An algorithm for patrolling a region. More...

#include <PerimeterPatrol.h>

Inheritance diagram for gams::algorithms::PerimeterPatrol:

Public Member Functions
	PerimeterPatrol (const std::string &area, double max_time, bool counter, madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0, variables::Agents *agents=0)
	Constructor. More...

	~PerimeterPatrol ()
	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 PerimeterPatrol &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
void	generate_locations (void)
	Generates locations from region information. More...

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

std::string	area_
	the region/area to patrol More...

bool	counter_
	patrol counter clockwise More...

madara::utility::EpochEnforcer< std::chrono::steady_clock >	enforcer_
	max run time enforcer More...

unsigned int	executions_
	number of executions More...

bool	initialized_
	indicates whether or not generate_locations has been succeeded More...

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

std::vector< pose::Position >	locations_
	the locations to visit More...

double	max_time_
	the amount of time to spend patrolling in seconds More...

size_t	move_index_
	current location to move to 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 patrolling a region.

Definition at line 78 of file PerimeterPatrol.h.

Constructor & Destructor Documentation

◆ PerimeterPatrol()

gams::algorithms::PerimeterPatrol::PerimeterPatrol	(	const std::string &	area,
		double	max_time,
		bool	counter,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`,
		variables::Agents *	agents = `0`
	)

Constructor.

Parameters

area	the region or search area to patrol
max_time	the max time to run in secs(-1 for indefinite)
counter	indicates if patrol should be counter clockwise
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

◆ ~PerimeterPatrol()

gams::algorithms::PerimeterPatrol::~PerimeterPatrol ( )

Destructor.

Member Function Documentation

◆ analyze()

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

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ generate_locations()

void gams::algorithms::PerimeterPatrol::generate_locations ( void )

protected

Generates locations from region information.

◆ 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::PerimeterPatrol::operator= ( const PerimeterPatrol & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ plan()

virtual int gams::algorithms::PerimeterPatrol::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.

◆ area_

std::string gams::algorithms::PerimeterPatrol::area_

protected

the region/area to patrol

Definition at line 139 of file PerimeterPatrol.h.

◆ counter_

bool gams::algorithms::PerimeterPatrol::counter_

protected

patrol counter clockwise

Definition at line 145 of file PerimeterPatrol.h.

◆ enforcer_

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

protected

max run time enforcer

Definition at line 157 of file PerimeterPatrol.h.

◆ executions_

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

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

◆ initialized_

bool gams::algorithms::PerimeterPatrol::initialized_

protected

indicates whether or not generate_locations has been succeeded

Definition at line 154 of file PerimeterPatrol.h.

◆ knowledge_

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

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

◆ locations_

std::vector<pose::Position> gams::algorithms::PerimeterPatrol::locations_

protected

the locations to visit

Definition at line 148 of file PerimeterPatrol.h.

◆ max_time_

double gams::algorithms::PerimeterPatrol::max_time_

protected

the amount of time to spend patrolling in seconds

Definition at line 142 of file PerimeterPatrol.h.

◆ move_index_

size_t gams::algorithms::PerimeterPatrol::move_index_

protected

current location to move to

Definition at line 151 of file PerimeterPatrol.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/PerimeterPatrol.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PerimeterPatrol()

◆ ~PerimeterPatrol()

Member Function Documentation

◆ analyze()

◆ execute()

◆ generate_locations()

◆ 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_

◆ area_

◆ counter_

◆ enforcer_

◆ executions_

◆ initialized_

◆ knowledge_

◆ locations_

◆ max_time_

◆ move_index_

◆ platform_

◆ self_

◆ sensors_

◆ status_