Focuses on high priority areas over low priority, and attempts to do minimum time coverage. More...

#include <PrioritizedMinTimeAreaCoverage.h>

Inheritance diagram for gams::algorithms::area_coverage::PrioritizedMinTimeAreaCoverage:

Public Member Functions
	PrioritizedMinTimeAreaCoverage (const std::string &search_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, const std::string &algo_name="pmtac")
	Constructor. More...

virtual int	analyze (void)
	Increment sensor values. 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...

utility::GPSPosition	get_next_position (void) const
	Get next position. 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 PrioritizedMinTimeAreaCoverage &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 Member Functions
int	check_if_finished (int ret_val) const
	Check if finished based on time. More...

virtual void	generate_new_position (void)
	generate new next position More...

virtual double	get_utility (const utility::Position &start, const utility::Position &end, std::set< utility::Position > &online)
	get utility of moving from one index position to another More...

virtual void	review_last_move ()
	review if last move was good, did we hit all cells we said we would More...

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

madara::utility::EpochEnforcer< std::chrono::steady_clock >	enforcer_
	enforcer for maximum time More...

unsigned int	executions_
	number of executions More...

bool	initialized_
	indicates whether the algorithm is initialized More...

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

unsigned int	last_generation_
	time step of last position generation More...

double	max_time_
	for keeping track of the time set for maximum coverage time More...

variables::Sensor	min_time_
	time since last coverage More...

utility::GPSPosition	next_position_
	next position More...

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

std::map< utility::Position, double >	position_value_map_
	positions we will be passing through and their previous values More...

pose::SearchArea	search_area_
	Search Area to cover. 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...

std::set< utility::Position >	valid_positions_
	discretized positions in search area More...

Detailed Description

Focuses on high priority areas over low priority, and attempts to do minimum time coverage.

Definition at line 75 of file PrioritizedMinTimeAreaCoverage.h.

Constructor & Destructor Documentation

◆ PrioritizedMinTimeAreaCoverage()

gams::algorithms::area_coverage::PrioritizedMinTimeAreaCoverage::PrioritizedMinTimeAreaCoverage	(	const std::string &	search_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`,
		const std::string &	algo_name = `"pmtac"`
	)

Constructor.

Parameters

knowledge	the context containing variables and values
search_id	search area identifier
e_time	execution time
platform	the underlying platform the algorithm will use
sensors	map of sensor names to sensor information
self	self-referencing variables
agents	variables referencing agents
algo_name	algorithm name

Member Function Documentation

◆ analyze()

virtual int gams::algorithms::area_coverage::MinTimeAreaCoverage::analyze ( void )

virtualinherited

Increment sensor values.

Reimplemented from gams::algorithms::area_coverage::BaseAreaCoverage.

◆ check_if_finished()

int gams::algorithms::area_coverage::BaseAreaCoverage::check_if_finished ( int ret_val ) const

protectedinherited

Check if finished based on time.

◆ execute()

virtual int gams::algorithms::area_coverage::BaseAreaCoverage::execute ( void )

virtualinherited

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ generate_new_position()

virtual void gams::algorithms::area_coverage::MinTimeAreaCoverage::generate_new_position ( void )

protectedvirtualinherited

generate new next position

Implements gams::algorithms::area_coverage::BaseAreaCoverage.

◆ 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_next_position()

utility::GPSPosition gams::algorithms::area_coverage::BaseAreaCoverage::get_next_position ( void ) const

inherited

Get next position.

Returns: next_position_ member

◆ 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.

◆ get_utility()

virtual double gams::algorithms::area_coverage::PrioritizedMinTimeAreaCoverage::get_utility	(	const utility::Position &	start,
		const utility::Position &	end,
		std::set< utility::Position > &	online
	)

protectedvirtual

get utility of moving from one index position to another

Reimplemented from gams::algorithms::area_coverage::MinTimeAreaCoverage.

◆ operator=()

void gams::algorithms::area_coverage::PrioritizedMinTimeAreaCoverage::operator= ( const PrioritizedMinTimeAreaCoverage & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ plan()

virtual int gams::algorithms::area_coverage::BaseAreaCoverage::plan ( void )

virtualinherited

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ review_last_move()

virtual void gams::algorithms::area_coverage::MinTimeAreaCoverage::review_last_move ( )

protectedvirtualinherited

review if last move was good, did we hit all cells we said we would

◆ 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.

◆ enforcer_

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

protectedinherited

enforcer for maximum time

Definition at line 149 of file BaseAreaCoverage.h.

◆ executions_

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

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

◆ initialized_

bool gams::algorithms::area_coverage::BaseAreaCoverage::initialized_

protectedinherited

indicates whether the algorithm is initialized

Definition at line 143 of file BaseAreaCoverage.h.

◆ knowledge_

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

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

◆ last_generation_

unsigned int gams::algorithms::area_coverage::MinTimeAreaCoverage::last_generation_

protectedinherited

time step of last position generation

Definition at line 144 of file MinTimeAreaCoverage.h.

◆ max_time_

double gams::algorithms::area_coverage::BaseAreaCoverage::max_time_

protectedinherited

for keeping track of the time set for maximum coverage time

Definition at line 146 of file BaseAreaCoverage.h.

◆ min_time_

variables::Sensor gams::algorithms::area_coverage::MinTimeAreaCoverage::min_time_

protectedinherited

time since last coverage

Definition at line 135 of file MinTimeAreaCoverage.h.

◆ next_position_

utility::GPSPosition gams::algorithms::area_coverage::BaseAreaCoverage::next_position_

protectedinherited

next position

Definition at line 140 of file BaseAreaCoverage.h.

◆ platform_

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

protectedinherited

provides access to the platform

Definition at line 210 of file BaseAlgorithm.h.

◆ position_value_map_

std::map<utility::Position, double> gams::algorithms::area_coverage::MinTimeAreaCoverage::position_value_map_

protectedinherited

positions we will be passing through and their previous values

Definition at line 141 of file MinTimeAreaCoverage.h.

◆ search_area_

pose::SearchArea gams::algorithms::area_coverage::MinTimeAreaCoverage::search_area_

protectedinherited

Search Area to cover.

Definition at line 132 of file MinTimeAreaCoverage.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.

◆ valid_positions_

std::set<utility::Position> gams::algorithms::area_coverage::MinTimeAreaCoverage::valid_positions_

protectedinherited

discretized positions in search area

Definition at line 138 of file MinTimeAreaCoverage.h.

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

src/gams/algorithms/area_coverage/PrioritizedMinTimeAreaCoverage.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PrioritizedMinTimeAreaCoverage()

Member Function Documentation

◆ analyze()

◆ check_if_finished()

◆ execute()

◆ generate_new_position()

◆ get_agents()

◆ get_algorithm_status()

◆ get_knowledge_base()

◆ get_next_position()

◆ get_platform()

◆ get_self()

◆ get_sensors()

◆ get_utility()

◆ operator=()

◆ plan()

◆ review_last_move()

◆ set_agents()

◆ set_platform()

◆ set_self()

◆ set_sensors()

Member Data Documentation

◆ agents_

◆ enforcer_

◆ executions_

◆ initialized_

◆ knowledge_

◆ last_generation_

◆ max_time_

◆ min_time_

◆ next_position_

◆ platform_

◆ position_value_map_

◆ search_area_

◆ self_

◆ sensors_

◆ status_

◆ valid_positions_