#include <MPTask.h>

Public Types
Local Types
typedef std::vector< std::unique_ptr< Constraint > >	ConstraintSet
	A set of constraints. More...

Public Member Functions
Construction
	MPTask (Robot *const _robot)

	MPTask (MPProblem const _problem, XMLNode &_node, Environment _env=nullptr)

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

	MPTask (MPTask &&_other)
	Move. More...

	~MPTask ()

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

MPTask &	operator= (MPTask &&_other)
	Move. More...

Property Accessors
Robot *	GetRobot () const noexcept
	Get the robot associated with this task. More...

void	SetRobot (Robot *const _r)

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

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

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

const nonstd::status &	GetStatus () const noexcept

bool	Empty () const noexcept

size_t	GetNumGoals () const noexcept
	Get the number of goals in this task. More...

Constraint Accessors
The task will take ownership of any added constraints and delete them when necessary.
void	SetStartConstraint (std::unique_ptr< Constraint > &&_c)

void	AddPathConstraint (std::unique_ptr< Constraint > &&_c)

void	AddGoalConstraint (std::unique_ptr< Constraint > &&_c)

const Constraint *	GetStartConstraint () const noexcept
	Get start constraint. More...

const ConstraintSet &	GetPathConstraints () const noexcept
	Get all path constraints. More...

const ConstraintSet &	GetGoalConstraints () const noexcept
	Get all goal constraints. More...

void	ClearGoalConstraints ()
	Remove all goal constraints. More...

void	SetCapability (const std::string &_capability)

const std::string &	GetCapability () const noexcept

Time Accessors
Store and fetch estimated times for beginning and completing this task.
void	SetEstimatedStartTime (const double _time) noexcept

void	SetEstimatedCompletionTime (const double _time) noexcept

double	GetEstimatedStartTime () const noexcept
	Get the estimated start time for the task. More...

double	GetEstimatedCompletionTime () const noexcept
	Get the estimated completion time for the task. More...

void	SetReleaseWindow (const std::pair< double, double > _release) noexcept
	Set release window. More...

void	SetDeadlineWindow (const std::pair< double, double > _deadline) noexcept
	Set deadline window. More...

std::pair< double, double >	GetReleaseWindow () const noexcept
	Get the release window. More...

std::pair< double, double >	GetDeadlineWindow () const noexcept
	Get the deadline window. More...

Constraint Evaluation
bool	EvaluateCapability (const Robot *const _r) const

bool	EvaluateStartConstraints (const Cfg &_cfg) const

bool	EvaluatePathConstraints (const Cfg &_cfg) const

bool	EvaluateGoalConstraints (const Cfg &_cfg) const

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

Detailed Description

Describes a motion task for a single robot in terms of start/goal conditions and constraints on allowable trajectories.

Tasks are defined by a robot and three sets of constraints:

Start constraints describe the conditions required to start a task.
Path constraints describe restrictions that must be observed throughout a valid solution.
Goal constraints describe the conditions that must be met to complete a task. A specific robot may be assigned to perform the task, or null may be used to indicate that any robot may perform it. A specific capability may also be required.

Todo:: We should remove the capability here and redefine it as a constraint (since the constraints should fully define the task). The fact that a capability is or is not required should generally be discerned from the problem, while a capability constraint would more likely represent a deliberate restriction that is not strictly required (perhaps to express an operational preference). We will also eventually encounter cases where multiple capabilities are required to satsify a task.

Todo:: Support the use of path constraints in the library code, which currently doesn't care about this.

Examples: MPLibrary_UseCase.cpp.

Member Typedef Documentation

◆ ConstraintSet

typedef std::vector<std::unique_ptr<Constraint> > MPTask::ConstraintSet

A set of constraints.

Constructor & Destructor Documentation

◆ MPTask() [1/4]

MPTask::MPTask ( Robot *const _robot )

explicit

Create an empty task for a given robot.

Parameters

_robot The robot assigned to this task.

◆ MPTask() [2/4]

MPTask::MPTask	(	MPProblem *const	_problem,
		XMLNode &	_node,
		Environment *	_env = `nullptr`
	)

explicit

Parse the set of task constraints described in an XML node.

Parameters

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

◆ MPTask() [3/4]

MPTask::MPTask ( const MPTask & _other )

Copy.

◆ MPTask() [4/4]

MPTask::MPTask ( MPTask && _other )

default

Move.

◆ ~MPTask()

MPTask::~MPTask ( )

default

Member Function Documentation

◆ AddGoalConstraint()

void MPTask::AddGoalConstraint ( std::unique_ptr< Constraint > && _c )

Add goal constraint to task

Parameters

_c	Goal constraint to add to task

◆ AddPathConstraint()

void MPTask::AddPathConstraint ( std::unique_ptr< Constraint > && _c )

Add path constraint to task

Parameters

_c	Path constraint to add to task

◆ ClearGoalConstraints()

void MPTask::ClearGoalConstraints ( )

Remove all goal constraints.

◆ Empty()

bool MPTask::Empty ( ) const

noexcept

A task is considered to be 'empty' if it has neither start nor goal constraints.

Returns: True if task is 'empty'

◆ EvaluateCapability()

bool MPTask::EvaluateCapability ( const Robot *const _r ) const

Evaluate whether a robot has the needed capability.

Parameters

_r	The robot to check.

Returns: True if _r meets any capability requirements.

◆ EvaluateGoalConstraints() [1/2]

bool MPTask::EvaluateGoalConstraints ( const Cfg & _cfg ) const

Check if a configuration satisfies the last goal constraints.

