Instance of the class includes all the data structures and methods related to a robot. More...

#include <RoboticLine.h>

Collaboration diagram for Robot:

Classes
struct	mCompositeBlock
	The structure containing the activities in a block. More...

Public Member Functions
	Robot (uint32_t &fromActivityId, uint32_t &fromPointId, const uint32_t &numberOfInputs, const uint32_t &numberOfOutputs, const ProjectParameters &par)
	It constructs the robot according to the desired parameters. More...

std::vector< Activity * >	activities () const

std::vector< RobotPowerMode * >	robotModes () const

double	lowerBoundOfCycleTime () const
	The method calculates an estimation of cycle time. More...

	~Robot ()
	It frees the memory occupied by dynamically allocated activities and power saving modes.

Private Member Functions
	Robot (const Robot &)=delete

Robot &	operator= (const Robot &)=delete

mCompositeBlock	createSerialSequence (uint32_t &fromActivityId, uint32_t &fromPointId) const
	The method creates a block of a fixed sequence of operations, e.g. welding, cutting, without alternatives and updates the identification values. More...

mCompositeBlock	createAssemblyBlock (uint32_t &fromActivityId, uint32_t &fromPointId, const uint32_t &numberOfInputs) const
	It creates a block composed of gathering required parts to a bench and their assembly/welding to one workpiece. More...

mCompositeBlock	createDisassemblyBlock (uint32_t &fromActivityId, uint32_t &fromPointId, const uint32_t &numberOfOutputs) const
	It creates a block composed of disassembling/cutting the workpiece and taking its parts to other robots or benches. More...

mCompositeBlock	createComplexBlockHelper (uint32_t &fromActivityId, uint32_t &fromPointId, const uint32_t &numberOfSeq, const std::string &op) const
	It is an auxiliary method wrapping complex calls to createBlockOfOperations method. More...

mCompositeBlock	createBlockOfOperations (uint32_t &fromActivityId, uint32_t &fromPointId, const ActivityType &t1, const ActivityType &t2, const Interval< uint32_t > &numSeq, const Interval< uint32_t > &seqLength) const
	It is a core method for the decomposition of the robot work to well-defined blocks. More...

void	connect (uint32_t &fromActivityId, mCompositeBlock &b, const std::vector< StaticActivity * > &from, const std::vector< StaticActivity * > &to, bool fullyConnected=true) const
	It interconnects two sub-blocks and adds the generated dynamic activities to the block b. More...

mCompositeBlock	mergeBlocks (const std::vector< mCompositeBlock > &blocks) const
	It copies the activities (their pointers) in blocks to the one composite block. More...

Private Attributes
ProjectParameters	mParameters
	Desired properties of generated instances defined in the input configuration file.

std::vector< Activity * >	mActivities
	A collection of activities belonging to the robot.

std::vector< RobotPowerMode * >	mRobotModes
	Available power saving modes for this robot.

Detailed Description

Instance of the class includes all the data structures and methods related to a robot.

The instance of this class corresponds to a robot with its operations and movements. The order of activities is incorporated in activities' successors and predecessors.

Definition at line 297 of file RoboticLine.h.

Constructor & Destructor Documentation

Robot::Robot	(	uint32_t &	fromActivityId,
		uint32_t &	fromPointId,
		const uint32_t &	numberOfInputs,
		const uint32_t &	numberOfOutputs,
		const ProjectParameters &	par
	)

It constructs the robot according to the desired parameters.

Parameters

fromActivityId	An initial activity numbering, i.e. unique identification.
fromPointId	An initial unique identification of locations, i.e. robot configurations.
numberOfInputs	The number of input static activities for taking the workpiece/weldment from other robot or shared bench.
numberOfOutputs	The number of output static activities for passing the workpiece/weldment to other robot directly or using shared bench.
par	Parameters required for generation of the robot.

Definition at line 128 of file RoboticLine.cpp.

Member Function Documentation

void Robot::connect	(	uint32_t &	fromActivityId,
		mCompositeBlock &	b,
		const std::vector< StaticActivity * > &	from,
		const std::vector< StaticActivity * > &	to,
		bool	fullyConnected = `true`
	)		const

private

It interconnects two sub-blocks and adds the generated dynamic activities to the block b.

Parameters

fromActivityId	An initial unique identification of new activities that will be updated.
b	A block to which interconnecting dynamic activities ('from -> to') are added.
from,to	Static activities between which the interconnections will be established.
fullyConnected	It influences the number of interconnections (true ~ all-to-all, false ~ any-to-any).

Definition at line 309 of file RoboticLine.cpp.

Robot::mCompositeBlock Robot::createAssemblyBlock	(	uint32_t &	fromActivityId,
		uint32_t &	fromPointId,
		const uint32_t &	numberOfInputs
	)		const

private

It creates a block composed of gathering required parts to a bench and their assembly/welding to one workpiece.

Parameters

fromActivityId,fromPointId	It is a reference to an initial activity/location identification respectively.
numberOfInputs	The number of input parts to be assembled or welded.

Returns: An assembling/welding block with alternatives.

Note: Do not be confused by the name of the method, it can be also used for a creation of a welding block.

See also: mCompositeBlock, createComplexBlockHelper

Definition at line 215 of file RoboticLine.cpp.

Robot::mCompositeBlock Robot::createBlockOfOperations	(	uint32_t &	fromActivityId,
		uint32_t &	fromPointId,
		const ActivityType &	t1,
		const ActivityType &	t2,
		const Interval< uint32_t > &	numSeq,
		const Interval< uint32_t > &	seqLength
	)		const

private

It is a core method for the decomposition of the robot work to well-defined blocks.

Parameters

fromActivityId,fromPointId	It is a reference to an initial activity/location identification respectively.
t1	The type of sub-block input activities, not necessarily IN.
t2	The type of sub-block output activities, not necessarily OUT.
numSeq	Interval of the number of independent fixed sequences of some work, e.g. welding, cutting, etc.
seqLength	Interval of possible lengths of fixed sequences, i.e. e.g. atomic welding/cutting sub-tasks.

Returns: A sub-block with alternatives, i.e. order of fixed sequences can be arbitrarily selected, used in complex blocks.

Warning: It updates fromActivityId and fromPointId values.

See also: mCompositeBlock, ActivityType

Definition at line 247 of file RoboticLine.cpp.

Robot::mCompositeBlock Robot::createComplexBlockHelper	(	uint32_t &	fromActivityId,
		uint32_t &	fromPointId,
		const uint32_t &	numberOfSeq,
		const std::string &	op
	)		const

private

It is an auxiliary method wrapping complex calls to createBlockOfOperations method.

Parameters

fromActivityId,fromPointId	It is a reference to an initial activity/location identification respectively.
numberOfSeq	Number of input or output parts.
op	It determines the type of a block, i.e. "assembly" or "disassembly".

Returns: A complex block which type is specified by op parameter.

Note: It greatly simplifies the implementation of createAssemblyBlock and createDisassemblyBlock methods.

See also: mCompositeBlock, createAssemblyBlock, createDisassemblyBlock, createBlockOfOperations

Definition at line 223 of file RoboticLine.cpp.

Robot::mCompositeBlock Robot::createDisassemblyBlock	(	uint32_t &	fromActivityId,
		uint32_t &	fromPointId,
		const uint32_t &	numberOfOutputs
	)		const

private

It creates a block composed of disassembling/cutting the workpiece and taking its parts to other robots or benches.

Parameters

fromActivityId,fromPointId	It is a reference to an initial activity/location identification respectively.
numberOfOutputs	The number of parts to which the input workpiece is disassembled/cut.

Returns: An disassembling/cutting block with alternatives.

Note: Do not be confused by the name of the method, it can be also used for a creation of a cutting block.

See also: mCompositeBlock, createComplexBlockHelper

Definition at line 219 of file RoboticLine.cpp.

Robot::mCompositeBlock Robot::createSerialSequence	(	uint32_t &	fromActivityId,
		uint32_t &	fromPointId
	)		const

private

The method creates a block of a fixed sequence of operations, e.g. welding, cutting, without alternatives and updates the identification values.

Parameters

fromActivityId,fromPointId It is a reference to an initial activity/location identification respectively.

Returns: A block of a fixed sequence of operations.

See also: mCompositeBlock, createBlockOfOperations

Definition at line 206 of file RoboticLine.cpp.

double Robot::lowerBoundOfCycleTime ( ) const

The method calculates an estimation of cycle time.

Returns: It returns the lower estimation of production cycle time for this robot.

Definition at line 179 of file RoboticLine.cpp.

Robot::mCompositeBlock Robot::mergeBlocks ( const std::vector< mCompositeBlock > & blocks ) const

private

It copies the activities (their pointers) in blocks to the one composite block.

Parameters

blocks The blocks to be merged to one.

Returns: The composite block created from blocks.

See also: mCompositeBlock

Definition at line 320 of file RoboticLine.cpp.

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

/home/bukatlib/Downloads/GeneratorEquationsAsImages/inc/RoboticLine.h
/home/bukatlib/Downloads/GeneratorEquationsAsImages/src/RoboticLine.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation