Function rpc_api::addNewPlan#

Function Documentation#

void rpc_api::addNewPlan(string &new_plan_json_str)

Add a new MAPF plan to the ADG.

This function takes a JSON string representing a new MAPF plan and adds it to the ADG (Action Decision Graph). If necessary, it utilizes the backup planner to ensure the plan is integrated correctly.

Parameters:

new_plan_json_str – A JSON string with a new MAPF plan with the following schema: 

{
  "success": true,
  "plan": [ [(row, col, timestep, task_id), ... ], ... ],
  "congested": false,
  "stats": { ... }
}

  • plan: a list of lists of tuples, where each outer list corresponds to a single robot’s path. Each inner list contains tuples of the form (row, col, timestep, task_id):

    • row: The row index of the robot’s position on the grid.

    • col: The column index of the robot’s position on the grid.

    • timestep: The timestep at which the robot should be at the specified position.

    • task_id: The task identifier, or -1 if no task is associated.

  • success: indicates whether the planner successfully produced collision-free paths for all robots. If false, the backup planner is invoked.

  • congested [Optional]: indicates whether congestion was detected, typically defined as more than half of the robots making no progress.

  • stats [Optional]: contains additional planner statistics recorded by LSMART.