55 #ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_PERIMETER_PATROL_H_
56 #define _GAMS_ALGORITHMS_AREA_COVERAGE_PERIMETER_PATROL_H_
73 namespace area_coverage
92 const std::string& region_id,
94 madara::knowledge::KnowledgeBase * knowledge = 0,
153 const madara::knowledge::KnowledgeMap & args,
154 madara::knowledge::KnowledgeBase * knowledge,
Copyright(c) 2014 Carnegie Mellon University.
Copyright(c) 2014 Carnegie Mellon University.
Copyright(c) 2014 Carnegie Mellon University.
Copyright(c) 2014 Carnegie Mellon University.
Base class for algorithm factories that classes derived from.
The base class that algorithms in GAMS use.
Base class for all area coverages.
A factory class for creating perimeter patrol algorithms.
virtual BaseAlgorithm * create(const madara::knowledge::KnowledgeMap &args, madara::knowledge::KnowledgeBase *knowledge, platforms::BasePlatform *platform, variables::Sensors *sensors, variables::Self *self, variables::Agents *agents)
Creates a perimeter patrol algorithm.
Moves along a perimeter and keeps track of coverage metrics.
unsigned int cur_waypoint_
current waypoint
~PerimeterPatrolCoverage()
Destructor.
PerimeterPatrolCoverage(const std::string ®ion_id, double e_time, madara::knowledge::KnowledgeBase *knowledge=0, platforms::BasePlatform *platform=0, variables::Sensors *sensors=0, variables::Self *self=0, variables::Agents *agents=0)
Constructor.
void generate_positions(void)
generates all positions to patrol
virtual void generate_new_position(void)
Generate new next position.
std::vector< utility::GPSPosition > waypoints_
waypoints
void operator=(const PerimeterPatrolCoverage &rhs)
Assignment operator.
std::string region_id_
indicates the region to patrol the border of
A container for self referencing information.
std::map< std::string, Sensor * > Sensors
a map of sensor names to the sensor information
std::vector< Agent > Agents
An array of agent knowledge.
Contains all GAMS-related tools, classes and code.