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

#include <FormationSync.h>

Inheritance diagram for gams::algorithms::FormationSync:

Public Types
enum	FormationTypes { PYRAMID, TRIANGLE, RECTANGLE, CIRCLE, LINE, WING }
	Types of formations. More...

Public Member Functions
	FormationSync (pose::Position &start, pose::Position &end, const std::string &group, double buffer, int formation, const std::string &barrier_name, madara::knowledge::KnowledgeBase knowledge=0, platforms::BasePlatform platform=0, variables::Sensors sensors=0, variables::Self self=0)
	Constructor. More...

	~FormationSync ()
	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 FormationSync &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
void	generate_plan (int formation)
	Generates the full plan. More...

pose::Position	generate_position (pose::Position reference, double angle, double distance)
	Generates a position at an angle and distance. More...

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

madara::knowledge::containers::Barrier	barrier_
	movement barrier More...

double	buffer_
	the buffer between cells in the formation More...

pose::Position	end_
	center of formation end More...

unsigned int	executions_
	number of executions More...

int	formation_
	the formation to use More...

groups::GroupBase *	group_
	the group that the user wishes the algorithm to use More...

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

groups::AgentVector	group_members_
	a convenience list of all current group members More...

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

int	move_pivot_
	the move total before a pivot. Used for debugging More...

std::vector< pose::Position >	plan_
	the planned positions of this agent More...

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

int	position_
	position in member assignment More...

variables::Self *	self_
	the algorithm's concept of self More...

variables::Sensors *	sensors_
	provides access to sensor information More...

pose::Position	start_
	center of formation start More...

variables::AlgorithmStatus	status_
	provides access to status information for this platform More...

Detailed Description

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

Allows specification of arbitrary group or swarm.

Definition at line 78 of file FormationSync.h.

Member Enumeration Documentation

enum gams::algorithms::FormationSync::FormationTypes

Types of formations.

Enumerator
PYRAMID
TRIANGLE
RECTANGLE
CIRCLE
LINE
WING

Definition at line 85 of file FormationSync.h.

Constructor & Destructor Documentation

gams::algorithms::FormationSync::FormationSync	(	pose::Position &	start,
		pose::Position &	end,
		const std::string &	group,
		double	buffer,
		int	formation,
		const std::string &	barrier_name,
		madara::knowledge::KnowledgeBase *	knowledge = `0`,
		platforms::BasePlatform *	platform = `0`,
		variables::Sensors *	sensors = `0`,
		variables::Self *	self = `0`
	)

Constructor.

Parameters

start	the starting center of the formation
end	the ending center of the formation
group	the group name (e.g., group.allies)
buffer	the distance between formation participants in meters
formation	type of formation (

See also: FormationTypes)

Parameters

barrier_name	the barrier name to synchronize on
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

gams::algorithms::FormationSync::~FormationSync ( )

Destructor.

Member Function Documentation

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

virtual

Analyzes environment, platform, or other information.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

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

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

void gams::algorithms::FormationSync::generate_plan ( int formation )

protected

Generates the full plan.

Parameters

formation the type of formation.

See also: FormationTypes

pose::Position gams::algorithms::FormationSync::generate_position	(	pose::Position	reference,
		double	angle,
		double	distance
	)

protected

Generates a position at an angle and distance.

Parameters

reference	the reference position
angle	the angle from the reference position
distance	the distance in meters

Returns: the new position at the angle and distance

variables::Agents* gams::algorithms::BaseAlgorithm::get_agents ( void )

inherited

Gets the list of agents.

variables::AlgorithmStatus* gams::algorithms::BaseAlgorithm::get_algorithm_status ( void )

inherited

Gets algorithm status variables.

madara::knowledge::KnowledgeBase* gams::algorithms::BaseAlgorithm::get_knowledge_base ( void )

inherited

Gets the knowledge base.

platforms::BasePlatform* gams::algorithms::BaseAlgorithm::get_platform ( void )

inherited

Gets the platform.

variables::Self* gams::algorithms::BaseAlgorithm::get_self ( void )

inherited

Gets self-defined variables.

variables::Sensors* gams::algorithms::BaseAlgorithm::get_sensors ( void )

inherited

Gets the available sensor information.

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

Assignment operator.

Parameters

rhs	values to copy

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

virtual

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

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

virtualinherited

Sets the list of agents in the swarm.

Parameters

agents list of agents

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

virtualinherited

Sets the platform.

Parameters

platform the underlying platform the algorithm will use

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

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

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

protectedinherited

the list of agents potentially participating in the algorithm

Definition at line 201 of file BaseAlgorithm.h.

madara::knowledge::containers::Barrier gams::algorithms::FormationSync::barrier_

protected

movement barrier

Definition at line 198 of file FormationSync.h.

double gams::algorithms::FormationSync::buffer_

protected

the buffer between cells in the formation

Definition at line 183 of file FormationSync.h.

pose::Position gams::algorithms::FormationSync::end_

protected

center of formation end

Definition at line 171 of file FormationSync.h.

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

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

int gams::algorithms::FormationSync::formation_

protected

the formation to use

Definition at line 189 of file FormationSync.h.

groups::GroupBase* gams::algorithms::FormationSync::group_

protected

the group that the user wishes the algorithm to use

Definition at line 177 of file FormationSync.h.

groups::GroupFactoryRepository gams::algorithms::FormationSync::group_factory_

protected

factory for interacting with user-defined groups

Definition at line 174 of file FormationSync.h.

groups::AgentVector gams::algorithms::FormationSync::group_members_

protected

a convenience list of all current group members

Definition at line 180 of file FormationSync.h.

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

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

int gams::algorithms::FormationSync::move_pivot_

protected

the move total before a pivot. Used for debugging

Definition at line 195 of file FormationSync.h.

std::vector<pose::Position> gams::algorithms::FormationSync::plan_

protected

the planned positions of this agent

Definition at line 186 of file FormationSync.h.

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

protectedinherited

provides access to the platform

Definition at line 210 of file BaseAlgorithm.h.

int gams::algorithms::FormationSync::position_

protected

position in member assignment

Definition at line 192 of file FormationSync.h.

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

protectedinherited

the algorithm's concept of self

Definition at line 213 of file BaseAlgorithm.h.

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

protectedinherited

provides access to sensor information

Definition at line 216 of file BaseAlgorithm.h.

pose::Position gams::algorithms::FormationSync::start_

protected

center of formation start

Definition at line 168 of file FormationSync.h.

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/FormationSync.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation