the group tasks assigned to each robot group. More...

std::unordered_map< std::string, MPTask * >	m_taskLabelMap
	Map task labels to tasks. More...

std::unordered_map< Robot *, std::vector< std::unique_ptr< Decomposition > > >	m_taskDecompositions
	Map robots to task decompositions. More...

Files
std::string	m_xmlFilename
	The XML file name. More...

std::string	m_baseFilename
	The base name for output files. More...

std::string	m_filePath
	The relative path for the problem XML. More...

Detailed Description

Representation of a motion planning problem, including an environment, tasks, and robots.

Examples: MPLibrary_UseCase.cpp.

Constructor & Destructor Documentation

◆ MPProblem() [1/5]

MPProblem::MPProblem ( )

default

Instantiate an empty MPProblem.

◆ MPProblem() [2/5]

MPProblem::MPProblem ( const std::string & _filename )

explicit

Instantiate an MPProblem from an XML file.

Parameters

_filename The name of the XML file.

◆ MPProblem() [3/5]

MPProblem::MPProblem	(	XMLNode	_mpNode,
		XMLNode	_input
	)

explicit

Instantiate an MPProblem from an XML strings.

Parameters

_mpNode,_input Strings containing the XML to be parsed.

◆ MPProblem() [4/5]

MPProblem::MPProblem ( const MPProblem & _other )

Copy.

◆ MPProblem() [5/5]

MPProblem::MPProblem ( MPProblem && _other )

delete

◆ ~MPProblem()

MPProblem::~MPProblem ( )

virtualdefault

Member Function Documentation

◆ AddDecomposition()

void MPProblem::AddDecomposition	(	Robot *	_coordinator,
		std::unique_ptr< Decomposition > &&	_decomp
	)

Assign task decomposition to a robot

Parameters

_coordinator	Robot to assign task to
_decomp	The decomposition task to assign

◆ AddDynamicObstacle()

void MPProblem::AddDynamicObstacle ( DynamicObstacle && _obstacle )

Add dynamic obstacle to this problem

Parameters

Dynamic obstacle to add

◆ AddTask()

void MPProblem::AddTask ( std::unique_ptr< MPTask > && _task )

Add a task to the problem. The assigned robot will be taken from the task object.

Parameters

_task The new task.

◆ ClearDynamicObstacles()

void MPProblem::ClearDynamicObstacles ( )

Remove all of the dynamic obstacles in this problem.

◆ GetBaseFilename()

const std::string & MPProblem::GetBaseFilename ( ) const

Get the base filename for output files.

◆ GetDecompositions() [1/2]

const std::unordered_map< Robot *, std::vector< std::unique_ptr< Decomposition > > > & MPProblem::GetDecompositions ( )

Get map of robots to decompositions.

◆ GetDecompositions() [2/2]

const std::vector< std::unique_ptr< Decomposition > > & MPProblem::GetDecompositions ( Robot * _coordinator )

Get set of decomposition tasks for given robot

Parameters

_coordinator Robot to return task decompositions for

◆ GetDynamicObstacles()

const std::vector< DynamicObstacle > & MPProblem::GetDynamicObstacles ( ) const

noexcept

Get all of the dynamic obstacles in this problem.

◆ GetEnvironment()

Environment * MPProblem::GetEnvironment ( )

Get the environment object.

◆ GetInitialCfg()

Cfg MPProblem::GetInitialCfg ( Robot * _r )

Get initial configuration of a robot

Parameters

_r	Robot whose configuration to retrieve

◆ GetInteractionInformations()

std::vector< std::unique_ptr< InteractionInformation > > & MPProblem::GetInteractionInformations ( )

Return the list of handoff templates defined in the problem

Returns: vector of handoff templates

◆ GetPath()

string MPProblem::GetPath ( const std::string & _filename = "" )

Get the base path for input files to a file name.

Parameters

_filename The filename to modify.

Returns: The base path + filename, or just the path if no name is given.

◆ GetRobot() [1/2]

Robot * MPProblem::GetRobot ( const size_t _index ) const

noexcept

Get a specific robot by index.

Parameters

_index Index of robot to get

◆ GetRobot() [2/2]

Robot * MPProblem::GetRobot ( const std::string & _label ) const

noexcept

Get a specific robot by label.

