54 #ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_SNAKE_AREA_COVERAGE_H_
55 #define _GAMS_ALGORITHMS_AREA_COVERAGE_SNAKE_AREA_COVERAGE_H_
72 namespace area_coverage
92 const std::string& region_id,
94 madara::knowledge::KnowledgeBase * knowledge = 0,
156 const madara::knowledge::KnowledgeMap & args,
157 madara::knowledge::KnowledgeBase * knowledge,
Copyright(c) 2014 Carnegie Mellon University.
Copyright(c) 2014 Carnegie Mellon University.
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 snake/lawnmower 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 snake area coverage algorithm.
Implements a serpentine pattern-based area coverage that is minimum time but easy to predict(adversar...
unsigned int cur_waypoint_
current waypoint
void compute_waypoints(const std::string ®ion_id)
Compute waypoints.
std::string region_id_
the region description
void generate_new_position(void)
Generate new next position.
SnakeAreaCoverage(const std::string ®ion_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.
~SnakeAreaCoverage()
Destructor.
std::vector< utility::GPSPosition > waypoints_
waypoints
void operator=(const SnakeAreaCoverage &rhs)
Assignment operator.
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.