GAMS
1.2.2
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Focuses on high priority areas over low priority, and attempts to do minimum time coverage. More...
#include <PrioritizedMinTimeAreaCoverage.h>
Public Member Functions | |
PrioritizedMinTimeAreaCoverage (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, const std::string &algo_name="pmtac") | |
Constructor. More... | |
virtual int | analyze (void) |
Increment sensor values. 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 PrioritizedMinTimeAreaCoverage &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) |
generate new next position More... | |
virtual double | get_utility (const utility::Position &start, const utility::Position &end, std::set< utility::Position > &online) |
get utility of moving from one index position to another More... | |
virtual void | review_last_move () |
review if last move was good, did we hit all cells we said we would 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... | |
unsigned int | last_generation_ |
time step of last position generation More... | |
double | max_time_ |
for keeping track of the time set for maximum coverage time More... | |
variables::Sensor | min_time_ |
time since last coverage More... | |
utility::GPSPosition | next_position_ |
next position More... | |
platforms::BasePlatform * | platform_ |
provides access to the platform More... | |
std::map< utility::Position, double > | position_value_map_ |
positions we will be passing through and their previous values More... | |
pose::SearchArea | search_area_ |
Search Area to cover. 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... | |
std::set< utility::Position > | valid_positions_ |
discretized positions in search area More... | |
Focuses on high priority areas over low priority, and attempts to do minimum time coverage.
Definition at line 75 of file PrioritizedMinTimeAreaCoverage.h.
gams::algorithms::area_coverage::PrioritizedMinTimeAreaCoverage::PrioritizedMinTimeAreaCoverage | ( | const std::string & | search_id, |
double | e_time, | ||
madara::knowledge::KnowledgeBase * | knowledge = 0 , |
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platforms::BasePlatform * | platform = 0 , |
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variables::Sensors * | sensors = 0 , |
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variables::Self * | self = 0 , |
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variables::Agents * | agents = 0 , |
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const std::string & | algo_name = "pmtac" |
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) |
Constructor.
knowledge | the context containing variables and values |
search_id | search area identifier |
e_time | execution time |
platform | the underlying platform the algorithm will use |
sensors | map of sensor names to sensor information |
self | self-referencing variables |
agents | variables referencing agents |
algo_name | algorithm name |
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virtualinherited |
Increment sensor values.
Reimplemented from gams::algorithms::area_coverage::BaseAreaCoverage.
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protectedinherited |
Check if finished based on time.
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virtualinherited |
Plans the next execution of the algorithm.
Implements gams::algorithms::BaseAlgorithm.
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protectedvirtualinherited |
generate new next position
Implements gams::algorithms::area_coverage::BaseAreaCoverage.
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inherited |
Gets the list of agents.
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inherited |
Gets algorithm status variables.
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inherited |
Gets the knowledge base.
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inherited |
Get next position.
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inherited |
Gets the platform.
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inherited |
Gets self-defined variables.
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inherited |
Gets the available sensor information.
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protectedvirtual |
get utility of moving from one index position to another
Reimplemented from gams::algorithms::area_coverage::MinTimeAreaCoverage.
void gams::algorithms::area_coverage::PrioritizedMinTimeAreaCoverage::operator= | ( | const PrioritizedMinTimeAreaCoverage & | rhs | ) |
Assignment operator.
rhs | values to copy |
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virtualinherited |
Plans the next execution of the algorithm.
Implements gams::algorithms::BaseAlgorithm.
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protectedvirtualinherited |
review if last move was good, did we hit all cells we said we would
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virtualinherited |
Sets the list of agents in the swarm.
agents | list of agents |
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virtualinherited |
Sets the platform.
platform | the underlying platform the algorithm will use |
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virtualinherited |
Sets the map of sensor names to sensor information.
self | pointer to self-referencing variables container |
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virtualinherited |
Sets the map of sensor names to sensor information.
sensors | map of sensor names to sensor information |
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protectedinherited |
the list of agents potentially participating in the algorithm
Definition at line 201 of file BaseAlgorithm.h.
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protectedinherited |
enforcer for maximum time
Definition at line 149 of file BaseAreaCoverage.h.
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protectedinherited |
number of executions
Definition at line 204 of file BaseAlgorithm.h.
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protectedinherited |
indicates whether the algorithm is initialized
Definition at line 143 of file BaseAreaCoverage.h.
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protectedinherited |
provides access to the knowledge base
Definition at line 207 of file BaseAlgorithm.h.
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protectedinherited |
time step of last position generation
Definition at line 144 of file MinTimeAreaCoverage.h.
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protectedinherited |
for keeping track of the time set for maximum coverage time
Definition at line 146 of file BaseAreaCoverage.h.
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protectedinherited |
time since last coverage
Definition at line 135 of file MinTimeAreaCoverage.h.
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protectedinherited |
next position
Definition at line 140 of file BaseAreaCoverage.h.
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protectedinherited |
provides access to the platform
Definition at line 210 of file BaseAlgorithm.h.
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protectedinherited |
positions we will be passing through and their previous values
Definition at line 141 of file MinTimeAreaCoverage.h.
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protectedinherited |
Search Area to cover.
Definition at line 132 of file MinTimeAreaCoverage.h.
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protectedinherited |
the algorithm's concept of self
Definition at line 213 of file BaseAlgorithm.h.
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protectedinherited |
provides access to sensor information
Definition at line 216 of file BaseAlgorithm.h.
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protectedinherited |
provides access to status information for this platform
Definition at line 219 of file BaseAlgorithm.h.
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protectedinherited |
discretized positions in search area
Definition at line 138 of file MinTimeAreaCoverage.h.