Parameters

_label Label of robot to get

◆ GetRobotGroup() [1/2]

RobotGroup * MPProblem::GetRobotGroup ( const size_t _index ) const

noexcept

Get a specific robot group by index.

Parameters

_index Index of robot group to retrieve

◆ GetRobotGroup() [2/2]

RobotGroup * MPProblem::GetRobotGroup ( const std::string & _label ) const

noexcept

Get a specific robot group by group's label.

Parameters

_label Label of robot group to retrieve

◆ GetRobotGroups()

const std::vector< std::unique_ptr< RobotGroup > > & MPProblem::GetRobotGroups ( ) const

noexcept

Get all robot groups in this problem.

Returns: List of robot groups

◆ GetRobots()

const std::vector< std::unique_ptr< Robot > > & MPProblem::GetRobots ( ) const

noexcept

Get all robots in this problem.

◆ GetRobotsOfType()

const std::vector< Robot * > MPProblem::GetRobotsOfType ( std::string _type ) const

noexcept

Get all robots of a specified type.

Parameters

_type Type of robots to retrieve

Returns: List of robots of type _type

◆ GetTask()

MPTask * MPProblem::GetTask ( std::string _label )

Get task by label

Parameters

_label Label of task to retrieve

◆ GetTasks() [1/2]

std::vector< std::shared_ptr< MPTask > > MPProblem::GetTasks ( Robot *const _robot ) const

noexcept

Get the unfinished tasks currently assigned to a given robot.

Parameters

_robot The robot to retrieve tasks for.

Returns: The set of tasks currently assigned to _robot.

◆ GetTasks() [2/2]

std::vector< std::shared_ptr< GroupTask > > MPProblem::GetTasks ( RobotGroup *const _group ) const

noexcept

Group overload Get the unfinished tasks currently assigned to a group of robots.

Parameters

_group The robot group to retrieve tasks for.

Returns: The set of group tasks currently assigned to _group.

◆ GetXMLFilename()

const std::string & MPProblem::GetXMLFilename ( ) const

Get the XML filename from which this object was parsed.

◆ MakePointRobot()

void MPProblem::MakePointRobot ( )

protected

Create a pseudo-point robot.

◆ NumRobotGroups()

size_t MPProblem::NumRobotGroups ( ) const

noexcept

Group versions: Get the number of robot groups in our problem.

◆ NumRobots()

size_t MPProblem::NumRobots ( ) const

noexcept

Get the number of robots in our problem.

◆ operator=() [1/2]

MPProblem & MPProblem::operator= ( const MPProblem & _other )

Copy.

◆ operator=() [2/2]

MPProblem& MPProblem::operator= ( MPProblem && _other )

delete

◆ ParseChild()

void MPProblem::ParseChild ( XMLNode & _node )

protected

Helper for parsing XML nodes of various types.

Parameters

_node The child node to be parsed.

Todo:: We currently assume that the environment is parsed first. Need to make sure this always happens regardless of the XML file ordering.

Todo:: Add check that tasks have unique labels

◆ Print()

void MPProblem::Print ( std::ostream & _os ) const

virtual

Print the environment, robot, and task information.

Parameters

_os	Stream to print to

Todo:: Print robot and task information.

◆ ProcessXML()

void MPProblem::ProcessXML	(	XMLNode	mpNode,
		XMLNode	input
	)

Initialize MPProblem based on XMLNodes.

Parameters

_filename The XML file name.

◆ ReadXMLFile()

void MPProblem::ReadXMLFile ( const std::string & _filename )

Read an XML file.

Parameters

_filename The XML file name.

◆ ReassignTask()

void MPProblem::ReassignTask	(	MPTask *const	_task,
		Robot *const	_newOwner
	)

Reassign a task to another robot.

Parameters

_task	The task to reassign.
_newOwner	The new robot assigned to _task.

◆ SetBaseFilename()

void MPProblem::SetBaseFilename ( const std::string & _s )

Set the base filename for output files.

Parameters

_s	New base filename

◆ SetEnvironment()

void MPProblem::SetEnvironment ( std::unique_ptr< Environment > && _e )

Set the environment object.

