org.metacsp.multi.spatioTemporal.paths

Class TrajectoryEnvelopeSolver

java.lang.Object

org.metacsp.framework.ConstraintSolver

org.metacsp.framework.multi.MultiConstraintSolver

org.metacsp.multi.spatioTemporal.paths.TrajectoryEnvelopeSolver

All Implemented Interfaces:

java.io.Serializable

public class TrajectoryEnvelopeSolver
extends MultiConstraintSolver

A MultiConstraintSolver for TrajectoryEnvelopes. Constraints of type AllenIntervalConstraint and DE9IMRelation can be added to TrajectoryEnvelopes.

Author:

Federico Pecora

See Also:

Serialized Form

Nested Class Summary

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

MultiConstraintSolver.OPTIONS

Field Summary

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

Modifier	Constructor and Description
protected	TrajectoryEnvelopeSolver(java.lang.Class<?>[] constraintTypes, java.lang.Class<?> variableType, ConstraintSolver[] internalSolvers, int[] ingredients)
	TrajectoryEnvelopeSolver(long origin, long horizon) Create a TrajectoryEnvelopeSolver with given temporal origin and horizon.
	TrajectoryEnvelopeSolver(long origin, long horizon, int maxTrajectories) Create a TrajectoryEnvelopeSolver with given temporal origin and horizon.

Method Summary

Modifier and Type	Method and Description
TrajectoryEnvelope	createEnvelopeNoParking(int robotID, PoseSteering[] path, java.lang.String symbol, com.vividsolutions.jts.geom.Coordinate... footprintCoords)
TrajectoryEnvelope	createEnvelopeNoParking(int robotID, java.lang.String[] pathFiles, java.lang.String symbol, com.vividsolutions.jts.geom.Coordinate... footprintCoords)
TrajectoryEnvelope	createEnvelopeNoParking(int robotID, java.lang.String pathFile, java.lang.String symbol, com.vividsolutions.jts.geom.Coordinate... footprintCoords)
java.util.HashMap<java.lang.Integer,java.util.ArrayList<TrajectoryEnvelope>>	createEnvelopes(int firstRobotID, long durationFirstParking, long durationLastParking, com.vividsolutions.jts.geom.Coordinate[] footprint, java.lang.String... pathFiles) Create a trajectory envelope for each given reference to a file containing a path.
java.util.HashMap<java.lang.Integer,java.util.ArrayList<TrajectoryEnvelope>>	createEnvelopes(int firstRobotID, long durationFirstParking, long durationLastParking, com.vividsolutions.jts.geom.Coordinate[] footprint, Trajectory... trajectories) Create a trajectory envelope for each given Trajectory.
java.util.HashMap<java.lang.Integer,java.util.ArrayList<TrajectoryEnvelope>>	createEnvelopes(int firstRobotID, java.lang.String... pathFiles) Create a trajectory envelope for each given reference to a file containing a path.
java.util.HashMap<java.lang.Integer,java.util.ArrayList<TrajectoryEnvelope>>	createEnvelopes(int firstRobotID, Trajectory... trajectories) Create a trajectory envelope for each given Trajectory.
protected static ConstraintSolver[]	createInternalConstraintSolvers(long origin, long horizon, int maxTrajectories)
TrajectoryEnvelope	createParkingEnvelope(int robotID, long parkingDuration, Pose parkingPose, java.lang.String locationName, com.vividsolutions.jts.geom.Coordinate... footprintCoords)
long	getHorizon() Get the temporal horizon.
long	getOrigin() Get the origin of time.
TrajectoryEnvelope[]	getRootTrajectoryEnvelopes() Get all TrajectoryEnvelopes that have no super-envelopes.
TrajectoryEnvelope[]	getRootTrajectoryEnvelopes(int robotID) Get all TrajectoryEnvelopes that have no super-envelopes for a given robot.
DE9IMRelationSolver	getSpatialSolver() Returns the DE9IMRelationSolver which propagates spatial constraints (of type DE9IMRelation) among the spatial parts (GeometricShapeVariables) of TrajectoryEnvelopes.
AllenIntervalNetworkSolver	getTemporalSolver() Returns the AllenIntervalNetworkSolver which propagates temporal constraints (of type AllenIntervalConstraint) among the temporal parts (AllenIntervals) of a trajectory envelope.
TrajectoryEnvelope[]	getTrajectoryEnvelopes(int robotID) Get all the TrajectoryEnvelopes in this solver's ConstraintNetwork pertaining to a particular robot.
boolean	propagate() Propagate the constraint network.

