Base class for all area coverages. More...

#include <BaseAreaCoverage.h>

Inheritance diagram for gams::algorithms::area_coverage::BaseAreaCoverage:

Public Member Functions
	BaseAreaCoverage (madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0, variables::Agents *agents=0, double e_time=-1.0)
	Constructor. More...

virtual	~BaseAreaCoverage ()
	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...

utility::GPSPosition	get_next_position (void) const
	Get next position. 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 BaseAreaCoverage &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
int	check_if_finished (int ret_val) const
	Check if finished based on time. More...

virtual void	generate_new_position (void)=0
	Generate new next position. More...

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

madara::utility::EpochEnforcer< std::chrono::steady_clock >	enforcer_
	enforcer for maximum time More...

unsigned int	executions_
	number of executions More...

bool	initialized_
	indicates whether the algorithm is initialized More...

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

double	max_time_
	for keeping track of the time set for maximum coverage time More...

utility::GPSPosition	next_position_
	next position 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...

Detailed Description

Base class for all area coverages.

Definition at line 73 of file BaseAreaCoverage.h.

Constructor & Destructor Documentation

◆ BaseAreaCoverage()

gams::algorithms::area_coverage::BaseAreaCoverage::BaseAreaCoverage	(	madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`,
		variables::Agents *	agents = `0`,
		double	e_time = `-1.0`
	)

Constructor.

Parameters

knowledge	the knowledge base of variables and values
platform	the underlying platform the algorithm will use
sensors	map of sensor names to sensor information
self	self-referencing variables of this agent
agents	list of agents in the swarm
e_time	execution time

◆ ~BaseAreaCoverage()

virtual gams::algorithms::area_coverage::BaseAreaCoverage::~BaseAreaCoverage ( )

virtual

Destructor.

Member Function Documentation

◆ analyze()

virtual int gams::algorithms::area_coverage::BaseAreaCoverage::analyze ( void )

virtual

Analyzes environment, platform, or other information.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

Reimplemented in gams::algorithms::area_coverage::WaypointsCoverage, and gams::algorithms::area_coverage::MinTimeAreaCoverage.

◆ check_if_finished()

int gams::algorithms::area_coverage::BaseAreaCoverage::check_if_finished ( int ret_val ) const

protected

Check if finished based on time.

◆ execute()

virtual int gams::algorithms::area_coverage::BaseAreaCoverage::execute ( void )

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

◆ generate_new_position()

virtual void gams::algorithms::area_coverage::BaseAreaCoverage::generate_new_position ( void )

protectedpure virtual

Generate new next position.

Implemented in gams::algorithms::area_coverage::WaypointsCoverage, gams::algorithms::area_coverage::UniformRandomEdgeCoverage, gams::algorithms::area_coverage::UniformRandomAreaCoverage, gams::algorithms::area_coverage::SnakeAreaCoverage, gams::algorithms::area_coverage::PriorityWeightedRandomAreaCoverage, gams::algorithms::area_coverage::PerimeterPatrolCoverage, gams::algorithms::area_coverage::MinTimeAreaCoverage, and gams::algorithms::area_coverage::LocalPheremoneAreaCoverage.

◆ 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_next_position()

utility::GPSPosition gams::algorithms::area_coverage::BaseAreaCoverage::get_next_position ( void ) const

Get next position.

Returns: next_position_ member

◆ 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::area_coverage::BaseAreaCoverage::operator= ( const BaseAreaCoverage & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ plan()

virtual int gams::algorithms::area_coverage::BaseAreaCoverage::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.

◆ enforcer_

madara::utility::EpochEnforcer<std::chrono::steady_clock> gams::algorithms::area_coverage::BaseAreaCoverage::enforcer_

protected

enforcer for maximum time

Definition at line 149 of file BaseAreaCoverage.h.

◆ executions_

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

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

◆ initialized_

bool gams::algorithms::area_coverage::BaseAreaCoverage::initialized_

protected

indicates whether the algorithm is initialized

Definition at line 143 of file BaseAreaCoverage.h.

◆ knowledge_

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

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

◆ max_time_

double gams::algorithms::area_coverage::BaseAreaCoverage::max_time_

protected

for keeping track of the time set for maximum coverage time

Definition at line 146 of file BaseAreaCoverage.h.

◆ next_position_

utility::GPSPosition gams::algorithms::area_coverage::BaseAreaCoverage::next_position_

protected

next position

Definition at line 140 of file BaseAreaCoverage.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.

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

src/gams/algorithms/area_coverage/BaseAreaCoverage.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseAreaCoverage()

◆ ~BaseAreaCoverage()

Member Function Documentation

◆ analyze()

◆ check_if_finished()

◆ execute()

◆ generate_new_position()

◆ get_agents()

◆ get_algorithm_status()

◆ get_knowledge_base()

◆ get_next_position()

◆ get_platform()

◆ get_self()

◆ get_sensors()

◆ operator=()

◆ plan()

◆ set_agents()

◆ set_platform()

◆ set_self()

◆ set_sensors()

Member Data Documentation

◆ agents_

◆ enforcer_

◆ executions_

◆ initialized_

◆ knowledge_

◆ max_time_

◆ next_position_

◆ platform_

◆ self_

◆ sensors_

◆ status_