Parameters

_e	Environment to set to

◆ SetInitialCfg()

void MPProblem::SetInitialCfg	(	Robot *	_r,
		Cfg	_cfg
	)

Get initial configuration of a robot

Parameters

_r	Robot whose configuration to retrieve
_cfg	Configuration to set for _r

◆ SetPath()

void MPProblem::SetPath ( const std::string & _filename )

Set the base path for input files.

Parameters

_fileName File path to set

Field Documentation

◆ m_baseFilename

std::string MPProblem::m_baseFilename

protected

The base name for output files.

◆ m_dynamicObstacles

std::vector<DynamicObstacle> MPProblem::m_dynamicObstacles

protected

The dynamic obstacles in our problem.

◆ m_environment

std::unique_ptr<Environment> MPProblem::m_environment

protected

The planning environment.

◆ m_filePath

std::string MPProblem::m_filePath

protected

The relative path for the problem XML.

◆ m_groupTaskMap

std::unordered_map<RobotGroup*, std::list<std::shared_ptr<GroupTask> > > MPProblem::m_groupTaskMap

protected

Map the group tasks assigned to each robot group.

◆ m_initialCfgs

std::unordered_map<Robot*,Cfg> MPProblem::m_initialCfgs

protected

Map of robot initial locations.

◆ m_interactionInformations

std::vector<std::unique_ptr<InteractionInformation> > MPProblem::m_interactionInformations

protected

All handoff templates for a problem.

◆ m_pointRobot

std::unique_ptr<Robot> MPProblem::m_pointRobot

protected

A pseudo point-robot.

◆ m_robotCapabilityMap

std::unordered_map<std::string,std::vector<Robot*> > MPProblem::m_robotCapabilityMap

protected

Map of robot type to set of robots.

◆ m_robotGroups

std::vector<std::unique_ptr<RobotGroup> > MPProblem::m_robotGroups

protected

Robot groups.

◆ m_robots

std::vector<std::unique_ptr<Robot> > MPProblem::m_robots

protected

The robots in our problem.

◆ m_taskDecompositions

std::unordered_map<Robot*,std::vector<std::unique_ptr<Decomposition> > > MPProblem::m_taskDecompositions

protected

Map robots to task decompositions.

◆ m_taskLabelMap

std::unordered_map<std::string, MPTask*> MPProblem::m_taskLabelMap

protected

Map task labels to tasks.

◆ m_taskMap

std::unordered_map<Robot*, std::list<std::shared_ptr<MPTask> > > MPProblem::m_taskMap

protected

Map the tasks assigned to each robot.

◆ m_xmlFilename

std::string MPProblem::m_xmlFilename

protected

The XML file name.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MPProblem() [1/5]

◆ MPProblem() [2/5]

◆ MPProblem() [3/5]

◆ MPProblem() [4/5]

◆ MPProblem() [5/5]

◆ ~MPProblem()

Member Function Documentation

◆ AddDecomposition()

◆ AddDynamicObstacle()

◆ AddTask()

◆ ClearDynamicObstacles()

◆ GetBaseFilename()

◆ GetDecompositions() [1/2]

◆ GetDecompositions() [2/2]

◆ GetDynamicObstacles()

◆ GetEnvironment()

◆ GetInitialCfg()

◆ GetInteractionInformations()

◆ GetPath()

◆ GetRobot() [1/2]

◆ GetRobot() [2/2]

◆ GetRobotGroup() [1/2]

◆ GetRobotGroup() [2/2]

◆ GetRobotGroups()

◆ GetRobots()

◆ GetRobotsOfType()

◆ GetTask()

◆ GetTasks() [1/2]

◆ GetTasks() [2/2]

◆ GetXMLFilename()

◆ MakePointRobot()

◆ NumRobotGroups()

◆ NumRobots()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ParseChild()

◆ Print()

◆ ProcessXML()

◆ ReadXMLFile()

◆ ReassignTask()

◆ SetBaseFilename()

◆ SetEnvironment()

◆ SetInitialCfg()

◆ SetPath()

Field Documentation

◆ m_baseFilename

◆ m_dynamicObstacles

◆ m_environment

◆ m_filePath

◆ m_groupTaskMap

◆ m_initialCfgs

◆ m_interactionInformations

◆ m_pointRobot

◆ m_robotCapabilityMap

◆ m_robotGroups

◆ m_robots

◆ m_taskDecompositions

◆ m_taskLabelMap

◆ m_taskMap

◆ m_xmlFilename