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

addConstraintsSub, createVariablesSub, createVariablesSub, createVariablesSub, drawConstraintNetworkHierarchy, drawConstraintSolverHierarchy, failurePruning, getConstraintNetworkHierarchy, getConstraintNetworksFromSolverHierarchy, getConstraintSolver, getConstraintSolverHierarchy, getConstraintSolvers, getConstraintSolversFromConstraintSolverHierarchy, getDescription, getOption, registerValueChoiceFunctions, 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

TrajectoryEnvelopeSolver

protected TrajectoryEnvelopeSolver(java.lang.Class<?>[] constraintTypes,
                                   java.lang.Class<?> variableType,
                                   ConstraintSolver[] internalSolvers,
                                   int[] ingredients)

TrajectoryEnvelopeSolver

public TrajectoryEnvelopeSolver(long origin,
                                long horizon)

Create a TrajectoryEnvelopeSolver with given temporal origin and horizon.

Parameters:

origin - The origin of the temporal solver underlying this TrajectoryEnvelopeSolver.

horizon - The horizon of the temporal solver underlying this TrajectoryEnvelopeSolver.

TrajectoryEnvelopeSolver

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

Create a TrajectoryEnvelopeSolver with given temporal origin and horizon.

Parameters:

origin - The origin of the temporal solver underlying this TrajectoryEnvelopeSolver.

horizon - The horizon of the temporal solver underlying this TrajectoryEnvelopeSolver.

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

Method Detail

getOrigin

public long getOrigin()

Get the origin of time.

Returns:

The origin of time.

getHorizon

public long getHorizon()

Get the temporal horizon.

Returns:

The temporal horizon.

getTrajectoryEnvelopes

public TrajectoryEnvelope[] getTrajectoryEnvelopes(int robotID)

Get all the TrajectoryEnvelopes in this solver's ConstraintNetwork pertaining to a particular robot.

Parameters:

robotID - The ID of the robot for which the TrajectoryEnvelopes are desired.

Returns:

All the TrajectoryEnvelopes in this solver's ConstraintNetwork pertaining to a particular robot.

getRootTrajectoryEnvelopes

public TrajectoryEnvelope[] getRootTrajectoryEnvelopes()

Get all TrajectoryEnvelopes that have no super-envelopes.

Returns:

All TrajectoryEnvelopes that have no super-envelopes.

getRootTrajectoryEnvelopes

public TrajectoryEnvelope[] getRootTrajectoryEnvelopes(int robotID)

Get all TrajectoryEnvelopes that have no super-envelopes for a given robot.

Parameters:

robotID - The ID of the robot for which the TrajectoryEnvelopes are desired.

Returns:

All TrajectoryEnvelopes that have no super-envelopes for a given robot.

createInternalConstraintSolvers

protected static ConstraintSolver[] createInternalConstraintSolvers(long origin,
                                                                    long horizon,
                                                                    int maxTrajectories)

propagate

public boolean propagate()

Description copied from class: ConstraintSolver

Propagate the constraint network.

Specified by:

propagate in class MultiConstraintSolver

Returns:

A boolean value indicating whether propagation was successful.

getTemporalSolver

public AllenIntervalNetworkSolver getTemporalSolver()

Returns the AllenIntervalNetworkSolver which propagates temporal constraints (of type AllenIntervalConstraint) among the temporal parts (AllenIntervals) of a trajectory envelope.

Returns:

The temporal solver responsible for propagating the temporal constraints among the temporal parts of TrajectoryEnvelopes.

getSpatialSolver

public DE9IMRelationSolver getSpatialSolver()

Returns the DE9IMRelationSolver which propagates spatial constraints (of type DE9IMRelation) among the spatial parts (GeometricShapeVariables) of TrajectoryEnvelopes.

Returns:

The spatial solver responsible for propagating the spatial constraints among the spatial parts of TrajectoryEnvelopes.

createEnvelopeNoParking

public TrajectoryEnvelope createEnvelopeNoParking(int robotID,
                                                  PoseSteering[] path,
                                                  java.lang.String symbol,
                                                  com.vividsolutions.jts.geom.Coordinate... footprintCoords)

createEnvelopeNoParking

public TrajectoryEnvelope createEnvelopeNoParking(int robotID,
                                                  java.lang.String[] pathFiles,
                                                  java.lang.String symbol,
                                                  com.vividsolutions.jts.geom.Coordinate... footprintCoords)

createEnvelopeNoParking

public TrajectoryEnvelope createEnvelopeNoParking(int robotID,
                                                  java.lang.String pathFile,
                                                  java.lang.String symbol,
                                                  com.vividsolutions.jts.geom.Coordinate... footprintCoords)

createParkingEnvelope

public TrajectoryEnvelope createParkingEnvelope(int robotID,
                                                long parkingDuration,
                                                Pose parkingPose,
                                                java.lang.String locationName,
                                                com.vividsolutions.jts.geom.Coordinate... footprintCoords)

createEnvelopes

public java.util.HashMap<java.lang.Integer,java.util.ArrayList<TrajectoryEnvelope>> createEnvelopes(int firstRobotID,
                                                                                                    long durationFirstParking,
                                                                                                    long durationLastParking,
                                                                                                    com.vividsolutions.jts.geom.Coordinate[] footprint,
                                                                                                    Trajectory... trajectories)

