Plannar HRI Grid considering multiple agents systems for HRi operations. More...

#include <HRICS_MultiAgentGrid.hpp>

Inheritance diagram for HRICS::MultiAgentGrid:

Classes
class	AgentInGrid
	Holds all the data concerning an agent in the MultiAgentGrid class. More...

struct	ComputationStat

class	MetaAgentInGrid
	class representing data that can be common to several agents (reachable space, cylinder, frontiers, etc...) More...

Public Member Functions
	MultiAgentGrid (double pace, std::vector< double > envSize)
	constructs a grid with no agents More...

	MultiAgentGrid (double pace, std::vector< double > envSize, std::vector< Robot * > &agents)
	specify agents list More...

void	resetData (void)

void	setAgents (std::vector< Robot * > &agents)
	set the agents list to use in this HRI computation. More...

std::vector< Robot * > &	getAgents ()

AgentInGrid *	getAgentStructAt (unsigned int index)

void	setAgentTarget (unsigned int a)

double	getNbCellX ()

double	getNbCellY ()

void	setAsNotSorted ()

void	dumpVar ()

void	init (void)
	initialisation of the grid (find cylinders corresponding to each agent)

void	initCylinders (void)
	init agents cylinders for reachability computation. More...

void	computeAccessibility (void)
	compute the Accessibility for each agent. More...

void	computeAccessAndDistCombined (void)

std::vector< MultiAgentCell * >	computeOtherTrajectory (MultiAgentCell cell_origin, MultiAgentCell cell_dest, unsigned int agent_index, double epsilon=1, double dist_max=-1, int max_expansions=-1)
	computeOtherTrajectory uses A* algo to find shortest path between 2 cells. More...

bool	areCellsInNeighbourhood (MultiAgentCell c1, MultiAgentCell c2, unsigned int a, double dist)
	check if the agent 'a' can go straight from one cell to another

API::TwoDCell *	createNewCell (unsigned int index, unsigned int x, unsigned int y)
	function that creates a new Cell.

void	computeDistances ()
	using the method of distance propagation to compute distances.

void	computeDistancesForAgent (MultiAgentCell *cell, unsigned int agent_index)

void	computeAltDistancesForAgent (MultiAgentCell *origin, unsigned int agent_index)

void	enableAltDistancesSums (bool b=true)

void	clearAltDistancesInCells (void)

unsigned int	getMaxAlternativeDistancesForCells (void)

void	getMaxAlternativeDistancesForCells (unsigned int v)

std::pair< MultiAgentCell , MultiAgentCell >	neighborSolution (unsigned int agent_1, unsigned int agent_2, std::pair< MultiAgentCell , MultiAgentCell > solution)
	find a neighhbour solution for the simulated annealing algorithm. More...

void	searchAllFrontiers ()

std::vector< FrontierPtr >	searchFrontiers (unsigned int agent_1, unsigned int agent_2, double keep_distance)
	searchFrontiers More...

std::vector< FrontierPtr >	simulatedAnnealingFrontierSearch (unsigned int agent_1, unsigned int agent_2, double keep_distance)

std::vector< MetaFrontierPtr >	hillClimberFrontierSearch (unsigned int agent1, unsigned int agent2, double keep_distance)

std::vector< FrontierPtr >	frontierSearch (unsigned int agent1, unsigned int agent2, double keep_distance)

std::vector< FrontierPtr >	exhaustiveFrontierSearch (unsigned int agent1, unsigned int agent2, double keep_distance)

std::vector< FrontierPtr >	handInHandFrontierSearch (unsigned int agent1, unsigned int agent2, double keep_distance)

void	saveFrontiers (std::ofstream &output)

bool	loadFrontiers (std::ifstream &input)

void	initVectorFrontiers (void)
	inits the frontier container to the good size. More...

unsigned int	getFrontierIndex (unsigned int i, unsigned int j)
	computes the index int the frontier vector corresponding to the frontiers between agents at i and j.

unsigned int	getFrontierIndex (std::pair< unsigned int, unsigned int > ind)

std::pair< unsigned int, unsigned int >	getFrontierAgentIndices (unsigned int i)
	the reverse of getFrontierIndex().

std::vector< MultiAgentCell * > const &	getFrontierCells (unsigned int i, unsigned int j)

double	getArmReach (unsigned int i)

double	getArmReach (AgentInGrid *a)

double	getHandOverReach (unsigned int i, unsigned int j)
	an approximation of the maximal distance for a handover (touching hands) The sum of the arm reachs of each agent

void	addFrontier (unsigned int agent, unsigned int other, MultiAgentCell *cell)
	add a frontier cell to the agent 'agent' More...

FrontierPtr	getRandomFrontier (unsigned int a1, unsigned int a2, double timeout_ms=-1)

std::vector< MultiAgentCell * > &	getFrontierCheckedOk (unsigned int a1, unsigned int a2)

double	getFrontierSearchTempDecrease (void)

void	setFrontierSearchTempDecrease (double v)

double	getFrontierSearchStartTemp (void)

void	setFrontierSearchStartTemp (double v)

unsigned int	getFrontierSearchMaxIt (void)

void	setFrontierSearchMaxIt (unsigned int v)
	set the computational cost limit in # of iterations for the frontier search algorithm. More...

double	getFrontierSearchStopDist (void)

void	setFrontierSearchStopDist (double v)
	set at which distance the frontier search should stop. More...

ComputationStat &	getComputationStats (void)

void	setCellsToblankCost ()
	call setBlankCost() in each cell

void	initAllCellState ()
	call resetexplorationstatus() in each cell

void	initAllTrajs ()
	call resetTrajs() in each cell

void	resetAllAccessibility ()
	call resetReacheability() in each cell

void	resetDistances (void)

Public Member Functions inherited from API::TwoDGrid
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	TwoDGrid ()
	Constructor. More...

	TwoDGrid (Eigen::Vector2i size, std::vector< double > envSize)

	TwoDGrid (double samplingRate, std::vector< double > envSize)

	~TwoDGrid ()
	Destructor.

void	createAllCells ()
	Creates All Cells. More...

Eigen::Vector2d	getCellSize ()

TwoDCell *	getCell (const Eigen::Vector2i &cell)

TwoDCell *	getCell (int x, int y)
	Retruns the Cell at (x,y) More...

TwoDCell *	getCell (Eigen::Vector2d pos)

TwoDCell *	getCell (double *pos)
	Get Cell in 3D ThreeDGrid. More...

TwoDCell *	getCell (unsigned int index)
	Get Cell. More...

bool	isCellCoordInGrid (const Eigen::Vector2i &coord)
	Is a Coord inside the Grid (used to debug) More...

Eigen::Vector2i	getCellCoord (TwoDCell *ptrCell)
	Get place in grid. More...

int	getNumberOfCells ()
	Get Number Of Cells.

TwoDCell *	getNeighbour (const Eigen::Vector2i &pos, int i)
	Get Neighboor Cell.

Eigen::Vector2d	getCoordinates (TwoDCell *cell)
	Retrive the X Y Z coordinate of the cell from its index.

Public Member Functions inherited from API::BaseGrid
	BaseGrid (const BaseGrid &grid)

BaseCell *	getCell (unsigned int i)
	Get Cell. More...

unsigned int	getNumberOfCells ()
	Get Number Of Cells.

virtual std::vector < Eigen::Vector3d >	getBox ()

virtual bool	writeToXmlFile (std::string file)
	Virtual function for creating an xml document.

virtual bool	loadFromXmlFile (std::string file)
	Virtual function for reading from an xml document.

std::string	getName ()

Display grid
methods for displaying info in openGL and setting display options
void	draw ()
	drawing the grid

void	setAgentIndexToDrawGrid (int index)

void	setDrawAgentAccessibilityGrid (bool b, bool boundariesOnly=false)

void	setDrawAStar (bool b)

void	setDrawFrontiers (bool b, unsigned int i=0, unsigned int j=0)

void	setDrawFrontiersSearchLog (bool b)

unsigned int	getFrontierSearchLogSize (void)

void	setFrontierSearchLogIndex (unsigned int i)

void	setFrontierSearchLogWindow (unsigned int i)

void	setDrawGridForOptim (bool b, std::vector< std::pair< MultiAgentCell *, unsigned int > > &cells_agents)

void	unsetDrawGridForOptim (void)

void	setDrawOptimizeFrontier (MultiAgentCell c1, MultiAgentCell c2, bool ok)

void	unsetDrawOptimizeFrontier (void)

void	setDrawExtraCells (std::vector< MultiAgentCell * >::iterator first, std::vector< MultiAgentCell * >::iterator last, double ratio_max)

void	unsetDrawExtraCells ()

Additional Inherited Members
Protected Member Functions inherited from API::TwoDGrid
Eigen::Vector2d	computeCellCorner (int x, int y)
	Computes the corner of a cell. More...

