54 #ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_PRIORITIZED_MIN_TIME_AREA_COVERAGE_H_
55 #define _GAMS_ALGORITHMS_AREA_COVERAGE_PRIORITIZED_MIN_TIME_AREA_COVERAGE_H_
62 #include "madara/knowledge/KnowledgeUpdateSettings.h"
69 namespace area_coverage
91 const std::string& search_id,
93 madara::knowledge::KnowledgeBase * knowledge = 0,
98 const std::string& algo_name =
"pmtac");
136 const madara::knowledge::KnowledgeMap & args,
137 madara::knowledge::KnowledgeBase * knowledge,
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.
Area coverage that minimizes the time taken for covering an area.
A factory class for creating prioritized minimum time coverage 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 prioritized minimum time coverage algorithm.
Focuses on high priority areas over low priority, and attempts to do minimum time coverage.
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.
void operator=(const PrioritizedMinTimeAreaCoverage &rhs)
Assignment operator.
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
A position in an x, y, z coordinate system.
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.