An algorithm for covering an area in formation. More...

#include <FormationCoverage.h>

Inheritance diagram for gams::algorithms::FormationCoverage:

Public Member Functions
	FormationCoverage (const std::string &head_id, const std::vector< double > &offset, const std::vector< double > &destination, const std::string &group_name, const std::string &modifier, const std::string &coverage, const madara::knowledge::KnowledgeMap &cover_args, madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0)
	Constructor. More...

	~FormationCoverage ()
	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 FormationCoverage &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...

unsigned int	executions_
	number of executions More...

area_coverage::BaseAreaCoverage *	head_algo_
	algorithm for area coverage by head More...

madara::knowledge::containers::NativeDoubleArray	head_destination_
	head destination More...

bool	is_covering_
	performing area coverage More...

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

FormationFlying *	my_formation_
	algorithms for followers More...

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

Detailed Description

An algorithm for covering an area in formation.

Definition at line 76 of file FormationCoverage.h.

Constructor & Destructor Documentation

◆ FormationCoverage()

gams::algorithms::FormationCoverage::FormationCoverage	(	const std::string &	head_id,
		const std::vector< double > &	offset,
		const std::vector< double > &	destination,
		const std::string &	group_name,
		const std::string &	modifier,
		const std::string &	coverage,
		const madara::knowledge::KnowledgeMap &	cover_args,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`
	)

Constructor.

Parameters

head_id	target of the formation
offset	offset of formation
destination	destination of the formation
group_name	group identifier(e.g. group.group1)
modifier	modifier that influences the formation
coverage	area coverage algorithm to run
cover_args	args for area coverage algorithm
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

◆ ~FormationCoverage()

gams::algorithms::FormationCoverage::~FormationCoverage ( )

Destructor.

Member Function Documentation

◆ analyze()

virtual int gams::algorithms::FormationCoverage::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::FormationCoverage::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::FormationCoverage::operator= ( const FormationCoverage & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ plan()

virtual int gams::algorithms::FormationCoverage::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.

◆ executions_

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

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

◆ head_algo_

area_coverage::BaseAreaCoverage* gams::algorithms::FormationCoverage::head_algo_

protected

algorithm for area coverage by head

Definition at line 137 of file FormationCoverage.h.

◆ head_destination_

madara::knowledge::containers::NativeDoubleArray gams::algorithms::FormationCoverage::head_destination_

protected

head destination

Definition at line 146 of file FormationCoverage.h.

◆ is_covering_

bool gams::algorithms::FormationCoverage::is_covering_

protected

performing area coverage

Definition at line 140 of file FormationCoverage.h.

◆ knowledge_

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

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

◆ my_formation_

FormationFlying* gams::algorithms::FormationCoverage::my_formation_

protected

algorithms for followers

Definition at line 143 of file FormationCoverage.h.

◆ platform_

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

protectedinherited

provides access to the platform

Definition at line 210 of file BaseAlgorithm.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.

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

src/gams/algorithms/FormationCoverage.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FormationCoverage()

◆ ~FormationCoverage()

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_

◆ executions_

◆ head_algo_

◆ head_destination_

◆ is_covering_

◆ knowledge_

◆ my_formation_

◆ platform_

◆ self_

◆ sensors_

◆ status_