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

#include <clairvoyant_cvt.h>

+ Inheritance diagram for ClairvoyantCVT:

Public Member Functions

 ClairvoyantCVT (Parameters const &params, CoverageSystem &env)
 
 ClairvoyantCVT (Parameters const &params, size_t const &num_robots, CoverageSystem &env)
 
PointVector GetActions ()
 
auto GetGoals ()
 
auto & GetVoronoi ()
 
void ComputeGoals ()
 
int ComputeActions ()
 
bool IsConverged () const
 
- Public Member Functions inherited from AbstractController

Detailed Description

Clairvoyant CVT algorithm The algorithm has knowledge of the entire map in a centralized manner. It uses the CVT to compute centroids of the Voronoi cells and assigns the robots to the centroids. The algorithm is online—it takes localized actions based on the current robot positions.

Definition at line 55 of file clairvoyant_cvt.h.

Constructor & Destructor Documentation

◆ ClairvoyantCVT() [1/2]

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

Definition at line 68 of file clairvoyant_cvt.h.

◆ ClairvoyantCVT() [2/2]

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

Definition at line 70 of file clairvoyant_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 100 of file clairvoyant_cvt.h.

◆ ComputeGoals()

void ComputeGoals ( )
inline

Definition at line 89 of file clairvoyant_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 83 of file clairvoyant_cvt.h.

◆ GetGoals()

auto GetGoals ( )
inline

Definition at line 85 of file clairvoyant_cvt.h.

◆ GetVoronoi()

auto & GetVoronoi ( )
inline

Definition at line 87 of file clairvoyant_cvt.h.

◆ IsConverged()

bool IsConverged ( ) const
inline

Definition at line 129 of file clairvoyant_cvt.h.