Class BasicTaskAssigner#

Inheritance Relationships#

Derived Types#

Class Documentation#

class BasicTaskAssigner#

An abstract class for task assigners.

This class provides the interface for task assigners. It contains methods for updating start and goal locations, loading tasks from a file, and getting the current start and goal locations. It also provides methods for sampling locations from the map.

Subclassed by DistinctOneGoalTaskAssigner, OneGoalTaskAssigner, WindowedTaskAssigner

Public Functions

BasicTaskAssigner(const SMARTGrid &G, const shared_ptr<HeuristicTableBase> heuristic_table, int screen, int num_of_agents, int seed, string task_file = "")#

Constructor for BasicTaskAssigner.

Parameters:

  • G – The SMARTGrid representing the map.

  • heuristic_table – A shared pointer to the heuristic table.

  • screen – The screen number for logging.

  • num_of_agents – The number of robots.

  • seed – The random seed.

  • task_file – The file containing the tasks. If empty, tasks are randomly generated.

virtual void updateStartsAndGoals(vector<tuple<double, double, int>> &start_locs, set<int> finished_tasks_id) = 0#

Virtual function to update start and goal locations.

Parameters:

  • start_locs – A vector of tuples representing the start locations.

  • finished_tasks_id – A set of finished task IDs.