An algorithm for covering an area in formation with a synchronous model of computation. More...

#include <ZoneCoverage.h>

Inheritance diagram for gams::algorithms::ZoneCoverage:

Public Member Functions
	ZoneCoverage (const std::string &protectors, const std::string &assets, const std::string &enemies, const std::string &formation, double buffer, double distance, madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0)
	Constructor. More...

	~ZoneCoverage ()
	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 ZoneCoverage &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 Types
typedef pose::Position(ZoneCoverage::*	formation_func) () const

typedef std::vector< madara::knowledge::containers::NativeDoubleArray >	MadaraArrayVec

Protected Member Functions
pose::Position	arc_formation () const

pose::Position	line_formation () const

pose::Position	onion_formation () const

Static Protected Member Functions
static formation_func	get_form_func (const std::string &form_name)

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

MadaraArrayVec	asset_loc_cont_

std::vector< pose::Position >	asset_locs_

gams::groups::GroupBase *	assets_

gams::groups::AgentVector	assets_members_

double	buffer_

double	distance_

gams::groups::GroupBase *	enemies_

gams::groups::AgentVector	enemies_members_

MadaraArrayVec	enemy_loc_cont_

std::vector< pose::Position >	enemy_locs_

unsigned int	executions_
	number of executions More...

formation_func	form_func_

std::string	formation_

std::string	frame_

groups::GroupFactoryRepository	group_factory_
	factory for interacting with user-defined groups More...

int	index_

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

pose::Position	next_loc_

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

gams::groups::GroupBase *	protectors_

gams::groups::AgentVector	protectors_members_

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...

Private Member Functions
void	update_arrays (const gams::groups::AgentVector &names, MadaraArrayVec &arrays) const

void	update_locs (const MadaraArrayVec &arrays, std::vector< pose::Position > &locs) const

Detailed Description

An algorithm for covering an area in formation with a synchronous model of computation.

Allows specification of arbitrary group or swarm.

Supports the following formation types, with the following names:

"line": protectors arrange themselves in a line perpendicular to line connecting enemy to asset, and parallel to the ground; supports only one enemy and one asset(only first in each group will be used)

Definition at line 85 of file ZoneCoverage.h.

Member Typedef Documentation

◆ formation_func

typedef pose::Position(ZoneCoverage::* gams::algorithms::ZoneCoverage::formation_func) () const

protected

Definition at line 165 of file ZoneCoverage.h.

◆ MadaraArrayVec

typedef std::vector<madara::knowledge::containers::NativeDoubleArray> gams::algorithms::ZoneCoverage::MadaraArrayVec

protected

Definition at line 175 of file ZoneCoverage.h.

Constructor & Destructor Documentation

◆ ZoneCoverage()

gams::algorithms::ZoneCoverage::ZoneCoverage	(	const std::string &	protectors,
		const std::string &	assets,
		const std::string &	enemies,
		const std::string &	formation,
		double	buffer,
		double	distance,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`
	)

Constructor.

Parameters

protectors	name of group of protecting agents
assets	name of group of agents to protect
enemies	name of group of attacking agents
formation	name of formation
frame	frame of reference(cartesian, GPS)
buffer	buffer between agents
distance	distance from the asset
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

◆ ~ZoneCoverage()

gams::algorithms::ZoneCoverage::~ZoneCoverage ( )

Destructor.

Member Function Documentation

◆ analyze()

virtual int gams::algorithms::ZoneCoverage::analyze ( void )

virtual

Analyzes environment, platform, or other information.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ arc_formation()

pose::Position gams::algorithms::ZoneCoverage::arc_formation ( ) const

protected

◆ execute()

virtual int gams::algorithms::ZoneCoverage::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_form_func()

static formation_func gams::algorithms::ZoneCoverage::get_form_func ( const std::string & form_name )

staticprotected

◆ 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.

◆ line_formation()

pose::Position gams::algorithms::ZoneCoverage::line_formation ( ) const

protected

◆ onion_formation()

pose::Position gams::algorithms::ZoneCoverage::onion_formation ( ) const

protected

◆ operator=()

void gams::algorithms::ZoneCoverage::operator= ( const ZoneCoverage & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ plan()

virtual int gams::algorithms::ZoneCoverage::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

◆ update_arrays()

void gams::algorithms::ZoneCoverage::update_arrays	(	const gams::groups::AgentVector &	names,
		MadaraArrayVec &	arrays
	)		const

private

◆ update_locs()

void gams::algorithms::ZoneCoverage::update_locs	(	const MadaraArrayVec &	arrays,
		std::vector< pose::Position > &	locs
	)		const

private

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.

