org.metacsp.meta.spatioTemporal.paths

Class TrajectoryEnvelopeScheduler

java.lang.Object

org.metacsp.framework.ConstraintSolver

org.metacsp.framework.multi.MultiConstraintSolver

org.metacsp.framework.meta.MetaConstraintSolver

org.metacsp.meta.spatioTemporal.paths.TrajectoryEnvelopeScheduler

All Implemented Interfaces:

java.io.Serializable

public class TrajectoryEnvelopeScheduler
extends MetaConstraintSolver

This class is used to backtrack over TrajectoryEnvelope conflicts (see the Map meta-constraint).

Author:

Federico Pecora

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.metacsp.framework.meta.MetaConstraintSolver

MetaConstraintSolver.TerminalNode

Nested classes/interfaces inherited from class org.metacsp.framework.multi.MultiConstraintSolver

MultiConstraintSolver.OPTIONS

Field Summary

Fields inherited from class org.metacsp.framework.meta.MetaConstraintSolver

animationTime, breakSearch, counterMoves, currentFocus, currentVertex, g, metaConstraints, metaVarsToMetaCons, resolvers, resolversInverseMapping

Fields inherited from class org.metacsp.framework.multi.MultiConstraintSolver

constraintSolvers, ingredients

Fields inherited from class org.metacsp.framework.ConstraintSolver

autoprop, components, constraintTypes, IDs, logger, name, nesting, noPropOnVarCreation, numcalls, skipPropagation, spacing, theNetwork, variableType

Constructor Summary

Constructors

Constructor and Description
TrajectoryEnvelopeScheduler(long origin, long horizon) Create a TrajectoryEnvelopeScheduler with a given origin and temporal horizon.
TrajectoryEnvelopeScheduler(long origin, long horizon, int maxTrajectories) Create a TrajectoryEnvelopeScheduler with a given origin and temporal horizon.
TrajectoryEnvelopeScheduler(long origin, long horizon, long animationTime) Create a TrajectoryEnvelopeScheduler with a given origin and temporal horizon.

Method Summary

Modifier and Type	Method and Description
protected boolean	addResolverSub(ConstraintNetwork metaVariable, ConstraintNetwork metaValue) Implement this method to define any additional operations that should happen before adding a meta-value in the meta-CSP search (e.g., when branching).
int	getBTcounter()
edu.uci.ics.jung.graph.DirectedSparseMultigraph<TrajectoryEnvelope,java.lang.Integer[]>	getCurrentDependencies() Get the dependency graph of trajectory envelopes from the resolving constraints added by this TrajectoryEnvelopeScheduler.
protected double	getLowerBound()
protected double	getUpperBound()
protected boolean	hasConflictClause(ConstraintNetwork metaValue)
void	postBacktrack(MetaVariable mv) Implement this method to define any extra operations that should be performed after branching over a MetaVariable.
void	preBacktrack() Implement this method to define any extra operations that should be performed before backtracking over a MetaVariable (and before it is even chosen).
ConstraintNetwork	refineTrajectoryEnvelopes() Refine the TrajectoryEnvelopes maintained by the TrajectoryEnvelopeSolver underlying this TrajectoryEnvelopeScheduler.
ConstraintNetwork	refineTrajectoryEnvelopesFixed(double[] proportions)
ConstraintNetwork	refineTrajectoryEnvelopesFixed(int maxSize)
ConstraintNetwork	refineTrajectoryEnvelopesLight() Refine the TrajectoryEnvelopes maintained by the TrajectoryEnvelopeSolver underlying this TrajectoryEnvelopeScheduler.
protected void	resetFalseClause()
protected void	retractResolverSub(ConstraintNetwork metaVariable, ConstraintNetwork metaValue) Implement this method to define any extra operations that should happen after retracting a meta-value in the meta-CSP search (e.g., when backtracking).
protected void	setLowerBound()
protected void	setUpperBound()

Methods inherited from class org.metacsp.framework.meta.MetaConstraintSolver

addMetaConstraint, addResolver, backtrack, branchAndBound, breakSearch, clearResolvers, draw, failurePruning, focus, getAddedResolvers, getConflict, getConstraintSolvers, getCounterMoves, getCurrentFocusConstraint, getDescription, getFocused, getGroundVariables, getMetaConstraint, getMetaConstraints, getResolvers, getResolversInverseMapping, getTimeOut, isFocused, propagate, registerValueChoiceFunctions, removeFromCurrentFocus, retractResolver, retractResolvers, setCounterMoves, setCurrentFocusConstraint, setFocus, setResolvers

Methods inherited from class org.metacsp.framework.multi.MultiConstraintSolver

addConstraintsSub, createVariablesSub, createVariablesSub, createVariablesSub, drawConstraintNetworkHierarchy, drawConstraintSolverHierarchy, getConstraintNetworkHierarchy, getConstraintNetworksFromSolverHierarchy, getConstraintSolver, getConstraintSolverHierarchy, getConstraintSolversFromConstraintSolverHierarchy, getOption, removeConstraintsSub, removeVariablesSub, setConstraintSolver, setIngredients, setOptions

Methods inherited from class org.metacsp.framework.ConstraintSolver

addConstraint, addConstraintNoPropagation, addConstraints, addConstraintsDebug, addConstraintsNoPropagation, containsVariable, createVariable, createVariable, createVariables, createVariables, deplenish, getComponent, getComponents, getConstraintNetwork, getConstraints, getConstraints, getID, getOption, getVariable, getVariables, getVariables, getVariables, isCompatible, maskConstraints, removeConstraint, removeConstraints, removeVariable, removeVariables, setComponent, setComponents, setConstraintNetwork, setName, setOptions, toString, unmaskConstraints

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

TrajectoryEnvelopeScheduler

public TrajectoryEnvelopeScheduler(long origin,
                                   long horizon,
                                   long animationTime)

Create a TrajectoryEnvelopeScheduler with a given origin and temporal horizon.

