The XMLReader class implements interface for input data reading from XML-file with a specific structure. More...

#include <XMLReader.h>

Inheritance diagram for XMLReader:

Public Member Functions
XMLReader *	Clone () const override
	Method for cloning objects. Create copy of object in memmory and return pointer to copy. More...

bool	GetAgents (std::vector< Agent * > &agents, const int &numThreshold) override
	Creates object for all agents. More...

bool	GetEnvironmentOptions (EnvironmentOptions **envOpt) override
	Creates object with algorithms and environment parameters. More...

bool	GetMap (Map **map) override
	Creates object with static environment data. More...

XMLReader &	operator= (const XMLReader &obj)
	Assignment operator. More...

bool	ReadData () override
	Starts input data reading from XML-file. More...

	XMLReader ()
	XMLReader default constructor. More...

	XMLReader (const std::string &fileName)
	XMLReader constructor. More...

	XMLReader (const XMLReader &obj)
	XMLReader copy constructor. More...

	~XMLReader () override
	XMLReader destructor. More...

Public Member Functions inherited from Reader
virtual	~Reader ()
	Reader virtual destructor. More...

Detailed Description

The XMLReader class implements interface for input data reading from XML-file with a specific structure.

Input file should contain:

Mandatory tag <agents>. It describes the parameters of the agents.
- number — mandatory attribute that define the number of agents;
- <default_parameters> — mandatory tags that defines default parameters of agents and agent's perception.
  - agentsmaxnum — mandatory attribute that defines a number of neighbors, that the agent takes into account;
  - movespeed — mandatory attribute that defines maximum speed of agent;
  - sightradius — mandatory attribute that defines the radius in which the agent takes neighbors into account;
  - size — mandatory attribute that defines size of the agent (radius of the agent);
  - timeboundary — mandatory attribute that defines the time within which the algorithm ensures collision avoidance with other agents;
  - timeboundaryobst — mandatory attribute that defines the time within which the algorithm ensures collision avoidance with static obstacles.
<agent> — mandatory tags that defines parameters of each agent.
- id — mandatory attribute that defines the identifier of agent;
- start.xr — mandatory attribute that defines the coordinate of start position on the x-axis (hereinafter, excluding map tag, points (x,y) are in coordinate system, which has an origin (0,0) in lower left corner. More about coordinate systems in the illustration below);
- start.yr — mandatory attribute that defines the coordinate of start position on the y-axis;
- goal.xr — mandatory attribute that defines the coordinate of finish position on the x-axis;
- goal.yr — mandatory attribute that defines the coordinate of finish position on the y-axis;
- agentsmaxnum — attribute that defines a number of neighbors, that the agent takes into account;
- movespeed — attribute that defines maximum speed of agent;
- sightradius — attribute that defines the radius in which the agent takes neighbors into account;
- size — attribute that defines size of the agent (radius of the agent);
- timeboundary — attribute that defines the time within which the algorithm ensures collision avoidance with other agents;
- timeboundaryobst — attribute that define the time within which the algorithm ensures collision avoidance with static obstacles.
Mandatory tag <map>. It describes the environment for global path planning.
- <height> and <width> — mandatory tags that define size of the map. Origin is in the upper left corner. (0,0) - is upper left, ( * * width * * -1, * * height * * -1) is lower right (more about coordinate systems in the illustration below).
- <cellsize> — optional tag that defines the size of one cell.
- <grid> — mandatory tag that describes the square grid constituting the map. It consists of <row> tags. Each <row> contains a sequence of "0" and "1" separated by blanks. "0" stands for traversable cell, "1" — for untraversable (actually any other figure but "0" can be used instead of "1").
Mandatory tag <obstacles>. It describes static obstacles for collision avoidance.
- number — mandatory attribute that defines the number of obstacles;
- <obstacle> — mandatory tags which defines each static obstacles for collision avoidance.
- <vertex> — mandatory tags which defines vertex of static obstacle for collision avoidance.
  - xr — mandatory attribute that defines the coordinate of vertex on the x-axis;
  - yr — mandatory attribute that defines the coordinate of vertex on the y-axis.
Mandatory tag <algorithm>. It describes the parameters of the algorithm.
- <delta> — mandatory tag that defines the distance between the center of the agent and the finish, which is enough to reach the finish (ORCA parameter);
- <timestep> — mandatory tag that defines the time step of simulation (ORCA parameter);
- <searchtype> — tag that defines the type of planning. Possible values - "thetastar" (use Theta* for planning), "direct" (turn off global planning and always use direction to global goal). Default value is "thetastar" (global planning parameter);
- <breakingties> — tag that defines the priority in OPEN list for nodes with equal f-values. Possible values - "0" (break ties in favor of the node with smaller g-value), "1" (break ties in favor of the node with greater g-value). Default value is "0" (Theta * * parameter);
- <cutcorners> — boolean tag that defines the possibilty to make diagonal moves when one adjacent cell is untraversable. The tag is ignored if diagonal moves are not allowed. Default value is "false" (Theta * * parameter);
- <allowsqueeze> — boolean tag that defines the possibility to make diagonal moves when both adjacent cells are untraversable. The tag is ignored if cutting corners is not allowed. Default value is "false" (Theta * * parameter);
- <hweight> — defines the weight of the heuristic function. Should be real number greater or equal 1. Default value is "1" (Theta * * parameter);

Definition at line 73 of file XMLReader.h.

Constructor & Destructor Documentation

XMLReader::XMLReader ( )

XMLReader default constructor.

Definition at line 25 of file XMLReader.cpp.

XMLReader::XMLReader ( const std::string & fileName )

XMLReader constructor.

Parameters

fileName Path to input XML-file

Definition at line 10 of file XMLReader.cpp.

XMLReader::XMLReader ( const XMLReader & obj )

XMLReader copy constructor.

Parameters

obj	Object to copy.

Definition at line 40 of file XMLReader.cpp.

XMLReader::~XMLReader ( )

override

XMLReader destructor.

Definition at line 69 of file XMLReader.cpp.

Member Function Documentation

XMLReader * XMLReader::Clone ( ) const

overridevirtual

Method for cloning objects. Create copy of object in memmory and return pointer to copy.

Returns: Pointer to copy of object

Implements Reader.

Definition at line 242 of file XMLReader.cpp.

bool XMLReader::GetAgents	(	std::vector< Agent * > &	agents,
		const int &	numThreshold
	)

overridevirtual

Creates object for all agents.

Parameters

[out]	agents	Vector of all agents of system. Objects in vector contain full information about each agent.
[in]	numThreshold	Maximum number of agents in system.

Returns: Success of objects creating and transfer process.

Implements Reader.

Definition at line 135 of file XMLReader.cpp.

bool XMLReader::GetEnvironmentOptions ( EnvironmentOptions ** envOpt )

overridevirtual

Creates object with algorithms and environment parameters.

Parameters

[out] envOpt Algorithms and environment parameters.

Returns: Success of object creating and transfer process.

Implements Reader.

Definition at line 123 of file XMLReader.cpp.

bool XMLReader::GetMap ( Map ** map )

overridevirtual

Creates object with static environment data.

Parameters

[out] map Static environment data

Returns: Success of object creating and transfer process.

Implements Reader.

Definition at line 110 of file XMLReader.cpp.

XMLReader & XMLReader::operator= ( const XMLReader & obj )

Assignment operator.

Parameters

obj	Object to assign.

Returns: Reference to assigned object.

Definition at line 185 of file XMLReader.cpp.

bool XMLReader::ReadData ( )

overridevirtual

Starts input data reading from XML-file.

Returns: Success of file reading.

Implements Reader.

Definition at line 159 of file XMLReader.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation