GAMS
1.4.0
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An algorithm for patrolling a region. More...
#include <PerimeterPatrol.h>
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... | |
An algorithm for patrolling a region.
Definition at line 78 of file PerimeterPatrol.h.
gams::algorithms::PerimeterPatrol::PerimeterPatrol | ( | const std::string & | area, |
double | max_time, | ||
bool | counter, | ||
madara::knowledge::KnowledgeBase * | knowledge = 0 , |
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platforms::BasePlatform * | platform = 0 , |
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variables::Sensors * | sensors = 0 , |
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variables::Self * | self = 0 , |
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variables::Agents * | agents = 0 |
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) |
Constructor.
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 |
gams::algorithms::PerimeterPatrol::~PerimeterPatrol | ( | ) |
Destructor.
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virtual |
Analyzes environment, platform, or other information.
Implements gams::algorithms::BaseAlgorithm.
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virtual |
Plans the next execution of the algorithm.
Implements gams::algorithms::BaseAlgorithm.
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protected |
Generates locations from region information.
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inherited |
Gets the list of agents.
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inherited |
Gets algorithm status variables.
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inherited |
Gets the knowledge base.
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inherited |
Gets the platform.
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inherited |
Gets self-defined variables.
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inherited |
Gets the available sensor information.
void gams::algorithms::PerimeterPatrol::operator= | ( | const PerimeterPatrol & | rhs | ) |
Assignment operator.
rhs | values to copy |
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virtual |
Plans the next execution of the algorithm.
Implements gams::algorithms::BaseAlgorithm.
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virtualinherited |
Sets the list of agents in the swarm.
agents | list of agents |
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virtualinherited |
Sets the platform.
platform | the underlying platform the algorithm will use |
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virtualinherited |
Sets the map of sensor names to sensor information.
self | pointer to self-referencing variables container |
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virtualinherited |
Sets the map of sensor names to sensor information.
sensors | map of sensor names to sensor information |
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protectedinherited |
the list of agents potentially participating in the algorithm
Definition at line 201 of file BaseAlgorithm.h.
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protected |
the region/area to patrol
Definition at line 139 of file PerimeterPatrol.h.
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protected |
patrol counter clockwise
Definition at line 145 of file PerimeterPatrol.h.
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protected |
max run time enforcer
Definition at line 157 of file PerimeterPatrol.h.
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protectedinherited |
number of executions
Definition at line 204 of file BaseAlgorithm.h.
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protected |
indicates whether or not generate_locations has been succeeded
Definition at line 154 of file PerimeterPatrol.h.
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protectedinherited |
provides access to the knowledge base
Definition at line 207 of file BaseAlgorithm.h.
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protected |
the locations to visit
Definition at line 148 of file PerimeterPatrol.h.
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protected |
the amount of time to spend patrolling in seconds
Definition at line 142 of file PerimeterPatrol.h.
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protected |
current location to move to
Definition at line 151 of file PerimeterPatrol.h.
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protectedinherited |
provides access to the platform
Definition at line 210 of file BaseAlgorithm.h.
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protectedinherited |
the algorithm's concept of self
Definition at line 213 of file BaseAlgorithm.h.
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protectedinherited |
provides access to sensor information
Definition at line 216 of file BaseAlgorithm.h.
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protectedinherited |
provides access to status information for this platform
Definition at line 219 of file BaseAlgorithm.h.