daisi::cpps::AmrMobilityHelper Class Reference

Static Public Member Functions
static util::Duration	estimateDuration (const util::Pose &start_pose, const std::vector< FunctionalityVariant > &functionalities, const AmrDescription &description, const Topology &topology, bool check_positioning=true)
	Estimates how much time (seconds) it takes to complete a list of FunctionalityVariant .
static util::Duration	estimateDuration (const util::Pose &start_pose, const FunctionalityVariant &functionality, const AmrDescription &description, const Topology &topology, bool check_positioning=true)
	Estimates how much time (seconds) it takes to complete a list of FunctionalityVariant .
static std::vector< daisi::cpps::AmrMobilityStatus >	calculatePhases (const util::Duration &start_timestamp, const util::Pose &start_pose, const FunctionalityVariant &functionality, const AmrDescription &description, const Topology &topology)
	Calculates acceleration, constant velocity and deceleration phases for simulation. The deceleration vector is pointing in the opposite direction of the velocity vector.
static daisi::cpps::AmrMobilityStatus	calculateMobilityStatus (const daisi::cpps::AmrMobilityStatus &current_phase, const util::Duration &current_timestamp)
	Calculates the current status of the AMR for simulation.
static daisi::util::Distance	calculateDistance (const daisi::util::Position &start_position, const std::vector< FunctionalityVariant > &functionalities)
	Calculates distance it takes to execute reach functionality starting from start_position.
static std::tuple< daisi::util::Duration, daisi::util::Duration, daisi::util::Duration, daisi::util::Distance, daisi::util::Distance >	calculateMetricsByDomain (const daisi::util::Position &start_position, const std::vector< FunctionalityVariant > &functionalities, const AmrDescription &description, const Topology &topology)
	Calculates durations and distances different parts of the execution. The domains are empty travel (when the AMR carries no load), loaded, and action (when loading/unloading).

Member Function Documentation

calculateDistance()

daisi::util::Distance daisi::cpps::AmrMobilityHelper::calculateDistance ( const daisi::util::Position &  start_position, const std::vector< FunctionalityVariant > &  functionalities  )

static

Calculates distance it takes to execute reach functionality starting from start_position.

Returns

Estimated distance in meters

calculateMetricsByDomain()

std::tuple< daisi::util::Duration, daisi::util::Duration, daisi::util::Duration, daisi::util::Distance, daisi::util::Distance > daisi::cpps::AmrMobilityHelper::calculateMetricsByDomain ( const daisi::util::Position &  start_position, const std::vector< FunctionalityVariant > &  functionalities, const AmrDescription &  description, const Topology &  topology  )

static

Calculates durations and distances different parts of the execution. The domains are empty travel (when the AMR carries no load), loaded, and action (when loading/unloading).

Returns

A tuple of durations and distances in the following order: Empty time, loaded time, action time, empty distance, and loaded distance

calculateMobilityStatus()

AmrMobilityStatus daisi::cpps::AmrMobilityHelper::calculateMobilityStatus ( const daisi::cpps::AmrMobilityStatus &  current_phase, const util::Duration &  current_timestamp  )

static

Calculates the current status of the AMR for simulation.

Exceptions

c std::invalid_argument

• if current_timestamp is smaller than current_phase.timestamp

  Calculates the current status of the AMR given an initial status.

calculatePhases()

std::vector< daisi::cpps::AmrMobilityStatus > daisi::cpps::AmrMobilityHelper::calculatePhases ( const util::Duration &  start_timestamp, const util::Pose &  start_pose, const FunctionalityVariant &  functionality, const AmrDescription &  description, const Topology &  topology  )

static

Calculates acceleration, constant velocity and deceleration phases for simulation. The deceleration vector is pointing in the opposite direction of the velocity vector.

Exceptions

c std::invalid_argument

• if start_pose or any other Position is outside of Topology or
• if a requested FunctionalityVariant is missing in description

  Returns

  List of statuses. Lists a status for every change in state (phase) or direction. The last status is always kIdle. Its timestamp contains the FunctionalityVariant's completion time.

estimateDuration() [1/2]

util::Duration daisi::cpps::AmrMobilityHelper::estimateDuration ( const util::Pose &  start_pose, const FunctionalityVariant &  functionality, const AmrDescription &  description, const Topology &  topology, bool  check_positioning = true  )

static

Estimates how much time (seconds) it takes to complete a list of FunctionalityVariant .

Exceptions

c std::invalid_argument

• if start_pose or any other Position is outside of Topology and check_positioning is true, or
• if a requested FunctionalityVariant is missing in description

  Returns

  Duration (double, seconds): Total Time to complete all tasks.

estimateDuration() [2/2]

util::Duration daisi::cpps::AmrMobilityHelper::estimateDuration ( const util::Pose &  start_pose, const std::vector< FunctionalityVariant > &  functionalities, const AmrDescription &  description, const Topology &  topology, bool  check_positioning = true  )

static

Estimates how much time (seconds) it takes to complete a list of FunctionalityVariant .

Exceptions

c std::invalid_argument

• if start_pose or any other Position is outside of Topology and check_positioning is true, or
• if a requested Functionality is missing in description

  Returns

  Duration (double, seconds): Total Time to complete all tasks.

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

• daisi/src/cpps/amr/amr_mobility_helper.h
• daisi/src/cpps/amr/amr_mobility_helper.cpp