Class Planner::Result¶

Defined in File Planner.hpp

Nested Relationships¶

This class is a nested type of Class Planner.

Class Documentation¶

class rmf_traffic::agv::Planner::Result

Public Functions

bool success() const: True if a plan was found and this Result can be dereferenced to obtain a plan.

bool disconnected() const: True if there is no feasible path that connects the start to the goal. In this case, a plan will never be found.

operator bool() const: Implicitly cast the result to a boolean. It will return true if a plan was found, otherwise it will return false.

const Plan *operator->() const: If the Result was successful, drill into the plan.

const Plan &operator*() const &: If the Result was successful, get a reference to the plan.

Plan &&operator*() &&: If the Result was successful, move the plan.

const Plan &&operator*() const &&: If the Result was successful, get a reference to the plan.

Result replan(const Start &new_start) const

Replan to the same goal from a new start location using the same options as before.

Parameters

[in] new_start: The starting conditions that should be used for replanning.

Result replan(const Start &new_start, Options new_options) const

Replan to the same goal from a new start location using a new set of options.

Parameters

[in] new_start: The starting conditions that should be used for replanning.
[in] new_options: The options that should be used for replanning.

Result replan(const StartSet &new_starts) const

Replan to the same goal from a new set of start locations using the same options.

Parameters

[in] new_starts: The set of starting conditions that should be used for replanning.

Result replan(const StartSet &new_starts, Options new_options) const

Replan to the same goal from a new set of start locations using a new set of options.

Parameters

[in] new_starts: The set of starting conditions that should be used for replanning.
[in] new_options: The options that should be used for replanning.

Result setup(const Start &new_start) const

Set up a new planning job to the same goal, but do not start iterating.

See: replan(const Start&)

Result setup(const Start &new_start, Options new_options) const

Set up a new planning job to the same goal, but do not start iterating.

See: replan(const Start&, Options)

Result setup(const StartSet &new_starts) const

Set up a new planning job to the same goal, but do not start iterating.

See: replan(const StartSet&)

Result setup(const StartSet &new_starts, Options new_options) const

Set up a new planning job to the same goal, but do not start iterating.

See: replan(const StartSet&, Options)

bool resume()

Resume planning if the planner was paused.

Return: true if a plan has been found, false otherwise.

bool resume(std::shared_ptr<const std::atomic_bool> interrupt_flag)

Resume planning if the planner was paused.

Return

true if a plan has been found, false otherwise.

Parameters

[in] interrupt_flag: A new interrupt flag to listen to while planning.

Options &options(): Get a mutable reference to the options that will be used by this planning task.

const Options &options() const: Get the options that will be used by this planning task.

Result &options(Options new_options): Change the options to be used by this planning task.

std::optional<double> cost_estimate() const: Get the best cost estimate of the current state of this planner result. This is the value of the lowest f(n)=g(n)+h(n) in the planner’s queue. If the node queue of this planner result is empty, this will return a nullopt.

double initial_cost_estimate() const: Get the cost estimate that was initially computed for this plan. If no valid starts were provided, then this will return infinity.

std::optional<double> ideal_cost() const: Get the cost that this plan would have if there is no traffic. If the plan is impossible (e.g. the starts are disconnected from the goal) this will return a nullopt.

const std::vector<Start> &get_starts() const: Get the start conditions that were given for this planning task.

const Goal &get_goal() const: Get the goal for this planning task.

const Configuration &get_configuration() const

If this Plan is valid, this will return the Planner::Configuration that was used to produce it.

If replan() is called, this Planner::Configuration will be used to produce the new Plan.

bool interrupted() const: This will return true if the planning failed because it was interrupted. Otherwise it will return false.

bool saturated() const: This will return true if the planner has reached its saturation limit.

std::vector<schedule::ParticipantId> blockers() const: This is a list of schedule Participants who blocked the planning effort. Blockers do not necessarily prevent a solution from being found, but they do prevent the optimal solution from being available.