jafar::lgl::PursuitGraph Class Reference

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Detailed Description

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PursuitGraph is the structure (class) used for the pursuit functionalities. Especially, it contains the PursuitGNode (used to predict movements and risks).

NB: the graph is mopre precisely a tree.

Definition at line 92 of file PursuitGraph.hpp.

#include <PursuitGraph.hpp>

List of all members.

Public Member Functions
	PursuitGraph (PursuitNavigator &_navigator, VisibilityMap &_visibilityMap, unsigned int _pursuitTemporalTolerance=DEFAULT_PURSUIT_TEMPORAL_TOLERANCE, unsigned int _riskTermMaxValue=DEFAULT_RISK_TERM_MAX_VALUE)
	constructor
	~PursuitGraph ()
	Destructor.
void	computeAll (Cell_ID cellR, Cell_ID cellT, const unsigned int _horizon=10)
	Use at the beginning compute the whole tree (with "horizon" as the number of stage) Cell_ID cellR (or (xR, yR) ) is the coordinate of the position (cell) of the robot, used in the root node.
void	computeAll (int xR, int yR, int xT, int yT, const unsigned int _horizon=10)
	THORW EXCEPTION.
void	computeAllBefore (Cell_ID cellR, Cell_ID cellT, const double tMax=5000.0)
	THORW EXCEPTION.
void	computeAllBefore (int xR, int yR, int xT, int yT, const double tMax=5000.0)
	THORW EXCEPTION.
bool	updatePG (Cell_ID newtargetPos, Cell_ID &newrobotPos)
	THORW EXCEPTION.
bool	updatePG (int xT, int yT, int &xR, int &yR)
void	completeToHorizon ()
void	completeToHorizonBefore (const double &tMax)
unsigned int	gethorizon () const
const std::vector < boost::weak_ptr < PursuitGNode > > &	getrisk () const
const std::vector < boost::weak_ptr < PursuitGNode > > &	getdanger () const
const std::vector < boost::weak_ptr < PursuitGNode > > &	getfront () const
const std::set < boost::shared_ptr < PursuitGNode > > &	getsetOfNodes () const
const std::multimap< Cell_ID, boost::weak_ptr< PursuitGNode > > &	getnodeMap () const
const boost::shared_ptr < PursuitGNode > &	getroot () const
PursuitNavigator *	getnavigator ()
unsigned int	getysize () const
unsigned int	getxsize () const
unsigned long int	gettime () const
void	disp ()
void	disp_risk ()
void	disp_danger ()
Private Member Functions
void	computeAll (const boost::shared_ptr< PursuitGNode > &_root, const unsigned int _horizon=10)
	Use at the beginning compute the whole tree (with "horizon" as the number of stage) _root and root as the root.
void	computeAllBefore (const boost::shared_ptr< PursuitGNode > &_root, const double tMax=5.0)
	THR0W EXCEPTION.
void	setRoot ()
	THR0W EXCEPTION.
void	computeNewStage ()
	Compute a new stage from the current front vector (leaves)
void	clean ()
	Clean the risk and front vectors from deprecated pointers.
void	reorient ()
	re-oriente the graphe from the root update risk, front and setOfNodes
void	makeNewNodes (std::vector< boost::shared_ptr< PursuitGNode > > &newNodes, const unsigned int &riskTerm, const Cell_ID &robotPos, const std::set< Cell_ID > &robotAccess, const std::set< Cell_ID > &targetAccess)
void	completeStage (unsigned long int stage)
void	manageRisk (const Cell_ID &robotPos, const boost::shared_ptr< PursuitGNode > &risk, std::vector< boost::shared_ptr< PursuitGNode > > &solution)
void	findIdealPositions (const std::set< Cell_ID > &targetPos, std::set< Cell_ID > &positions)
void	findAnyPositions (const std::set< Cell_ID > &targetPos, std::set< Cell_ID > &positions)
RISK_LEVEL	computeRiskLevel (const Cell_ID &robotPos, const Cell_ID &targetPos)
Private Attributes
PursuitNavigator *	navigator
	{{{
VisibilityMap *	visibilityMap
unsigned int	ysize
unsigned int	xsize
boost::shared_ptr< PursuitGNode >	root
std::vector< boost::weak_ptr < PursuitGNode > >	risk
std::vector< boost::weak_ptr < PursuitGNode > >	danger
std::vector< boost::weak_ptr < PursuitGNode > >	front
std::set< boost::shared_ptr < PursuitGNode > >	setOfNodes
std::multimap< Cell_ID, boost::weak_ptr< PursuitGNode > >	nodeMap
unsigned int	horizon
unsigned long int	time
unsigned int	pursuitTemporalTolerance
unsigned int	riskTermMaxValue
double	d_est

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Member Function Documentation

void jafar::lgl::PursuitGraph::computeAll	(	Cell_ID	cellR,
		Cell_ID	cellT,
		const unsigned int	_horizon = 10
	)

Use at the beginning compute the whole tree (with "horizon" as the number of stage) Cell_ID cellR (or (xR, yR) ) is the coordinate of the position (cell) of the robot, used in the root node.

Cell_ID cellT (or (xT, yT) ) is the coordinate of the position (cell) of the target, used in the root node.

void jafar::lgl::PursuitGraph::computeAllBefore	(	Cell_ID	cellR,
		Cell_ID	cellT,
		const double	tMax = 5000.0
	)

THORW EXCEPTION.

Similair to computeAll, but use a time constraint to finish.

It will compute a new stage until the time constraint is over. the time constraint, given in milli-seconds.

void jafar::lgl::PursuitGraph::computeAllBefore	(	const boost::shared_ptr< PursuitGNode > &	_root,
		const double	tMax = 5.0
	)		[private]

THR0W EXCEPTION.

Use at the beginning compute the whole tree (with a time constraint as end criteria) _root and root as the root.

void jafar::lgl::PursuitGraph::setRoot

(

)

[private]

THR0W EXCEPTION.

set Root

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

• modules/lgl/include/lgl/PursuitGraph.hpp