Defines the optimization part of the parallel heuristic, i.e. sub-heuristics and the evaluation of tuples. More...

#include <HeuristicAlgorithms.h>

Collaboration diagram for HeuristicAlgorithms:

Public Member Functions
	HeuristicAlgorithms (KnowledgeBase &kb, const RoboticLine &line, const PrecalculatedMapping &mapping)
	Constructor makes references to the required data, i.e. the robotic cell, its mapping, and shared data of the heuristic.

std::vector< std::vector< Location * > >	initializePartialSolution (PartialSolution &ps) const
	It appends the fixed movements (implied from fixed locations), and optionally fastest power saving modes to ps data structure. More...

OptimalTiming	solvePartialProblem (const PartialSolution &ps, const CircuitTuple &t, Algo algo)
	Employs Linear Programming to obtain energy-efficient timing for a given tuple. More...

OptimalTiming	convert (const PartialSolution &ps, const Solution &s) const
	Auxiliary method that converts a general form of the solution to the timing of the robotic cell. More...

CollisionResolution	resolveCollision (ActivityMode m1, double s1, double d1, ActivityMode m2, double s2, double d2) const
	It checks whether there is a collision between two specified activities, and eventually returns how to resolve this collision. More...

CollisionResolution	resolveTheWorstCollision (const PartialSolution &ps, const OptimalTiming &ot, const Solution &s) const
	It finds the worst collision, i.e. with the longest time of active collision, and returns how to resolve it. More...

double	heuristicLocationChanges (OptimalTiming &ot, PartialSolution &ps, const std::vector< std::vector< Location * >> &fixed, bool &solutionChanged) const
	The sub-heuristic locally optimizes the robot paths (change locations) to reduce energy consumption. More...

double	heuristicPowerModeSelection (const OptimalTiming &ot, PartialSolution &ps, TabuList &tabuList, bool &solutionChanged) const
	The sub-heuristic tries to switch from one power saving mode to another one for a location in order to reduce energy consumption. More...

Private Member Functions
double	scaleGanttToCycleTime (std::vector< ActivityModeInfo > &robotGantt) const
	It scales durations of activities in such a way that the robot cycle time is met. Updated start times and durations are reflected in the robotGantt variable. More...

double	calculateBreakagePenalty (const std::vector< ActivityModeInfo > &robotGantt, const OptimalTiming &ot) const
	It calculates the penalty for the violation of time lags and collisions. More...

Private Attributes
KnowledgeBase &	mKB
	Access to the shared data of the heuristic.

const RoboticLine &	mLine
	Access to the robotic cell to be optimized.

const double	mPenaltyMultiplier
	Aggregated breakage time (see calculateBreakagePenalty) is multiplied by this constant to get the penalty.

const PrecalculatedMapping &	mMapping
	Fast searching in the data structure of the robotic cell.

Detailed Description

Defines the optimization part of the parallel heuristic, i.e. sub-heuristics and the evaluation of tuples.

An instance of this class provides an access to the sub-heuristics and solver for partially fixed problems (called tuples). The solver determines an energy-efficient timing for fixed locations, movements, and power saving modes. The aim of the sub-heuristics is to modify tuples in such a way that would be resulting in an energy reduction.

Definition at line 38 of file HeuristicAlgorithms.h.

Member Function Documentation

double HeuristicAlgorithms::calculateBreakagePenalty	(	const std::vector< ActivityModeInfo > &	robotGantt,
		const OptimalTiming &	ot
	)		const

private

It calculates the penalty for the violation of time lags and collisions.

Parameters

robotGantt	Timing of the robot activities where the robot cycle time is met.
ot	Timing of the whole robotic cell.

Returns: Penalty for violating time lags and collisions.

See also: heuristicLocationChanges, heuristicPowerModeSelection, mPenaltyMultiplier

Definition at line 599 of file HeuristicAlgorithms.cpp.

OptimalTiming HeuristicAlgorithms::convert	(	const PartialSolution &	ps,
		const Solution &	s
	)		const

Auxiliary method that converts a general form of the solution to the timing of the robotic cell.

Parameters

ps	A partial problem with fixed locations, movements, and power saving modes.
s	Solution of the partially fixed problem.

Returns: Extracted timing of a robotic cell.

