Coverage Control Library
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Public Member Functions | List of all members
CentralizedCVT Class Reference
Core API

#include <centralized_cvt.h>

+ Inheritance diagram for CentralizedCVT:

Public Member Functions

 CentralizedCVT (Parameters const &params, CoverageSystem &env)
 
 CentralizedCVT (Parameters const &params, size_t const &num_robots, CoverageSystem &env)
 
PointVector GetActions ()
 
auto GetGoals ()
 
auto & GetVoronoi ()
 
void ComputeGoals ()
 
bool IsConverged () const
 
int ComputeActions ()
 

Detailed Description

The coverage control algorithm uses centralized Centroidal Voronoi Tessellation (CVT) or Lloyd's algorithm on accumulated local map of individual robots, i.e., a robot has knowledge only about the regions it has visited. Communication radius is not considered. The algorithm is online—it takes localized actions based on the current robot positions.

Definition at line 61 of file centralized_cvt.h.

Constructor & Destructor Documentation

◆ CentralizedCVT() [1/2]

CentralizedCVT ( Parameters const & params,
CoverageSystem & env )
inline

Definition at line 74 of file centralized_cvt.h.

◆ CentralizedCVT() [2/2]

CentralizedCVT ( Parameters const & params,
size_t const & num_robots,
CoverageSystem & env )
inline

Definition at line 76 of file centralized_cvt.h.

Member Function Documentation

◆ ComputeActions()

int ComputeActions ( )
inlinevirtual

Pure virtual function to compute the actions for the robots

Returns
0 if the actions are computed successfully, 1 otherwise

Implements AbstractController.

Definition at line 108 of file centralized_cvt.h.

◆ ComputeGoals()

void ComputeGoals ( )
inline

Definition at line 95 of file centralized_cvt.h.

◆ GetActions()

PointVector GetActions ( )
inlinevirtual

Pure virtual function to get the actions for the robots

Returns
The actions for the robots

Implements AbstractController.

Definition at line 89 of file centralized_cvt.h.

◆ GetGoals()

auto GetGoals ( )
inline

Definition at line 91 of file centralized_cvt.h.

◆ GetVoronoi()

auto & GetVoronoi ( )
inline

Definition at line 93 of file centralized_cvt.h.

◆ IsConverged()

bool IsConverged ( ) const
inline

Definition at line 106 of file centralized_cvt.h.