MPSolutionType Class Reference

#include <MPSolution.h>

Data Structures
struct	GroupSolution
	The outputs for a robot group. More...
struct	RobotSolution
	The outputs for an individual robot. More...

Public Types
Solution Object Types
typedef GenericStateGraph< Cfg, DefaultWeight< Cfg > >	RoadmapType
typedef GroupCfg< RoadmapType >	GroupCfgType
typedef GroupRoadmap< GroupCfgType, GroupLocalPlan< RoadmapType > >	GroupRoadmapType

Public Member Functions
Construction
	MPSolutionType (Robot *const _r)
	MPSolutionType (RobotGroup *const _g)
Modifiers
void	AddRobot (Robot *const _r) noexcept
void	SetRobot (Robot *const _r) noexcept
void	SetRoadmap (Robot *const _r, RoadmapType *_roadmap) noexcept
void	SetPath (Robot *const _r, Path *_path) noexcept
void	AddRobotGroup (RobotGroup *const _g) noexcept
void	SetGroupRoadmap (RobotGroup *const _g, GroupRoadmapType *_roadmap) noexcept
void	SetGroupPath (RobotGroup *const _r, GroupPath *_path) noexcept
Accessors
RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
Path *	GetPath (Robot *const _r=nullptr) const noexcept
LocalObstacleMap *	GetLocalObstacleMap (Robot *const _r=nullptr) const noexcept
GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
StatClass *	GetStatClass () const noexcept
Robot *	GetRobot () const noexcept
RobotGroup *	GetRobotGroup () const noexcept

Detailed Description

Container for the output of a planning algorithm. Includes free and blocked roadmaps, a path, and a local obstacle map for each robot. Also includes a stat class for performance tracking.

Todo:

Currently this object can represent a solution for each single robot and several robot group. It can almost support multiple of each - it just needs an interface for adding more robots/groups to the container.

Note

This object makes only one stat class, which is shared across all uses.

Member Typedef Documentation

GroupCfgType

typedef GroupCfg<RoadmapType> MPSolutionType::GroupCfgType

GroupRoadmapType

typedef GroupRoadmap<GroupCfgType, GroupLocalPlan<RoadmapType> > MPSolutionType::GroupRoadmapType

RoadmapType

typedef GenericStateGraph<Cfg, DefaultWeight<Cfg> > MPSolutionType::RoadmapType

Constructor & Destructor Documentation

MPSolutionType() [1/2]

MPSolutionType::MPSolutionType

(

Robot *const

_r

)

MPSolutionType() [2/2]

MPSolutionType::MPSolutionType

(

RobotGroup *const

_g

)

Member Function Documentation

AddRobot()

void MPSolutionType::AddRobot ( Robot *const  _r )

noexcept

AddRobotGroup()

void MPSolutionType::AddRobotGroup ( RobotGroup *const  _g )

noexcept

GetBlockRoadmap()

MPSolutionType::RoadmapType * MPSolutionType::GetBlockRoadmap ( Robot *const  _r = nullptr ) const

noexcept

GetGroupPath()

GroupPath * MPSolutionType::GetGroupPath ( RobotGroup *const  _g = nullptr ) const

noexcept

GetGroupRoadmap()

MPSolutionType::GroupRoadmapType * MPSolutionType::GetGroupRoadmap ( RobotGroup *const  _g = nullptr ) const

noexcept

GetLocalObstacleMap()

LocalObstacleMap * MPSolutionType::GetLocalObstacleMap ( Robot *const  _r = nullptr ) const

noexcept

GetPath()

Path * MPSolutionType::GetPath ( Robot *const  _r = nullptr ) const

noexcept

GetRoadmap()

MPSolutionType::RoadmapType * MPSolutionType::GetRoadmap ( Robot *const  _r = nullptr ) const

noexcept

GetRobot()

Robot * MPSolutionType::GetRobot ( ) const

noexcept

GetRobotGroup()

RobotGroup * MPSolutionType::GetRobotGroup ( ) const

noexcept

GetStatClass()

StatClass * MPSolutionType::GetStatClass ( ) const

noexcept

SetGroupPath()

void MPSolutionType::SetGroupPath ( RobotGroup *const  _r, GroupPath *  _path  )

noexcept

SetGroupRoadmap()

void MPSolutionType::SetGroupRoadmap ( RobotGroup *const  _g, GroupRoadmapType *  _roadmap  )

noexcept

SetPath()

void MPSolutionType::SetPath ( Robot *const  _r, Path *  _path  )

noexcept

SetRoadmap()

void MPSolutionType::SetRoadmap ( Robot *const  _r, RoadmapType *  _roadmap  )

noexcept

SetRobot()

void MPSolutionType::SetRobot ( Robot *const  _r )

noexcept

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPSolution.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPSolution.cpp