Definition at line 199 of file HeuristicAlgorithms.cpp.

double HeuristicAlgorithms::heuristicLocationChanges	(	OptimalTiming &	ot,
		PartialSolution &	ps,
		const std::vector< std::vector< Location * >> &	fixed,
		bool &	solutionChanged
	)		const

The sub-heuristic locally optimizes the robot paths (change locations) to reduce energy consumption.

Parameters

[in,out]	ot	Timing of the robotic cell.
[in,out]	ps	A partial problem with fixed locations, movements, and power saving modes.
	fixed	Locations that cannot be changed because the spatial compatibility has to be preserved.
[out]	solutionChanged	It indicates whether the partially fixed problem was modified.

Returns: An estimation of energy saving after performing all the changes.

Definition at line 305 of file HeuristicAlgorithms.cpp.

double HeuristicAlgorithms::heuristicPowerModeSelection	(	const OptimalTiming &	ot,
		PartialSolution &	ps,
		TabuList &	tabuList,
		bool &	solutionChanged
	)		const

The sub-heuristic tries to switch from one power saving mode to another one for a location in order to reduce energy consumption.

Parameters

	ot	Timing of the robotic cell.
[in,out]	ps	A partial problem with fixed locations, movements, and power saving modes.
	tabuList	A list with the forbidden modifications.
[out]	solutionChanged	It indicates whether the partially fixed problem was modified.

Returns: An estimation of energy saving after performing all the changes.

Definition at line 410 of file HeuristicAlgorithms.cpp.

vector< vector< Location * > > HeuristicAlgorithms::initializePartialSolution ( PartialSolution & ps ) const

It appends the fixed movements (implied from fixed locations), and optionally fastest power saving modes to ps data structure.

Parameters

[in,out] ps A partial problem with given fixed locations (+their order).

Returns: Fixed locations for each robot, indexed by robot.

Definition at line 107 of file HeuristicAlgorithms.cpp.

CollisionResolution HeuristicAlgorithms::resolveCollision	(	ActivityMode *	m1,
		double	s1,
		double	d1,
		ActivityMode *	m2,
		double	s2,
		double	d2
	)		const

It checks whether there is a collision between two specified activities, and eventually returns how to resolve this collision.

Parameters

m1	A movement or location of the first considered activity.
s1,d1	Start time and duration of the first activity, respectively.
m2	A movement or location of the second considered activity.
s2,d2	Start time and duration of the second activity, respectively.

Returns: How to resolve this collision. If the collision does not occur, then the pointers to activities are set to null.

Definition at line 251 of file HeuristicAlgorithms.cpp.

CollisionResolution HeuristicAlgorithms::resolveTheWorstCollision	(	const PartialSolution &	ps,
		const OptimalTiming &	ot,
		const Solution &	s
	)		const

It finds the worst collision, i.e. with the longest time of active collision, and returns how to resolve it.

Parameters

ps	A partial problem with fixed locations, movements, and power saving modes.
ot	Timing of the robotic cell.
s	Solution of the Linear Programming problem.

Returns: How to resolve the worst collision that occurred in the given timing.

Definition at line 282 of file HeuristicAlgorithms.cpp.

double HeuristicAlgorithms::scaleGanttToCycleTime ( std::vector< ActivityModeInfo > & robotGantt ) const

private

It scales durations of activities in such a way that the robot cycle time is met. Updated start times and durations are reflected in the robotGantt variable.

Parameters

[in,out] robotGantt Timing of the robot activities where some activities have modified durations.

Returns: Estimated energy consumption of the related robot after the timing is changed.

See also: heuristicPowerModeSelection

Definition at line 505 of file HeuristicAlgorithms.cpp.

OptimalTiming HeuristicAlgorithms::solvePartialProblem	(	const PartialSolution &	ps,
		const CircuitTuple &	t,
		Algo	algo
	)

Employs Linear Programming to obtain energy-efficient timing for a given tuple.

Parameters

ps	A partial problem with fixed locations, movements, and power saving modes.
t	A tuple corresponding to the partial problem.
algo	Specifies what was called before solving this partial problem, i.e. either a sub-heuristic or initialization phase.

Returns: Energy-efficient timing of the robotic cell for a given tuple.

Definition at line 138 of file HeuristicAlgorithms.cpp.

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

/home/bukatlib/Downloads/SolverEquationsGeneratedAsImages/inc/HeuristicSolver/HeuristicAlgorithms.h
/home/bukatlib/Downloads/SolverEquationsGeneratedAsImages/src/HeuristicSolver/HeuristicAlgorithms.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation