Area coverage that minimizes the time taken for covering an area. More...

#include <MinTimeAreaCoverage.h>

Inheritance diagram for gams::algorithms::area_coverage::MinTimeAreaCoverage:

Public Member Functions
	MinTimeAreaCoverage (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="mtac")
	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 MinTimeAreaCoverage &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)
	A better way to manage this would probably be to take a function pointer to handle utility calculation. 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...

Detailed Description

Area coverage that minimizes the time taken for covering an area.

Definition at line 84 of file MinTimeAreaCoverage.h.

Constructor & Destructor Documentation

gams::algorithms::area_coverage::MinTimeAreaCoverage::MinTimeAreaCoverage	(	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 = `"mtac"`
	)

Constructor.

Parameters

search_id	the region or search area to be covered
e_time	amount of time to execute algorithm, 0 for infinite
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
agents	variables relating to agents
algo_name	name to use in Sensor for differentiation

Member Function Documentation

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

virtual

Increment sensor values.

Reimplemented from gams::algorithms::area_coverage::BaseAreaCoverage.

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

protectedinherited

Check if finished based on time.

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

virtualinherited

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

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

protectedvirtual

generate new next position

Implements gams::algorithms::area_coverage::BaseAreaCoverage.

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.

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

inherited

Get next position.

Returns: next_position_ member

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.

virtual double gams::algorithms::area_coverage::MinTimeAreaCoverage::get_utility	(	const utility::Position &	start,
		const utility::Position &	end,
		std::set< utility::Position > &	online
	)

protectedvirtual

A better way to manage this would probably be to take a function pointer to handle utility calculation.

get utility of moving from one index position to another

Reimplemented in gams::algorithms::area_coverage::PrioritizedMinTimeAreaCoverage.

void gams::algorithms::area_coverage::MinTimeAreaCoverage::operator= ( const MinTimeAreaCoverage & rhs )

Assignment operator.

Parameters

rhs	values to copy

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

virtualinherited

Plans the next execution of the algorithm.

Returns: bitmask status of the platform.

See also: Status.

Implements gams::algorithms::BaseAlgorithm.

virtual void gams::algorithms::area_coverage::MinTimeAreaCoverage::review_last_move ( )

protectedvirtual

review if last move was good, did we hit all cells we said we would

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

protectedinherited

enforcer for maximum time

Definition at line 149 of file BaseAreaCoverage.h.

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

protectedinherited

number of executions

Definition at line 204 of file BaseAlgorithm.h.

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

protectedinherited

indicates whether the algorithm is initialized

Definition at line 143 of file BaseAreaCoverage.h.

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

protectedinherited

provides access to the knowledge base

Definition at line 207 of file BaseAlgorithm.h.

unsigned int gams::algorithms::area_coverage::MinTimeAreaCoverage::last_generation_

protected

time step of last position generation

Definition at line 144 of file MinTimeAreaCoverage.h.

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

protectedinherited

for keeping track of the time set for maximum coverage time

Definition at line 146 of file BaseAreaCoverage.h.

variables::Sensor gams::algorithms::area_coverage::MinTimeAreaCoverage::min_time_

protected

time since last coverage

Definition at line 135 of file MinTimeAreaCoverage.h.

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

protectedinherited

next position

Definition at line 140 of file BaseAreaCoverage.h.

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

protectedinherited

provides access to the platform

Definition at line 210 of file BaseAlgorithm.h.

std::map<utility::Position, double> gams::algorithms::area_coverage::MinTimeAreaCoverage::position_value_map_

protected

positions we will be passing through and their previous values

Definition at line 141 of file MinTimeAreaCoverage.h.

pose::SearchArea gams::algorithms::area_coverage::MinTimeAreaCoverage::search_area_

protected

Search Area to cover.

Definition at line 132 of file MinTimeAreaCoverage.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.

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

protectedinherited

provides access to status information for this platform

Definition at line 219 of file BaseAlgorithm.h.

std::set<utility::Position> gams::algorithms::area_coverage::MinTimeAreaCoverage::valid_positions_

protected

discretized positions in search area

Definition at line 138 of file MinTimeAreaCoverage.h.

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

src/gams/algorithms/area_coverage/MinTimeAreaCoverage.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation