libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints > Class Template Reference

Environment class. More...

#include <environment.hpp>

Public Member Functions
	Environment (size_t maxx, size_t maxy, std::unordered_set< Location > obstacles, std::multimap< int, State > dynamic_obstacles, std::vector< State > goals)
	Environment (const Environment &)=delete
Environment &	operator= (const Environment &)=delete
bool	getFirstConflict (const std::vector< PlanResult< State, Action, double >> &solution, Conflict &result)
	High Level Environment functions. More...
void	createConstraintsFromConflict (const Conflict &conflict, std::map< size_t, Constraints > &constraints)
void	onExpandHighLevelNode (int)
int	highLevelExpanded ()
void	setLowLevelContext (size_t agentIdx, const Constraints *constraints)
	Low Level Environment functions. More...
int	admissibleHeuristic (const State &s)
bool	isSolution (const State &state, double gscore, std::unordered_map< State, std::tuple< State, Action, double, double >, std::hash< State >> &_camefrom)
void	getNeighbors (const State &s, Action action, std::vector< Neighbor< State, Action, double >> &neighbors)
State	getGoal ()
uint64_t	calcIndex (const State &s)
void	onExpandLowLevelNode (const State &, int, int)
int	lowLevelExpanded () const
bool	startAndGoalValid (const std::vector< State > &m_starts, const size_t iter, const int batchsize)

Detailed Description

template<typename Location, typename State, typename Action, typename Cost, typename Conflict, typename Constraint, typename Constraints>
class libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >

Environment class.

Template Parameters

Location
State
Action
Cost
Conflict
Constraint
Constraints

Examples:

cl_cbs.cpp, and sh_astar.cpp.

Constructor & Destructor Documentation

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::Environment ( size_t  maxx, size_t  maxy, std::unordered_set< Location >  obstacles, std::multimap< int, State >  dynamic_obstacles, std::vector< State >  goals  )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::Environment ( const Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints > &  )

delete

Member Function Documentation

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

int libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::admissibleHeuristic ( const State &  s )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

uint64_t libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::calcIndex ( const State &  s )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

void libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::createConstraintsFromConflict ( const Conflict &  conflict, std::map< size_t, Constraints > &  constraints  )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

bool libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::getFirstConflict ( const std::vector< PlanResult< State, Action, double >> &  solution, Conflict &  result  )

inline

High Level Environment functions.

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

State libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::getGoal ( )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

void libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::getNeighbors ( const State &  s, Action  action, std::vector< Neighbor< State, Action, double >> &  neighbors  )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

int libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::highLevelExpanded ( )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

bool libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::isSolution ( const State &  state, double  gscore, std::unordered_map< State, std::tuple< State, Action, double, double >, std::hash< State >> &  _camefrom  )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

int libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::lowLevelExpanded ( ) const

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

void libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::onExpandHighLevelNode ( int  )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

void libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::onExpandLowLevelNode ( const State &  , int  , int    )

inline

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

Environment& libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::operator= ( const Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints > &  )

delete

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

void libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::setLowLevelContext ( size_t  agentIdx, const Constraints *  constraints  )

inline

Low Level Environment functions.

template<typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints >

bool libMultiRobotPlanning::Environment< Location, State, Action, Cost, Conflict, Constraint, Constraints >::startAndGoalValid ( const std::vector< State > &  m_starts, const size_t  iter, const int  batchsize  )

inline

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

• include/environment.hpp