Parameters

_cfg	The configuration to check.

Returns: True if _cfg satisfies the last goal constraints.

◆ EvaluateGoalConstraints() [2/2]

bool MPTask::EvaluateGoalConstraints	(	const Cfg &	_cfg,
		const size_t	_index
	)		const

Check if a configuration satisfies the constraints for a specific goal.

Parameters

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

Returns: True if _cfg satisfies the last goal constraints.

◆ EvaluatePathConstraints()

bool MPTask::EvaluatePathConstraints ( const Cfg & _cfg ) const

Check if a configuration satisfies the start constraints.

Parameters

_cfg	The configuration to check.

Returns: True if _cfg satisfies all path constraints.

◆ EvaluateStartConstraints()

bool MPTask::EvaluateStartConstraints ( const Cfg & _cfg ) const

Check if a configuration satisfies the start constraints.

Parameters

_cfg	The configuration to check.

Returns: True if _cfg satisfies all start constraints.

◆ GetCapability()

const std::string & MPTask::GetCapability ( ) const

noexcept

Get the robot capability which is required to satisfy this task, if any.

Returns: The required capability for this task, or empty string if none.

◆ GetDeadlineWindow()

std::pair< double, double > MPTask::GetDeadlineWindow ( ) const

noexcept

Get the deadline window.

◆ GetEstimatedCompletionTime()

double MPTask::GetEstimatedCompletionTime ( ) const

noexcept

Get the estimated completion time for the task.

◆ GetEstimatedStartTime()

double MPTask::GetEstimatedStartTime ( ) const

noexcept

Get the estimated start time for the task.

◆ GetGoalConstraints()

const MPTask::ConstraintSet & MPTask::GetGoalConstraints ( ) const

noexcept

Get all goal constraints.

◆ GetLabel()

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

noexcept

Get the semantic label for this task.

◆ GetNumGoals()

size_t MPTask::GetNumGoals ( ) const

noexcept

Get the number of goals in this task.

◆ GetPathConstraints()

const MPTask::ConstraintSet & MPTask::GetPathConstraints ( ) const

noexcept

Get all path constraints.

◆ GetReleaseWindow()

std::pair< double, double > MPTask::GetReleaseWindow ( ) const

noexcept

Get the release window.

◆ GetRobot()

Robot * MPTask::GetRobot ( ) const

noexcept

Get the robot associated with this task.

◆ GetStartConstraint()

const Constraint * MPTask::GetStartConstraint ( ) const

noexcept

Get start constraint.

◆ GetStatus() [1/2]

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

noexcept

◆ GetStatus() [2/2]

nonstd::status & MPTask::GetStatus ( )

noexcept

Get the status object for this task.

◆ operator=() [1/2]

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

Copy.

◆ operator=() [2/2]

MPTask & MPTask::operator= ( MPTask && _other )

default

Move.

◆ SetCapability()

void MPTask::SetCapability ( const std::string & _capability )

Sets the capability required for this task.

Parameters

_capability The capability required to complete this task.

◆ SetDeadlineWindow()

void MPTask::SetDeadlineWindow ( const std::pair< double, double > _deadline )

noexcept

Set deadline window.

◆ SetEstimatedCompletionTime()

void MPTask::SetEstimatedCompletionTime ( const double _time )

noexcept

Set the estimated completion time for the task

Parameters

_time The estimated completion time

◆ SetEstimatedStartTime()

void MPTask::SetEstimatedStartTime ( const double _time )

noexcept

Set the estimated start time for the task

Parameters

_time The estimated start time

◆ SetLabel()

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

noexcept

Set the semantic label for this task.

Parameters

_label Label to set

◆ SetReleaseWindow()

void MPTask::SetReleaseWindow ( const std::pair< double, double > _release )

noexcept

Set release window.

◆ SetRobot()

void MPTask::SetRobot ( Robot *const _r )

Re-assign this task to another robot.

Parameters

_r	The destination robot which will receive this assignment.

◆ SetStartConstraint()

void MPTask::SetStartConstraint ( std::unique_ptr< Constraint > && _c )

Set start constraint for task

Parameters

_c	Constraint to set as start constraint

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

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

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstraintSet

Constructor & Destructor Documentation

◆ MPTask() [1/4]

◆ MPTask() [2/4]

◆ MPTask() [3/4]

◆ MPTask() [4/4]

◆ ~MPTask()

Member Function Documentation

◆ AddGoalConstraint()

◆ AddPathConstraint()

◆ ClearGoalConstraints()

◆ Empty()

◆ EvaluateCapability()

◆ EvaluateGoalConstraints() [1/2]

◆ EvaluateGoalConstraints() [2/2]

◆ EvaluatePathConstraints()

◆ EvaluateStartConstraints()

◆ GetCapability()

◆ GetDeadlineWindow()

◆ GetEstimatedCompletionTime()

◆ GetEstimatedStartTime()

◆ GetGoalConstraints()

◆ GetLabel()

◆ GetNumGoals()

◆ GetPathConstraints()

◆ GetReleaseWindow()

◆ GetRobot()

◆ GetStartConstraint()

◆ GetStatus() [1/2]

◆ GetStatus() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SetCapability()

◆ SetDeadlineWindow()

◆ SetEstimatedCompletionTime()

◆ SetEstimatedStartTime()

◆ SetLabel()

◆ SetReleaseWindow()

◆ SetRobot()

◆ SetStartConstraint()