Public Member Functions
bool	compute (double time_limit_ms=-1)

std::vector < HRICS::MultiAgentCell * >	findParking (const std::deque< mho::LWANodeInterface * > &existing_path, unsigned int agent_to_park)
	findParking finds a cell where an agent is safe from collision with any other robot anywhere along the given path More...

std::deque < mho::LWANodeInterface * >	getPath ()

void	reset ()

void	setAgents (std::vector< unsigned int > agents_ids)
	set the agents to use

void	setStart (std::vector< HRICS::MultiAgentCell * > cells)
	set the starting cells for all agents

void	setStart (unsigned int index, HRICS::MultiAgentCell *start)
	set the starting cell for the nth agent (in the order of the vector of agent id given)

void	setStartByID (unsigned int agent_id, HRICS::MultiAgentCell *start)
	set the starting position for the agent having ID agent_id

void	setGoal (std::vector< HRICS::MultiAgentCell * > cells)
	set the goal cells. More...

void	setGoal (unsigned int index, HRICS::MultiAgentCell *goal)

void	setGoalByID (unsigned int agent_id, HRICS::MultiAgentCell *goal)
	set the goal position for the agent having ID agent_id

void	useParkingAreas (bool b, HRICS::MultiAgentGrid *grid)

void	setSolutionTools (HRICS::MHO::AbstractSolutionTools *sol_tools)

void	setDisplay (bool showText, bool drawGrid=false, HRICS::MultiAgentGrid *grid=0)

void	setHierarchy (bool h)

bool	getHierarchy ()

Member Function Documentation

vector< MultiAgentCell * > MultiPathPlanner::findParking	(	const std::deque< mho::LWANodeInterface * > &	existing_path,
		unsigned int	agent_to_park
	)

findParking finds a cell where an agent is safe from collision with any other robot anywhere along the given path

Parameters

existing_path	the path (as MultiPathLWANode deque) of the moving obstacle to avoid
agent_to_park	the index of the agent to put away of the path.

void MultiPathPlanner::setGoal ( std::vector< HRICS::MultiAgentCell * > cells )

set the goal cells.

a null goal denotes an undefined target, the agent can be in any position at the end

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

Public Member Functions