gams::algorithms::BaseAlgorithm Class Reference

The base class that algorithms in GAMS use. More...

#include <BaseAlgorithm.h>

Inheritance diagram for gams::algorithms::BaseAlgorithm:

Public Member Functions
	BaseAlgorithm (madara::knowledge::KnowledgeBase *knowledge=0, platforms::BasePlatform *platform=0, variables::Sensors *sensors=0, variables::Self *self=0, variables::Agents *agents=0)
	Constructor. More...
virtual	~BaseAlgorithm ()
	Destructor. More...
virtual int	analyze (void)=0
	Analyzes environment, platform, or other information. More...
virtual int	execute (void)=0
	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 BaseAlgorithm &rhs)
	Assignment operator. More...
virtual int	plan (void)=0
	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...
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...

Friends
class	controllers::BaseController
class	controllers::Multicontroller

Detailed Description

The base class that algorithms in GAMS use.

Definition at line 94 of file BaseAlgorithm.h.

Constructor & Destructor Documentation

gams::algorithms::BaseAlgorithm::BaseAlgorithm	(	madara::knowledge::KnowledgeBase *	knowledge = 0,
		platforms::BasePlatform *	platform = 0,
		variables::Sensors *	sensors = 0,
		variables::Self *	self = 0,
		variables::Agents *	agents = 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 for this agent
agents	list of agents in the swarm

virtual gams::algorithms::BaseAlgorithm::~BaseAlgorithm ( )

virtual

Destructor.

Member Function Documentation

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

pure virtual

Analyzes environment, platform, or other information.

Returns

bitmask status of the algorithm.

See also

AlgorithmAnalyzeStatus

Implemented in gams::algorithms::FormationSync, gams::algorithms::Executor, gams::algorithms::ZoneCoverage, gams::algorithms::FormationCoverage, gams::algorithms::MessageProfiling, gams::algorithms::Move, gams::algorithms::PerimeterPatrol, gams::algorithms::GroupBarrier, gams::algorithms::area_coverage::MinTimeAreaCoverage, gams::algorithms::FormationFlying, gams::algorithms::Spell, gams::algorithms::area_coverage::WaypointsCoverage, gams::algorithms::DebugAlgorithm, gams::algorithms::JavaAlgorithm, gams::algorithms::KarlEvaluator, gams::algorithms::Follow, gams::algorithms::area_coverage::BaseAreaCoverage, gams::algorithms::Wait, gams::algorithms::Hold, gams::algorithms::Home, gams::algorithms::Land, gams::algorithms::NullAlgorithm, gams::algorithms::Takeoff, and gams::algorithms::PerformanceProfiling.

virtual int gams::algorithms::BaseAlgorithm::execute ( void  )

pure virtual

Plans the next execution of the algorithm.

Returns

bitmask status of the algorithm.

See also

AlgorithmAnalyzeStatus

Implemented in gams::algorithms::FormationSync, gams::algorithms::Executor, gams::algorithms::ZoneCoverage, gams::algorithms::FormationCoverage, gams::algorithms::MessageProfiling, gams::algorithms::Move, gams::algorithms::PerimeterPatrol, gams::algorithms::GroupBarrier, gams::algorithms::FormationFlying, gams::algorithms::Spell, gams::algorithms::DebugAlgorithm, gams::algorithms::JavaAlgorithm, gams::algorithms::KarlEvaluator, gams::algorithms::Follow, gams::algorithms::area_coverage::BaseAreaCoverage, gams::algorithms::Wait, gams::algorithms::Hold, gams::algorithms::Home, gams::algorithms::Land, gams::algorithms::NullAlgorithm, gams::algorithms::Takeoff, and gams::algorithms::PerformanceProfiling.

variables::Agents* gams::algorithms::BaseAlgorithm::get_agents

(

void

)

Gets the list of agents.

variables::AlgorithmStatus* gams::algorithms::BaseAlgorithm::get_algorithm_status

(

void

)

Gets algorithm status variables.

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

(

void

)

Gets the knowledge base.

platforms::BasePlatform* gams::algorithms::BaseAlgorithm::get_platform

(

void

)

Gets the platform.

variables::Self* gams::algorithms::BaseAlgorithm::get_self

(

void

)

Gets self-defined variables.

variables::Sensors* gams::algorithms::BaseAlgorithm::get_sensors

(

void

)

Gets the available sensor information.

void gams::algorithms::BaseAlgorithm::operator=

(

const BaseAlgorithm &

rhs

)

Assignment operator.

Parameters

rhs	values to copy

virtual int gams::algorithms::BaseAlgorithm::plan ( void  )

pure virtual

Plans the next execution of the algorithm.

Returns

bitmask status of the platform.

See also

AlgorithmAnalyzeStatus

Implemented in gams::algorithms::FormationSync, gams::algorithms::Executor, gams::algorithms::ZoneCoverage, gams::algorithms::FormationCoverage, gams::algorithms::MessageProfiling, gams::algorithms::Move, gams::algorithms::PerimeterPatrol, gams::algorithms::GroupBarrier, gams::algorithms::FormationFlying, gams::algorithms::Spell, gams::algorithms::DebugAlgorithm, gams::algorithms::JavaAlgorithm, gams::algorithms::KarlEvaluator, gams::algorithms::Follow, gams::algorithms::area_coverage::BaseAreaCoverage, gams::algorithms::Wait, gams::algorithms::Hold, gams::algorithms::Home, gams::algorithms::Land, gams::algorithms::NullAlgorithm, gams::algorithms::Takeoff, and gams::algorithms::PerformanceProfiling.

virtual void gams::algorithms::BaseAlgorithm::set_agents ( variables::Agents *  agents )

virtual

Sets the list of agents in the swarm.

Parameters

agents

list of agents

virtual void gams::algorithms::BaseAlgorithm::set_platform ( platforms::BasePlatform *  platform )

virtual

Sets the platform.

Parameters

platform

the underlying platform the algorithm will use

virtual void gams::algorithms::BaseAlgorithm::set_self ( variables::Self *  self )

virtual

Sets the map of sensor names to sensor information.

Parameters

self	pointer to self-referencing variables container

virtual void gams::algorithms::BaseAlgorithm::set_sensors ( variables::Sensors *  sensors )

virtual

Sets the map of sensor names to sensor information.

Parameters

sensors

map of sensor names to sensor information

Friends And Related Function Documentation

friend class controllers::BaseController

friend

Definition at line 98 of file BaseAlgorithm.h.

friend class controllers::Multicontroller

friend

Definition at line 99 of file BaseAlgorithm.h.

Member Data Documentation

variables::Agents* gams::algorithms::BaseAlgorithm::agents_

protected

the list of agents potentially participating in the algorithm

Definition at line 201 of file BaseAlgorithm.h.

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

protected

number of executions

Definition at line 204 of file BaseAlgorithm.h.

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

protected

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

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

protected

provides access to the platform

Definition at line 210 of file BaseAlgorithm.h.

variables::Self* gams::algorithms::BaseAlgorithm::self_

protected

the algorithm's concept of self

Definition at line 213 of file BaseAlgorithm.h.

variables::Sensors* gams::algorithms::BaseAlgorithm::sensors_

protected

provides access to sensor information

Definition at line 216 of file BaseAlgorithm.h.

variables::AlgorithmStatus gams::algorithms::BaseAlgorithm::status_

protected

provides access to status information for this platform

Definition at line 219 of file BaseAlgorithm.h.

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

• src/gams/algorithms/BaseAlgorithm.h