◆ asset_loc_cont_

MadaraArrayVec gams::algorithms::ZoneCoverage::asset_loc_cont_

protected

Definition at line 177 of file ZoneCoverage.h.

◆ asset_locs_

std::vector<pose::Position> gams::algorithms::ZoneCoverage::asset_locs_

protected

Definition at line 180 of file ZoneCoverage.h.

◆ assets_

gams::groups::GroupBase* gams::algorithms::ZoneCoverage::assets_

protected

Definition at line 150 of file ZoneCoverage.h.

◆ assets_members_

gams::groups::AgentVector gams::algorithms::ZoneCoverage::assets_members_

protected

Definition at line 154 of file ZoneCoverage.h.

◆ buffer_

double gams::algorithms::ZoneCoverage::buffer_

protected

Definition at line 159 of file ZoneCoverage.h.

◆ distance_

double gams::algorithms::ZoneCoverage::distance_

protected

Definition at line 161 of file ZoneCoverage.h.

◆ enemies_

gams::groups::GroupBase* gams::algorithms::ZoneCoverage::enemies_

protected

Definition at line 151 of file ZoneCoverage.h.

◆ enemies_members_

gams::groups::AgentVector gams::algorithms::ZoneCoverage::enemies_members_

protected

Definition at line 155 of file ZoneCoverage.h.

◆ enemy_loc_cont_

MadaraArrayVec gams::algorithms::ZoneCoverage::enemy_loc_cont_

protected

Definition at line 178 of file ZoneCoverage.h.

◆ enemy_locs_

std::vector<pose::Position> gams::algorithms::ZoneCoverage::enemy_locs_

protected

Definition at line 181 of file ZoneCoverage.h.

◆ executions_

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

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

◆ form_func_

formation_func gams::algorithms::ZoneCoverage::form_func_

protected

Definition at line 167 of file ZoneCoverage.h.

◆ formation_

std::string gams::algorithms::ZoneCoverage::formation_

protected

Definition at line 157 of file ZoneCoverage.h.

◆ frame_

std::string gams::algorithms::ZoneCoverage::frame_

protected

Definition at line 147 of file ZoneCoverage.h.

◆ group_factory_

groups::GroupFactoryRepository gams::algorithms::ZoneCoverage::group_factory_

protected

factory for interacting with user-defined groups

Definition at line 145 of file ZoneCoverage.h.

◆ index_

int gams::algorithms::ZoneCoverage::index_

protected

Definition at line 163 of file ZoneCoverage.h.

◆ knowledge_

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

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

◆ next_loc_

pose::Position gams::algorithms::ZoneCoverage::next_loc_

protected

Definition at line 182 of file ZoneCoverage.h.

◆ platform_

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

protectedinherited

provides access to the platform

Definition at line 210 of file BaseAlgorithm.h.

◆ protectors_

gams::groups::GroupBase* gams::algorithms::ZoneCoverage::protectors_

protected

Definition at line 149 of file ZoneCoverage.h.

◆ protectors_members_

gams::groups::AgentVector gams::algorithms::ZoneCoverage::protectors_members_

protected

Definition at line 153 of file ZoneCoverage.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/ZoneCoverage.h

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

◆ formation_func

◆ MadaraArrayVec

Constructor & Destructor Documentation

◆ ZoneCoverage()

◆ ~ZoneCoverage()

Member Function Documentation

◆ analyze()

◆ arc_formation()

◆ execute()

◆ get_agents()

◆ get_algorithm_status()

◆ get_form_func()

◆ get_knowledge_base()

◆ get_platform()

◆ get_self()

◆ get_sensors()

◆ line_formation()

◆ onion_formation()

◆ operator=()

◆ plan()

◆ set_agents()

◆ set_platform()

◆ set_self()

◆ set_sensors()

◆ update_arrays()

◆ update_locs()

Member Data Documentation

◆ agents_

◆ asset_loc_cont_

◆ asset_locs_

◆ assets_

◆ assets_members_

◆ buffer_

◆ distance_

◆ enemies_

◆ enemies_members_

◆ enemy_loc_cont_

◆ enemy_locs_

◆ executions_

◆ form_func_

◆ formation_

◆ frame_

◆ group_factory_

◆ index_

◆ knowledge_

◆ next_loc_

◆ platform_

◆ protectors_

◆ protectors_members_

◆ self_

◆ sensors_

◆ status_