Create a trajectory envelope for each given Trajectory. Robot IDs are assigned starting from the given integer. This method creates three envelopes for each Trajectory: the main TrajectoryEnvelope covering the path; one TrajectoryEnvelope for the starting position of the robot; and one one TrajectoryEnvelope for the final parking position of the robot. The three envelopes are constrained with AllenIntervalConstraint.Type#Meets constraints. The two parking envelopes have a given duration.

Parameters:

firstRobotID - The starting robot ID.

durationFirstParking - The duration of the first parking TrajectoryEnvelope.

durationLastParking - The duration of the final parking TrajectoryEnvelope.

footprint - Coordinates representing the footprint of the robot.

trajectories - The Trajectorys over which to create the TrajectoryEnvelopes.

Returns:

A mapping between robot IDs and the newly created sets of TrajectoryEnvelopes.

createEnvelopes

public java.util.HashMap<java.lang.Integer,java.util.ArrayList<TrajectoryEnvelope>> createEnvelopes(int firstRobotID,
                                                                                                    long durationFirstParking,
                                                                                                    long durationLastParking,
                                                                                                    com.vividsolutions.jts.geom.Coordinate[] footprint,
                                                                                                    java.lang.String... pathFiles)

Create a trajectory envelope for each given reference to a file containing a path. Robot IDs are assigned starting from the given integer. This method creates three envelopes for each path: the main TrajectoryEnvelope covering the path; one TrajectoryEnvelope for the starting position of the robot; and one one TrajectoryEnvelope for the final parking position of the robot. The three envelopes are constrained with AllenIntervalConstraint.Type#Meets constraints. The two parking envelopes have a given duration.

Parameters:

firstRobotID - The starting robot ID.

durationFirstParking - The duration of the first parking TrajectoryEnvelope.

durationLastParking - The duration of the final parking TrajectoryEnvelope.

footprint - Coordinates representing the footprint of the robot.

pathFiles - The files containing paths over which to create the TrajectoryEnvelopes.

Returns:

A mapping between robot IDs and the newly created sets of TrajectoryEnvelopes.

createEnvelopes

public java.util.HashMap<java.lang.Integer,java.util.ArrayList<TrajectoryEnvelope>> createEnvelopes(int firstRobotID,
                                                                                                    java.lang.String... pathFiles)

Create a trajectory envelope for each given reference to a file containing a path. Robot IDs are assigned starting from the given integer. This method creates three envelopes for each path: the main TrajectoryEnvelope covering the path; one TrajectoryEnvelope for the starting position of the robot; and one one TrajectoryEnvelope for the final parking position of the robot. The three envelopes are constrained with AllenIntervalConstraint.Type#Meets constraints. The two parking envelopes have a duration of 3000 ms each. A default footprint of size 2.7 (w) x 6.6 (l) is used.

Parameters:

firstRobotID - The starting robot ID.

pathFiles - The files containing paths over which to create the TrajectoryEnvelopes.

Returns:

A mapping between robot IDs and the newly created sets of TrajectoryEnvelopes.

createEnvelopes

public java.util.HashMap<java.lang.Integer,java.util.ArrayList<TrajectoryEnvelope>> createEnvelopes(int firstRobotID,
                                                                                                    Trajectory... trajectories)

Create a trajectory envelope for each given Trajectory. Robot IDs are assigned starting from the given integer. This method creates three envelopes for each Trajectory: the main TrajectoryEnvelope covering the path; one TrajectoryEnvelope for the starting position of the robot; and one one TrajectoryEnvelope for the final parking position of the robot. The three envelopes are constrained with AllenIntervalConstraint.Type#Meets constraints. The two parking envelopes have a duration of 3000 ms each. A default footprint of size 2.7 (w) x 6.6 (l) is used.

Parameters:

firstRobotID - The starting robot ID.

trajectories - The Trajectorys over which to create the TrajectoryEnvelopes.

Returns:

A mapping between robot IDs and the newly created sets of TrajectoryEnvelopes.