55 #ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_PRIORITY_WEIGHTED_RANDOM_AREA_COVERAGE_H_
56 #define _GAMS_ALGORITHMS_AREA_COVERAGE_PRIORITY_WEIGHTED_RANDOM_AREA_COVERAGE_H_
69 namespace area_coverage
89 const std::string& search_id,
91 madara::knowledge::KnowledgeBase * knowledge = 0,
143 const madara::knowledge::KnowledgeMap & args,
144 madara::knowledge::KnowledgeBase * knowledge,
Copyright(c) 2014 Carnegie Mellon University.
Copyright(c) 2014 Carnegie Mellon University.
Base class for algorithm factories that classes derived from.
The base class that algorithms in GAMS use.
Base class for all area coverages.
A factory class for creating priority-weighted random area coverage algorithms.
virtual BaseAlgorithm * create(const madara::knowledge::KnowledgeMap &args, madara::knowledge::KnowledgeBase *knowledge, platforms::BasePlatform *platform, variables::Sensors *sensors, variables::Self *self, variables::Agents *agents)
Creates a priority-weighted random area coverage algorithm.
Focuses on high priority areas over low priority, and uses a weighted system for area coverage region...
std::vector< double > priority_total_by_region_
priority total by region
void operator=(const PriorityWeightedRandomAreaCoverage &rhs)
Assignment operator.
PriorityWeightedRandomAreaCoverage(const std::string &search_id, double e_time, madara::knowledge::KnowledgeBase *knowledge=0, platforms::BasePlatform *platform=0, variables::Sensors *sensors=0, variables::Self *self=0, variables::Agents *agents=0)
Constructor.
double total_priority_
total priority
pose::SearchArea search_area_
Search Area to cover.
void generate_new_position(void)
Generate new next position.
A utility class for search areas.
A container for self referencing information.
std::map< std::string, Sensor * > Sensors
a map of sensor names to the sensor information
std::vector< Agent > Agents
An array of agent knowledge.
Contains all GAMS-related tools, classes and code.
Copyright(c) 2014 Carnegie Mellon University.