Determines an optimal timing of a partially fixed problem. More...

#include <RoboticLineSolverLP.h>

Collaboration diagram for RoboticLineSolverLP:

Public Member Functions
	RoboticLineSolverLP (Robot *r, const PartialSolution &ps, const PrecalculatedMapping &m)
	It builds a Linear Programming problem (variables, constraints, criterion) to be solved. More...

	RoboticLineSolverLP (const RoboticLine &l, const PartialSolution &ps, const PrecalculatedMapping &m)
	It builds a Linear Programming problem (variables, constraints, criterion) to be solved. More...

Solution	solve () const
	The energy optimal timing is determined by solving Linear Programming problem and the solution is returned.

void	addCollisionResolution (Activity i, Activity j, const int32_t &multipleOfCycleTime)
	It adds a constraint $s_j \geq s_i+d_i+CT*\mathrm{multipleOfCycleTime}$ to resolve a collision where and are start time and duration of the activity , respectively, and $\mathrm{CT}$ is the robot cycle time. More...

Private Member Functions
void	addVariablesForSelectedDynamicActivities ()
	It adds additional float variables for optional activities.

void	construct (const PrecalculatedMapping &m, bool addTimeLags=true)
	Complete construction of the Linear Programming problem for the energy optimization. More...

void	checkArguments (const PrecalculatedMapping &m, const uint32_t &numberOfRobots=1u) const
	It checks that the arguments passed to the constructor are valid and correct. More...

Private Attributes
ILPModel	mModel
	Linear Programming problem to be solved.

VariableMappingLP	mMapper
	Mapping of the continuous variables.

ConstraintsGenerator	mGenerator
	Generator of the constraints.

PartialSolution	mPartialSolution
	Partially fixed problem, or in other words, a partial solution.

Detailed Description

Determines an optimal timing of a partially fixed problem.

Linear Programming solver that determines an optimal timing of a partially fixed problem. It is used by the parallel heuristic, see ParallelHeuristicSolver, that evaluates lots of partially fixed problems to find high quality solutions in terms of energy consumption.

Definition at line 58 of file RoboticLineSolverLP.h.

Constructor & Destructor Documentation

RoboticLineSolverLP::RoboticLineSolverLP	(	Robot *	r,
		const PartialSolution &	ps,
		const PrecalculatedMapping &	m
	)

It builds a Linear Programming problem (variables, constraints, criterion) to be solved.

Parameters

r	Robot for which the timing should be evaluated.
ps	Partially fixed problem, i.e. selected locations, modes, and movements.
m	Fast mapping for the searching in the data structure of the robotic cell (containing one robot).

Definition at line 32 of file RoboticLineSolverLP.cpp.

RoboticLineSolverLP::RoboticLineSolverLP	(	const RoboticLine &	l,
		const PartialSolution &	ps,
		const PrecalculatedMapping &	m
	)

It builds a Linear Programming problem (variables, constraints, criterion) to be solved.

Parameters

l	Robotic cell for which the timing should be evaluated.
ps	Partially fixed problem, i.e. selected locations, modes, and movements.
m	Fast mapping for the searching in the data structure of the robotic cell.

Definition at line 40 of file RoboticLineSolverLP.cpp.

Member Function Documentation

void RoboticLineSolverLP::addCollisionResolution	(	Activity *	i,
		Activity *	j,
		const int32_t &	multipleOfCycleTime
	)

It adds a constraint $s_j \geq s_i+d_i+CT*\mathrm{multipleOfCycleTime}$ to resolve a collision where $s_i$ and $d_i$ are start time and duration of the activity $i$ , respectively, and $\mathrm{CT}$ is the robot cycle time.

Parameters

i,j	First and second considered activity, respectively.
multipleOfCycleTime	Multiple of the robot cycle time.

Definition at line 99 of file RoboticLineSolverLP.cpp.

void RoboticLineSolverLP::checkArguments	(	const PrecalculatedMapping &	m,
		const uint32_t &	numberOfRobots = `1u`
	)		const

private

It checks that the arguments passed to the constructor are valid and correct.

Parameters

m	Fast mapping for the searching in the data structure of the robotic cell.
numberOfRobots	Number of robots considered in the problem.

Note: It is only called in the debug mode due to the performance issues.

Definition at line 216 of file RoboticLineSolverLP.cpp.

void RoboticLineSolverLP::construct	(	const PrecalculatedMapping &	m,
		bool	addTimeLags = `true`
	)

private

Complete construction of the Linear Programming problem for the energy optimization.

Parameters

m	Fast mapping for the searching in the data structure of the robotic cell.
addTimeLags	Whether time lags should be considered, i.e. a robotic cell with more than one robot.

Note: Gurobi convex functions can be employed to accelerate the solution process.

Definition at line 122 of file RoboticLineSolverLP.cpp.

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

/home/bukatlib/Downloads/SolverEquationsGeneratedAsImages/inc/ILPSolver/RoboticLineSolverLP.h
/home/bukatlib/Downloads/SolverEquationsGeneratedAsImages/src/ILPSolver/RoboticLineSolverLP.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation