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Public Member Functions | Protected Attributes | List of all members
Primitive Class Referenceabstract

#include <primitive.h>

Inheritance diagram for Primitive:
Inheritance graph
[legend]

Public Member Functions

virtual ~Primitive ()=default
 
virtual std::pair< std::optional< TrajectoryPath >, std::unique_ptr< TbotsProto::Primitive > > generatePrimitiveProtoMessage (const World &world, const std::set< TbotsProto::MotionConstraint > &motion_constraints, const std::map< RobotId, TrajectoryPath > &robot_trajectories, const RobotNavigationObstacleFactory &obstacle_factory)=0
 
virtual void getVisualizationProtos (TbotsProto::ObstacleList &obstacle_list_out, TbotsProto::PathVisualization &path_visualization_out) const =0
 
double getEstimatedPrimitiveCost () const
 

Protected Attributes

double estimated_cost = 0
 

Detailed Description

The primitive actions that a robot can perform

Constructor & Destructor Documentation

◆ ~Primitive()

virtual ~Primitive ( )
virtualdefault

Destructor

Member Function Documentation

◆ generatePrimitiveProtoMessage()

virtual std::pair< std::optional< TrajectoryPath >, std::unique_ptr< TbotsProto::Primitive > > generatePrimitiveProtoMessage ( const World &  world,
const std::set< TbotsProto::MotionConstraint > &  motion_constraints,
const std::map< RobotId, TrajectoryPath > &  robot_trajectories,
const RobotNavigationObstacleFactory &  obstacle_factory 
)
pure virtual

Gets the primitive proto message

Parameters
worldCurrent state of the world
motion_constraintsMotion constraints to consider
robot_trajectoriesA map of the friendly robots' known trajectories
obstacle_factoryObstacle factory to use for generating obstacles
Returns
A pair of the found trajectory (optional) and the primitive proto message

Implemented in MovePrimitive, and StopPrimitive.

◆ getEstimatedPrimitiveCost()

double getEstimatedPrimitiveCost ( ) const
inline

Gets the estimated cost of the primitive

Returns
estimated cost of the primitive

◆ getVisualizationProtos()

virtual void getVisualizationProtos ( TbotsProto::ObstacleList &  obstacle_list_out,
TbotsProto::PathVisualization &  path_visualization_out 
) const
pure virtual

Fill the obstacle list and path visualization with the obstacles and path of this primitive

Parameters
obstacle_list_outReference to the ObstacleList proto to add obstacles to
path_visualization_outReference to the PathVisualization proto to add path

Implemented in MovePrimitive, and StopPrimitive.

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