Class DetectConflict

Nested Relationships

Nested Types

Class Documentation

class rmf_traffic::DetectConflict

Public Types

enum Interpolate

Values:

enumerator CubicSpline

Public Static Functions

static std::optional<Conflict> between(const Profile &profile_a, const Trajectory &trajectory_a, const DependsOnCheckpoint *dependencies_of_a_on_b, const Profile &profile_b, const Trajectory &trajectory_b, const DependsOnCheckpoint *dependencies_of_b_on_a, Interpolate interpolation = Interpolate::CubicSpline)

Checks if there are any conflicts between the two trajectories.

Return

true if a conflict exists between the trajectories, false otherwise.

Parameters

  • [in] profile_a: The profile of agent A

  • [in] trajectory_a: The trajectory of agent A

  • [in] dependencies_of_a_on_b: The dependencies that agent A has on the given trajectory of agent B

  • [in] profile_b: The profile of agent B

  • [in] trajectory_b: The trajectory of agent B

  • [in] dependencies_of_b_on_a: The dependencies that agent B has on the given trajectory of agent A

struct Conflict

Public Members

Trajectory::const_iterator a_it
Trajectory::const_iterator b_it
Time time