Inheritance diagram for MultiRobotPFServer:

Collaboration diagram for MultiRobotPFServer:

Public Member Functions
	MultiRobotPFServer (const std::shared_ptr< bmpf::Scene > &scene, bool showTrace, unsigned int maxOpenSetSize, int gridSize, unsigned int maxNodeCnt, int threadCnt=1)

std::shared_ptr< bmpf::PathFinder >	createPathFinder (int clientSocket) override

Public Member Functions inherited from PathFindingServer
void	processCommand (int clientSocket, int command, Json::Value jsonData) override

void	onSocketConnected (int clientSocket) override

Public Member Functions inherited from BaseServer
void	mainLoop ()

virtual void	init (int port, int maxClients, int delay)

void	processRequests (int clientSocket)

void	stop ()

int	acceptNewSocket ()

int	getServerFd () const

const sockaddr_in &	getAddress () const

Additional Inherited Members
Static Public Member Functions inherited from PathFindingServer
static void	startFindPath (PathFindingServer *pfs, std::shared_ptr< bmpf::PathFinder > pf, int clientSocket, std::vector< double > start, std::vector< double > end)

Static Public Member Functions inherited from BaseServer
static void	initLinuxServerSocket ()

Static Public Attributes inherited from PathFindingServer
static const int	COMMAND_IS_READY = 0

static const int	COMMAND_START_FIND_PATH = 1

static const int	COMMAND_FIND_PATH_RESULT = 2

Protected Attributes inherited from PathFindingServer
std::unordered_map< int, std::vector< std::vector< double > > >	paths

std::unordered_map< int, bool >	pathFindingReady

std::unordered_map< int, std::shared_ptr< bmpf::PathFinder > >	pfs

Protected Attributes inherited from BaseServer
sem_t	_sem

Detailed Description

Сервер планирования в режиме multirobot для использования необходимо переопределить в потомке createPathFinder()

Constructor & Destructor Documentation

MultiRobotPFServer::MultiRobotPFServer	(	const std::shared_ptr< bmpf::Scene > &	scene,
		bool	showTrace,
		unsigned int	maxOpenSetSize,
		int	gridSize,
		unsigned int	maxNodeCnt,
		int	threadCnt = `1`
	)

inline

конструктор

Parameters

scene	сцена
showTrace	флаг, нужно ли выводить информацию во время поиска пути
maxOpenSetSize	максимальный размер открытом множества
gridSize	размер сетки планирования
maxNodeCnt	максимальное кол-во нод в закрытом множестве
threadCnt	количество потоков планировщика

std::shared_ptr<bmpf::PathFinder> MultiRobotPFServer::createPathFinder ( int clientSocket )

inlineoverridevirtual

создать планировщик

Parameters

clientSocket fd клиента

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