An algorithm for greeting a target if it comes within range and potentially following the target around. More...

#include <Greet.h>

Inheritance diagram for gams::algorithms::Greet:

Public Member Functions
	Greet (const std::string &target, const std::string &target_group, double guard_distance, const std::string &guard_group, const std::vector< double > &guard_location, double guard_max_follow_distance, const std::vector< double > &home_location, bool follow, const std::string &follow_group, int follow_max_agents, madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0)
	Constructor. More...

	~Greet ()
	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 Greet &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...

bool	follow_ = false
	if true, indicates to follow targets that enter guard area More...

std::unique_ptr< groups::GroupBase >	follow_group_ = 0
	a group of agents following to watch More...

std::string	follow_group_name_ = "group.{.target}.followers"
	name of the group that is following target More...

std::string	follow_group_prefix_
	the group name prefix before {.target} More...

std::string	follow_group_suffix_
	the group name suffix after {.target} More...

int	follow_max_agents_ = 2
	maximum number of agents that should follow a target More...

double	follow_max_distance_ = 1000
	maximum follow distance from guard location More...

groups::GroupFactoryRepository	group_factory_

pose::Epsilon	guard_epsilon_
	the distance from guard location (max of dimensions) More...

std::unique_ptr< groups::GroupBase >	guard_group_ = 0
	a group of agents guarding More...

pose::Position	guard_location_
	the location for the agent to guard More...

double	guard_max_follow_distance_ = -1
	maximum distance a guard can be displaced from guard location before it returns to its guard area (prevents infinite follow) More...

pose::Position	home_location_
	the home location to return to if not guarding or following More...

bool	is_following_ = false
	indicates whether or not the agent is following a target More...

bool	is_guarding_ = false
	indicates whether or not the agent is moving to guard More...

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

variables::Agent	target_
	location of agent to follow More...

std::unique_ptr< groups::GroupBase >	target_group_ = 0
	a group of targets to watch More...

bool	use_agent_home_ = true
	if no custom home location is specified, use the agent's home More...

Detailed Description

An algorithm for greeting a target if it comes within range and potentially following the target around.

Definition at line 48 of file Greet.h.

Constructor & Destructor Documentation

◆ Greet()

gams::algorithms::Greet::Greet	(	const std::string &	target,
		const std::string &	target_group,
		double	guard_distance,
		const std::string &	guard_group,
		const std::vector< double > &	guard_location,
		double	guard_max_follow_distance,
		const std::vector< double > &	home_location,
		bool	follow,
		const std::string &	follow_group,
		int	follow_max_agents,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`
	)

Constructor.

Parameters

target	full agent name the agent should follow
target_group	group name for agents in the target group
guard_distance	distance in meters to guard from guard guard location
guard_location	location to consider guard territory for this agent
guard_max_follow_distance	distance that a guard can reach from its guard location before it returns back to its area. During following, this can prevent infinite following. -1 means do not rubberband but follow indefinitely
home_location	location to perch or home at if not guarding or following
follow	if true, follow up to follow_max_agents in the specified follow group
follow_group	group name for agents following a target. This is a special group name that will allow expansion if you use the .target variable in the name. By default this, variable is group.{.target}.follow, which would expand to something like: group.agent.0.follow for agents following agent.0
follow_max_agents	maximum agents to follow a target at any instantaneous time
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

◆ ~Greet()

gams::algorithms::Greet::~Greet ( )

Destructor.

Member Function Documentation

◆ analyze()

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

Assignment operator.

Parameters

rhs	values to copy

◆ plan()

virtual int gams::algorithms::Greet::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.

◆ follow_

bool gams::algorithms::Greet::follow_ = false

protected

if true, indicates to follow targets that enter guard area

Definition at line 134 of file Greet.h.

◆ follow_group_

std::unique_ptr<groups::GroupBase> gams::algorithms::Greet::follow_group_ = 0

protected

a group of agents following to watch

Definition at line 137 of file Greet.h.

◆ follow_group_name_

std::string gams::algorithms::Greet::follow_group_name_ = "group.{.target}.followers"

protected

name of the group that is following target

Definition at line 140 of file Greet.h.

◆ follow_group_prefix_

std::string gams::algorithms::Greet::follow_group_prefix_

protected

the group name prefix before {.target}

Definition at line 143 of file Greet.h.

◆ follow_group_suffix_

std::string gams::algorithms::Greet::follow_group_suffix_

protected

the group name suffix after {.target}

Definition at line 146 of file Greet.h.

◆ follow_max_agents_

int gams::algorithms::Greet::follow_max_agents_ = 2

protected

maximum number of agents that should follow a target

Definition at line 149 of file Greet.h.

◆ follow_max_distance_

double gams::algorithms::Greet::follow_max_distance_ = 1000

protected

maximum follow distance from guard location

Definition at line 152 of file Greet.h.

◆ group_factory_

groups::GroupFactoryRepository gams::algorithms::Greet::group_factory_

protected

Definition at line 168 of file Greet.h.

◆ guard_epsilon_

pose::Epsilon gams::algorithms::Greet::guard_epsilon_

protected

the distance from guard location (max of dimensions)

Definition at line 159 of file Greet.h.

◆ guard_group_

std::unique_ptr<groups::GroupBase> gams::algorithms::Greet::guard_group_ = 0

protected

a group of agents guarding

Definition at line 162 of file Greet.h.

◆ guard_location_

pose::Position gams::algorithms::Greet::guard_location_

protected

the location for the agent to guard

Definition at line 165 of file Greet.h.

◆ guard_max_follow_distance_

double gams::algorithms::Greet::guard_max_follow_distance_ = -1

protected

maximum distance a guard can be displaced from guard location before it returns to its guard area (prevents infinite follow)

Definition at line 156 of file Greet.h.

◆ home_location_

pose::Position gams::algorithms::Greet::home_location_

protected

the home location to return to if not guarding or following

Definition at line 171 of file Greet.h.

◆ is_following_

bool gams::algorithms::Greet::is_following_ = false

protected

indicates whether or not the agent is following a target

Definition at line 174 of file Greet.h.

◆ is_guarding_

bool gams::algorithms::Greet::is_guarding_ = false

protected

indicates whether or not the agent is moving to guard

Definition at line 177 of file Greet.h.

◆ knowledge_

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

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.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.

◆ target_

variables::Agent gams::algorithms::Greet::target_

protected

location of agent to follow

Definition at line 128 of file Greet.h.

◆ target_group_

std::unique_ptr<groups::GroupBase> gams::algorithms::Greet::target_group_ = 0

protected

a group of targets to watch

Definition at line 131 of file Greet.h.

◆ use_agent_home_

bool gams::algorithms::Greet::use_agent_home_ = true

protected

if no custom home location is specified, use the agent's home

Definition at line 180 of file Greet.h.

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

src/gams/algorithms/Greet.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Greet()

◆ ~Greet()

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_

◆ follow_

◆ follow_group_

◆ follow_group_name_

◆ follow_group_prefix_

◆ follow_group_suffix_

◆ follow_max_agents_

◆ follow_max_distance_

◆ group_factory_

◆ guard_epsilon_

◆ guard_group_

◆ guard_location_

◆ guard_max_follow_distance_

◆ home_location_

◆ is_following_

◆ is_guarding_

◆ knowledge_

◆ platform_

◆ self_

◆ sensors_

◆ status_

◆ target_

◆ target_group_

◆ use_agent_home_