Parameters:

origin - The origin of time.

horizon - The temporal horizon.

animationTime - Time between backtracking (0 if none).

TrajectoryEnvelopeScheduler

public TrajectoryEnvelopeScheduler(long origin,
                                   long horizon)

Create a TrajectoryEnvelopeScheduler with a given origin and temporal horizon.

Parameters:

origin - The origin of time.

horizon - The temporal horizon.

TrajectoryEnvelopeScheduler

public TrajectoryEnvelopeScheduler(long origin,
                                   long horizon,
                                   int maxTrajectories)

Create a TrajectoryEnvelopeScheduler with a given origin and temporal horizon.

Parameters:

origin - The origin of time.

horizon - The temporal horizon.

maxTrajectories - The maximum number of TrajectoryEnvelopes that can be created with this solver.

Method Detail

getCurrentDependencies

public edu.uci.ics.jung.graph.DirectedSparseMultigraph<TrajectoryEnvelope,java.lang.Integer[]> getCurrentDependencies()

Get the dependency graph of trajectory envelopes from the resolving constraints added by this TrajectoryEnvelopeScheduler.

Returns:

A directed graph where each edge (x,y) has a label {p1,p2} indicating that robot x.robotID has to wait at path point p1 for robot y.robotID to reach path point p2.

preBacktrack

public void preBacktrack()

Description copied from class: MetaConstraintSolver

Implement this method to define any extra operations that should be performed before backtracking over a MetaVariable (and before it is even chosen).

Specified by:

preBacktrack in class MetaConstraintSolver

retractResolverSub

protected void retractResolverSub(ConstraintNetwork metaVariable,
                                  ConstraintNetwork metaValue)

Description copied from class: MetaConstraintSolver

Implement this method to define any extra operations that should happen after retracting a meta-value in the meta-CSP search (e.g., when backtracking).

Specified by:

retractResolverSub in class MetaConstraintSolver

Parameters:

metaVariable - The MetaVariable over which backtracking occurs.

metaValue - The meta-value that has been retracted.

addResolverSub

protected boolean addResolverSub(ConstraintNetwork metaVariable,
                                 ConstraintNetwork metaValue)

Description copied from class: MetaConstraintSolver

Implement this method to define any additional operations that should happen before adding a meta-value in the meta-CSP search (e.g., when branching).

Specified by:

addResolverSub in class MetaConstraintSolver

Parameters:

metaVariable - The MetaVariable over which the search is branching.

metaValue - The meta-value that has been selected (the branch).

Returns:

true iff the metavalue is consistent with the ground-CSP (Note: if false is returned, the ground-CSP has not been changed, i.e., it is left in a consistent state.)

getBTcounter

public int getBTcounter()

postBacktrack

public void postBacktrack(MetaVariable mv)

Description copied from class: MetaConstraintSolver

Implement this method to define any extra operations that should be performed after branching over a MetaVariable.

Specified by:

postBacktrack in class MetaConstraintSolver

Parameters:

mv - The MetaVariable that has been branched upon.

getUpperBound

protected double getUpperBound()

Specified by:

getUpperBound in class MetaConstraintSolver

setUpperBound

protected void setUpperBound()

Specified by:

setUpperBound in class MetaConstraintSolver

getLowerBound

protected double getLowerBound()

Specified by:

getLowerBound in class MetaConstraintSolver

setLowerBound

protected void setLowerBound()

Specified by:

setLowerBound in class MetaConstraintSolver

hasConflictClause

protected boolean hasConflictClause(ConstraintNetwork metaValue)

Specified by:

hasConflictClause in class MetaConstraintSolver

resetFalseClause

protected void resetFalseClause()

Specified by:

resetFalseClause in class MetaConstraintSolver

refineTrajectoryEnvelopesFixed

public ConstraintNetwork refineTrajectoryEnvelopesFixed(int maxSize)

refineTrajectoryEnvelopesFixed

public ConstraintNetwork refineTrajectoryEnvelopesFixed(double[] proportions)

refineTrajectoryEnvelopes

public ConstraintNetwork refineTrajectoryEnvelopes()

Refine the TrajectoryEnvelopes maintained by the TrajectoryEnvelopeSolver underlying this TrajectoryEnvelopeScheduler. This method splits TrajectoryEnvelopes that overlap in space.

Returns:

A ConstraintNetwork containing the set of TrajectoryEnvelopes into which the existing TrajectoryEnvelopes were refined. This ConstraintNetwork is empty if the existing TrajectoryEnvelopes cannot be refined any further.

refineTrajectoryEnvelopesLight

public ConstraintNetwork refineTrajectoryEnvelopesLight()

Refine the TrajectoryEnvelopes maintained by the TrajectoryEnvelopeSolver underlying this TrajectoryEnvelopeScheduler. This method does not actually split TrajectoryEnvelopes.

Returns:

A ConstraintNetwork containing the set of TrajectoryEnvelopes into which the existing TrajectoryEnvelopes were refined. This ConstraintNetwork is empty if the existing TrajectoryEnvelopes cannot be refined any further.