Protected Attributes inherited from API::TwoDGrid
Eigen::Vector2d	_originCorner

Eigen::Vector2d	_cellSize

unsigned int	_nbCellsX

unsigned int	_nbCellsY

Protected Attributes inherited from API::BaseGrid
std::vector< BaseCell * >	_cells

std::string	m_name

Detailed Description

Plannar HRI Grid considering multiple agents systems for HRi operations.

Developped for Multiple Handover problems.

Constructor & Destructor Documentation

HRICS::MultiAgentGrid::MultiAgentGrid	(	double	pace,
		std::vector< double >	envSize
	)

constructs a grid with no agents

Parameters

pace
envSize

See Also: API::TwoDGrid

HRICS::MultiAgentGrid::MultiAgentGrid	(	double	pace,
		std::vector< double >	envSize,
		std::vector< Robot * > &	agents
	)

specify agents list

Parameters

pace
envSize
agents

Member Function Documentation

void MultiAgentGrid::addFrontier	(	unsigned int	agent,
		unsigned int	other,
		MultiAgentCell *	cell
	)

add a frontier cell to the agent 'agent'

Parameters

agent	the agent index that will be modified
other	the other agent concerned by the frontier (not modified)
cell	the cell which is accessible for 'agent' the cell have to be accessible to agent by definition (not checked)

void HRICS::MultiAgentGrid::computeAccessibility ( void )

compute the Accessibility for each agent.

Accessibility test if an agent can fit in a cell, not if it is reachable

std::vector< MultiAgentCell * > MultiAgentGrid::computeOtherTrajectory	(	MultiAgentCell *	cell_origin,
		MultiAgentCell *	cell_dest,
		unsigned int	agent_index,
		double	epsilon = `1`,
		double	dist_max = `-1`,
		int	max_expansions = `-1`
	)

computeOtherTrajectory uses A* algo to find shortest path between 2 cells.

Parameters

cell_origin
cell_dest
agent_index
epsilon	to apply a weighted A, 1 for classic A
dist_max	the maximum distance of the path to find
max_expansions	the maximum number of expansions accepted, used to limit time when nothing found; use with care, kills all A* properties

Returns: the path found or empty vector.

When an epsilon and a max distance are provided, the max distance actually considered is epsilon times the distance provided, to stay consistent with the fact that the shortest path found in Weighted A* is at most epsilon times that of the least cost path.

void MultiAgentGrid::initCylinders ( void )

init agents cylinders for reachability computation.

find by name two cylinders (HUMAN... and PR2_CYLINDER) and associate them to agents according to their name (HUMAN or not)

void MultiAgentGrid::initVectorFrontiers ( void )

inits the frontier container to the good size.

the container is a vector representing a null diagonal symetric matrix.

pair< MultiAgentCell , MultiAgentCell > MultiAgentGrid::neighborSolution	(	unsigned int	agent_1,
		unsigned int	agent_2,
		std::pair< MultiAgentCell , MultiAgentCell >	solution
	)

find a neighhbour solution for the simulated annealing algorithm.

Parameters

agent_1	the first agent index
agent_2	the second agent index
solution	the pair of cells that describes the base solution

Returns: a new random solution within a certain range defined by..

Todo:: attribute for neighbourhood size (hardcoded)

std::vector< FrontierPtr > MultiAgentGrid::searchFrontiers	(	unsigned int	agent_1,
		unsigned int	agent_2,
		double	keep_distance
	)

searchFrontiers

Parameters

agent_1
agent_2
keep_distance

Returns: Simulated annealing

void MultiAgentGrid::setAgents ( std::vector< Robot * > & agents )

set the agents list to use in this HRI computation.

Parameters

agents pointers to the Robot classes to uses, does not copy.

Todo:: set agentsInGrid structures

void HRICS::MultiAgentGrid::setFrontierSearchMaxIt ( unsigned int v )

inline

set the computational cost limit in # of iterations for the frontier search algorithm.

Parameters

v

as the frontier search (simulated annealing algo) may be called several times for each pair of agent, the real worst number of iterations in total is: c * n!/(2!(n-2)!) = c * C(n,k) . where :

c is the number of searchs for each pair
n is the total number of agents (note the binomial coefficient C(n,k) (n choose 2).

void HRICS::MultiAgentGrid::setFrontierSearchStopDist ( double v )

inline

set at which distance the frontier search should stop.

Parameters

v	the distance, in meters, or whichever measure unit is used. If v==0, the distance is set to the cellsize, so that the search stops when the agents appears to be abble to meet each other

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

src/HRI_costspace/Grid/HRICS_MultiAgentGrid.hpp
src/HRI_costspace/Grid/HRICS_MultiAgentGrid.cpp

Classes

Public Member Functions

Display grid

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation