An algorithm for moving to a location. More...

#include <Move.h>

Inheritance diagram for gams::algorithms::Move:

Public Member Functions
	Move (const std::vector< pose::Pose > &locations, int repeat, double wait_time, madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0, variables::Agents *agents=0)
	Constructor. More...

	~Move ()
	Destructor. More...

virtual int	analyze (void)
	Analyzes environment, platform, or other information. More...

virtual int	execute (void)
	Plans the next execution of the algorithm. More...

variables::Agents *	get_agents (void)
	Gets the list of agents. More...

variables::AlgorithmStatus *	get_algorithm_status (void)
	Gets algorithm status variables. More...

madara::knowledge::KnowledgeBase *	get_knowledge_base (void)
	Gets the knowledge base. More...

platforms::BasePlatform *	get_platform (void)
	Gets the platform. More...

variables::Self *	get_self (void)
	Gets self-defined variables. More...

variables::Sensors *	get_sensors (void)
	Gets the available sensor information. More...

void	operator= (const Move &rhs)
	Assignment operator. More...

virtual int	plan (void)
	Plans the next execution of the algorithm. More...

virtual void	set_agents (variables::Agents *agents)
	Sets the list of agents in the swarm. More...

virtual void	set_platform (platforms::BasePlatform *platform)
	Sets the platform. More...

virtual void	set_self (variables::Self *self)
	Sets the map of sensor names to sensor information. More...

virtual void	set_sensors (variables::Sensors *sensors)
	Sets the map of sensor names to sensor information. More...

Protected Attributes
variables::Agents *	agents_
	the list of agents potentially participating in the algorithm More...

int	cycles_
	tracks the number of cycles completed through locations More...

madara::utility::EpochEnforcer< std::chrono::steady_clock >	enforcer_
	the timing enforcer More...

unsigned int	executions_
	number of executions More...

bool	finished_moving_
	if true, all movements are completed More...

std::string	frame_
	reference frame for coordinates More...

madara::knowledge::KnowledgeBase *	knowledge_
	provides access to the knowledge base More...

size_t	move_index_
	current location to move to More...

platforms::BasePlatform *	platform_
	provides access to the platform More...

std::vector< pose::Pose >	poses_
	the locations to visit More...

int	repeat_
	number of times to repeat More...

variables::Self *	self_
	the algorithm's concept of self More...

variables::Sensors *	sensors_
	provides access to sensor information More...

variables::AlgorithmStatus	status_
	provides access to status information for this platform More...

double	wait_time_
	global wait time for each waypoint More...

bool	waiting_
	if true, is in a waiting state on wait_time_ More...

Detailed Description

An algorithm for moving to a location.

Definition at line 78 of file Move.h.

Constructor & Destructor Documentation

◆ Move()

gams::algorithms::Move::Move	(	const std::vector< pose::Pose > &	locations,
		int	repeat,
		double	wait_time,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`,
		variables::Agents *	agents = `0`
	)

Constructor.

Parameters

locations	a list of targets to move to
repeat	number of times to repeat(-1 for indefinite)
wait_time	global wait(in s) after arriving at waypoints
knowledge	the context containing variables and values
platform	the underlying platform the algorithm will use
sensors	map of sensor names to sensor information
self	self-referencing variables
agents	variables referencing agents

◆ ~Move()

gams::algorithms::Move::~Move ( )

Destructor.

Member Function Documentation

◆ analyze()

virtual int gams::algorithms::Move::analyze ( void )

virtual

Analyzes environment, platform, or other information.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ execute()

virtual int gams::algorithms::Move::execute ( void )

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ get_agents()

variables::Agents* gams::algorithms::BaseAlgorithm::get_agents ( void )

inherited

Gets the list of agents.

◆ get_algorithm_status()

variables::AlgorithmStatus* gams::algorithms::BaseAlgorithm::get_algorithm_status ( void )

inherited

Gets algorithm status variables.

◆ get_knowledge_base()

madara::knowledge::KnowledgeBase* gams::algorithms::BaseAlgorithm::get_knowledge_base ( void )

inherited

Gets the knowledge base.

◆ get_platform()

platforms::BasePlatform* gams::algorithms::BaseAlgorithm::get_platform ( void )

inherited

Gets the platform.

◆ get_self()

variables::Self* gams::algorithms::BaseAlgorithm::get_self ( void )

inherited

Gets self-defined variables.

◆ get_sensors()

variables::Sensors* gams::algorithms::BaseAlgorithm::get_sensors ( void )

inherited

Gets the available sensor information.

◆ operator=()

void gams::algorithms::Move::operator= ( const Move & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ plan()

virtual int gams::algorithms::Move::plan ( void )

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ set_agents()

virtual void gams::algorithms::BaseAlgorithm::set_agents ( variables::Agents * agents )

virtualinherited

Sets the list of agents in the swarm.

Parameters

agents list of agents

◆ set_platform()

virtual void gams::algorithms::BaseAlgorithm::set_platform ( platforms::BasePlatform * platform )

virtualinherited

Sets the platform.

Parameters

platform the underlying platform the algorithm will use

◆ set_self()

virtual void gams::algorithms::BaseAlgorithm::set_self ( variables::Self * self )

virtualinherited

Sets the map of sensor names to sensor information.

Parameters

self	pointer to self-referencing variables container

◆ set_sensors()

virtual void gams::algorithms::BaseAlgorithm::set_sensors ( variables::Sensors * sensors )

virtualinherited

Sets the map of sensor names to sensor information.

Parameters

sensors map of sensor names to sensor information

Member Data Documentation

◆ agents_

variables::Agents* gams::algorithms::BaseAlgorithm::agents_

protectedinherited

the list of agents potentially participating in the algorithm

Definition at line 201 of file BaseAlgorithm.h.

◆ cycles_

int gams::algorithms::Move::cycles_

protected

tracks the number of cycles completed through locations

Definition at line 143 of file Move.h.

◆ enforcer_

madara::utility::EpochEnforcer<std::chrono::steady_clock> gams::algorithms::Move::enforcer_

protected

the timing enforcer

Definition at line 158 of file Move.h.

◆ executions_

unsigned int gams::algorithms::BaseAlgorithm::executions_

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

◆ finished_moving_

bool gams::algorithms::Move::finished_moving_

protected

if true, all movements are completed

Definition at line 155 of file Move.h.

◆ frame_

std::string gams::algorithms::Move::frame_

protected

reference frame for coordinates

Definition at line 146 of file Move.h.

◆ knowledge_

madara::knowledge::KnowledgeBase* gams::algorithms::BaseAlgorithm::knowledge_

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

◆ move_index_

size_t gams::algorithms::Move::move_index_

protected

current location to move to

Definition at line 140 of file Move.h.

◆ platform_

platforms::BasePlatform* gams::algorithms::BaseAlgorithm::platform_

protectedinherited

provides access to the platform

Definition at line 210 of file BaseAlgorithm.h.

◆ poses_

std::vector<pose::Pose> gams::algorithms::Move::poses_

protected

the locations to visit

Definition at line 134 of file Move.h.

◆ repeat_

int gams::algorithms::Move::repeat_

protected

number of times to repeat

Definition at line 137 of file Move.h.

◆ self_

variables::Self* gams::algorithms::BaseAlgorithm::self_

protectedinherited

the algorithm's concept of self

Definition at line 213 of file BaseAlgorithm.h.

◆ sensors_

variables::Sensors* gams::algorithms::BaseAlgorithm::sensors_

protectedinherited

provides access to sensor information

Definition at line 216 of file BaseAlgorithm.h.

◆ status_

variables::AlgorithmStatus gams::algorithms::BaseAlgorithm::status_

protectedinherited

provides access to status information for this platform

Definition at line 219 of file BaseAlgorithm.h.

◆ wait_time_

double gams::algorithms::Move::wait_time_

protected

global wait time for each waypoint

Definition at line 149 of file Move.h.

◆ waiting_

bool gams::algorithms::Move::waiting_

protected

if true, is in a waiting state on wait_time_

Definition at line 152 of file Move.h.

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

src/gams/algorithms/Move.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Move()

◆ ~Move()

Member Function Documentation

◆ analyze()

◆ execute()

◆ get_agents()

◆ get_algorithm_status()

◆ get_knowledge_base()

◆ get_platform()

◆ get_self()

◆ get_sensors()

◆ operator=()

◆ plan()

◆ set_agents()

◆ set_platform()

◆ set_self()

◆ set_sensors()

Member Data Documentation

◆ agents_

◆ cycles_

◆ enforcer_

◆ executions_

◆ finished_moving_

◆ frame_

◆ knowledge_

◆ move_index_

◆ platform_

◆ poses_

◆ repeat_

◆ self_

◆ sensors_

◆ status_

◆ wait_time_

◆ waiting_