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Fix intertimepoint constraint when estimated duration has no variation #44

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If the distribution has no variation (stdev is 0) the constraint should be a requirement constraint instead of a contingent constraint.

Before this was only done for the constraint between Start and Pickup, but it should also be done for the constraint between Pickup and Delivery.

Changelog

  • Make the constraint a requirment constraint if the estimated duration between the tiempoints has no variation (sted is 0).
  • Make the constraint a contingent constraint only if the estimated duration between the tiempoints has variation (sted is NOT 0).

Checklist:

  • [x ] My code doesn't contain unnecessary comment blocks (e.g. unused code, templates of package.xml or CMakeLists.txt)
  • I have updated the package.xml and CMakeLists.txt with the correct dependencies. (does not apply)
  • I have updated the documentation accordingly. (does not apply)

If the distribution has no variation (stdev is 0) make the constraint a
requirement constraint

Before this was only done for the constraint between Start and Pickup,
but it should also be done for the constraint between Pickup and Delivery
Angela Enriquez and others added 2 commits August 27, 2020 12:02
…rt, finish

The new names are more general and apply to other tasks other than just transportation tasks

departure: Time at which the robot starts navigating to the start location
start: Time at which the robot arrives at the start location
finish: Time at which the robot finished the last action
Rename timepoint names to departure, start, finish
@argenos
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argenos commented Aug 28, 2020

I think we need to setup the CI to check if any of this are breaking changes. Is there any update on that?

@anenriquez
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I think we need to setup the CI to check if any of this are breaking changes. Is there any update on that?

Unfortunately not. The fleet management system is on GitLab and our GitHub does not have Travis yet. I'll try to fix it later this week, but it might take a bit longer.

Angela Enriquez added 3 commits September 9, 2020 15:33
Returns positions in the stn that have tasks whose earliest and latest times are within the given earliest and latest time
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2 participants