CoverageSystem Class Reference

The CoverageSystem class is the main class for the coverage control library. More...

#include <coverage_system.h>

Public Member Functions
Constructors
	CoverageSystem ()=delete
	CoverageSystem (Parameters const &params)
	Create random Gaussian distributions for the world IDF and random start positions for the robots.
	CoverageSystem (Parameters const &params, int const num_gaussians, int const num_robots)
	Create random Gaussian distributions for the world IDF and random start positions for the robots.
	CoverageSystem (Parameters const &params, int const num_gaussians, int const num_polygons, int const num_robots)
	CoverageSystem (Parameters const &params, WorldIDF const &world_idf, std::string const &pos_file_name)
	Create with given world IDF and robot positions from file.
	CoverageSystem (Parameters const &params, WorldIDF const &world_idf, std::vector< Point2 > const &robot_positions)
	Constructor for given world IDF and robot positions as a vector.
	CoverageSystem (Parameters const &params, std::vector< BivariateNormalDistribution > const &dists, std::vector< Point2 > const &robot_positions)
	Constructor for given normal distributions and robot positions.
Setters
void	SetLocalRobotPositions (std::vector< Point2 > const &relative_pos)
void	SetLocalRobotPosition (size_t const robot_id, Point2 const &relative_pos)
	Set the position of robot_id with respect to its current position.
void	SetGlobalRobotPosition (size_t const robot_id, Point2 const &global_pos)
	Set the global position of robot_id.
void	SetGlobalRobotPositions (PointVector const &global_positions)
	Set the global positions of all robots.
void	SetRobotPositions (std::vector< Point2 > const &positions)
void	SetWorldIDF (WorldIDF const &world_idf)
	Set the world IDF and recompute the world map.
Robot related functions
bool	StepActions (PointVector const &actions)
	Execute given actions for all robots.
bool	StepAction (size_t const robot_id, Point2 const action)
	Execute given action for robot_id.
bool	StepControl (size_t robot_id, Point2 const &direction, double const speed)
	Execute velocity control for robot_id.
Point2	AddNoise (Point2 const pt) const
	Add noise to the given point and ensure within bounds.
bool	CheckOscillation (size_t const robot_id) const
void	CheckRobotID (size_t const id) const
void	ComputeVoronoiCells ()
bool	StepRobotToGoal (int const robot_id, Point2 const &goal, double const speed_factor=1)
bool	StepRobotsToGoals (PointVector const &goals, PointVector &actions)
void	ClearRobotMaps ()
void	ClearExploredIDF ()
I/O
int	WriteRobotPositions (std::string const &file_name) const
int	WriteRobotPositions (std::string const &file_name, PointVector const &positions) const
int	WriteEnvironment (std::string const &pos_filename, std::string const &env_filename) const
Plot related functions
void	PlotFrontiers (std::string const &, int const &, PointVector const &) const
void	PlotSystemMap (std::string const &dir_name, int const &step) const
void	PlotSystemMap (std::string const &) const
void	PlotSystemMap (std::string const &, int const &, std::vector< int > const &) const
void	PlotMapVoronoi (std::string const &, int const &)
void	PlotMapVoronoi (std::string const &, int const &, Voronoi const &, PointVector const &) const
void	PlotWorldMap (std::string const &, std::string const &) const
void	PlotWorldMapRobots (std::string const &, std::string const &) const
void	PlotInitMap (std::string const &filename) const
void	PlotInitMap (std::string const &, std::string const &) const
void	PlotRobotLocalMap (std::string const &, int const &, int const &)
void	PlotRobotSystemMap (std::string const &, int const &, int const &)
void	PlotRobotExplorationMap (std::string const &, int const &, int const &)
void	PlotRobotSensorView (std::string const &, int const &, int const &)
void	PlotRobotObstacleMap (std::string const &, int const &, int const &)
void	PlotRobotCommunicationMaps (std::string const &, int const &, int const &, size_t const &)
void	RenderRecordedMap (std::string const &, std::string const &) const
void	RecordPlotData (std::vector< int > const &, std::string const &)
void	RecordPlotData (std::vector< int > const &robot_status)
void	RecordPlotData (std::string const &map_name)
void	RecordPlotData ()
Getters
std::shared_ptr< const WorldIDF >	GetWorldIDFPtr () const
const WorldIDF &	GetWorldIDFObject () const
const MapType &	GetSystemMap () const
const MapType &	GetSystemExplorationMap () const
const MapType &	GetSystemExploredIDFMap () const
MapType &	GetSystemExploredIDFMapMutable ()
const MapType &	GetWorldMap () const
	Get the world map.
MapType &	GetWorldMapMutable ()
	Get the world map (mutable)
MapType &	GetRobotMapMutable (size_t const id)
auto	GetNumRobots () const
auto	GetNumFeatures () const
double	GetExplorationRatio () const
double	GetWeightedExplorationRatio () const
	Get the weighted (by IDF) exploration ratio.
PointVector	GetRelativePositonsNeighbors (size_t const robot_id)
std::vector< int >	GetNeighborIDs (size_t const robot_id) const
PointVector	GetRobotPositions (bool force_no_noise=false)
	Get the global positions of all robots.
Point2	GetRobotPosition (int const robot_id, bool force_no_noise=false) const
const MapType &	GetRobotLocalMap (size_t const id)
const MapType &	GetRobotMap (size_t const id) const
const MapType &	GetRobotExplorationMap (size_t const id)
const MapType &	GetRobotSystemMap (size_t const id)
const MapType &	GetRobotObstacleMap (size_t const id)
const MapType &	GetRobotSensorView (size_t const id) const
auto	GetRobotsInCommunication (size_t const id) const
std::pair< MapType, MapType >	GetRobotCommunicationMaps (size_t const, size_t)
std::vector< MapType >	GetCommunicationMaps (size_t map_size)
auto	GetObjectiveValue ()
auto	GetRobotExplorationFeatures ()
auto	GetRobotVoronoiFeatures ()
std::vector< double >	GetLocalVoronoiFeatures (int const robot_id)
std::vector< std::vector< double > >	GetLocalVoronoiFeatures ()
auto	GetVoronoiCells ()
Voronoi &	GetVoronoi ()
auto	GetVoronoiCell (int const robot_id)
double	GetNormalizationFactor ()

Detailed Description

The CoverageSystem class is the main class for the coverage control library.

Definition at line 66 of file coverage_system.h.

Constructor & Destructor Documentation

CoverageSystem() [1/7]

CoverageSystem ( )

delete

Delete the default constructor

CoverageSystem() [2/7]

CoverageSystem ( Parameters const & params )

explicit

Create random Gaussian distributions for the world IDF and random start positions for the robots.

Parameters

params

Parameters for the coverage system

Definition at line 39 of file coverage_system.cpp.

CoverageSystem() [3/7]

CoverageSystem	(	Parameters const &	params,
		int const	num_gaussians,
		int const	num_robots )

Create random Gaussian distributions for the world IDF and random start positions for the robots.

Parameters

params	Parameters for the coverage system
num_gaussians	Number of gaussian distributions for the world IDF
num_robots	Number of robots

Definition at line 43 of file coverage_system.cpp.

CoverageSystem() [4/7]

CoverageSystem	(	Parameters const &	params,
		int const	num_gaussians,
		int const	num_polygons,
		int const	num_robots )

Definition at line 47 of file coverage_system.cpp.

CoverageSystem() [5/7]

CoverageSystem	(	Parameters const &	params,
		WorldIDF const &	world_idf,
		std::string const &	pos_file_name )

Create with given world IDF and robot positions from file.

Parameters

params	Parameters for the coverage system
world_idf	World IDF
pos_file_name	File name for initial positions

Definition at line 113 of file coverage_system.cpp.

CoverageSystem() [6/7]

CoverageSystem	(	Parameters const &	params,
		WorldIDF const &	world_idf,
		std::vector< Point2 > const &	robot_positions )

Constructor for given world IDF and robot positions as a vector.

Parameters

params	Parameters for the coverage system
world_idf	World IDF
robot_positions	Initial positions of the robots

Definition at line 143 of file coverage_system.cpp.

CoverageSystem() [7/7]

CoverageSystem	(	Parameters const &	params,
		std::vector< BivariateNormalDistribution > const &	dists,
		std::vector< Point2 > const &	robot_positions )

Constructor for given normal distributions and robot positions.

Parameters

params	Parameters for the coverage system
dists	Bivariate normal distributions for the world IDF
robot_positions	Initial positions of the robots

Definition at line 157 of file coverage_system.cpp.

Member Function Documentation

AddNoise()

Point2 AddNoise

(

Point2 const

pt

)

const

Add noise to the given point and ensure within bounds.

Definition at line 339 of file coverage_system.cpp.

CheckOscillation()

bool CheckOscillation ( size_t const robot_id ) const

inline

Check if the robot is oscillating about its current position

Warning

This function is dependent on the size of the robot positions history

Definition at line 341 of file coverage_system.h.

CheckRobotID()

void CheckRobotID ( size_t const id ) const

inline

Definition at line 365 of file coverage_system.h.

ClearExploredIDF()

void ClearExploredIDF ( )

inline

Definition at line 405 of file coverage_system.h.

ClearRobotMaps()

void ClearRobotMaps ( )

inline

Definition at line 399 of file coverage_system.h.

ComputeVoronoiCells()

void ComputeVoronoiCells ( )

inline

Definition at line 371 of file coverage_system.h.

GetCommunicationMaps()

std::vector< MapType > GetCommunicationMaps ( size_t map_size )

inline

Definition at line 587 of file coverage_system.h.

GetExplorationRatio()

double GetExplorationRatio ( ) const

inline

Definition at line 488 of file coverage_system.h.

GetLocalVoronoiFeatures() [1/2]

std::vector< std::vector< double > > GetLocalVoronoiFeatures ( )

inline

Definition at line 626 of file coverage_system.h.

GetLocalVoronoiFeatures() [2/2]

std::vector< double > GetLocalVoronoiFeatures

(

int const

robot_id

)

Note

The centroid is computed with orgin of the map, i.e., the lower left corner of the map.

Uses neighboring robots' positions to compute the centroid.

Definition at line 648 of file coverage_system.cpp.

GetNeighborIDs()

std::vector< int > GetNeighborIDs ( size_t const robot_id ) const

inline

Definition at line 503 of file coverage_system.h.

GetNormalizationFactor()

double GetNormalizationFactor ( )

inline

Definition at line 640 of file coverage_system.h.

GetNumFeatures()

auto GetNumFeatures ( ) const

inline

Definition at line 486 of file coverage_system.h.

GetNumRobots()

auto GetNumRobots ( ) const

inline

Definition at line 485 of file coverage_system.h.

GetObjectiveValue()

auto GetObjectiveValue ( )

inline

Definition at line 598 of file coverage_system.h.

GetRelativePositonsNeighbors()

PointVector GetRelativePositonsNeighbors

(

size_t const

robot_id

)

Definition at line 625 of file coverage_system.cpp.

GetRobotCommunicationMaps()

std::pair< MapType, MapType > GetRobotCommunicationMaps	(	size_t const	id,
		size_t	map_size )

Definition at line 177 of file coverage_system.cpp.

GetRobotExplorationFeatures()

auto GetRobotExplorationFeatures ( )

inline

Definition at line 603 of file coverage_system.h.

GetRobotExplorationMap()

const MapType & GetRobotExplorationMap ( size_t const id )

inline

Definition at line 547 of file coverage_system.h.

GetRobotLocalMap()

const MapType & GetRobotLocalMap ( size_t const id )

inline

Definition at line 537 of file coverage_system.h.

GetRobotMap()

const MapType & GetRobotMap ( size_t const id ) const

inline

Definition at line 542 of file coverage_system.h.

GetRobotMapMutable()

MapType & GetRobotMapMutable ( size_t const id )

inline

Definition at line 480 of file coverage_system.h.

GetRobotObstacleMap()

const MapType & GetRobotObstacleMap ( size_t const id )

inline

Definition at line 556 of file coverage_system.h.

GetRobotPosition()

Point2 GetRobotPosition ( int const robot_id, bool force_no_noise = false ) const

inline

Definition at line 526 of file coverage_system.h.

GetRobotPositions()

PointVector GetRobotPositions ( bool force_no_noise = false )

inline

Get the global positions of all robots.

Can add noise to the positions based on the parameters

Parameters

force_no_noise

If true, returns the positions without noise

Returns

Vector of global positions of all robots

Definition at line 514 of file coverage_system.h.

GetRobotSensorView()

const MapType & GetRobotSensorView ( size_t const id ) const

inline

Definition at line 561 of file coverage_system.h.

GetRobotsInCommunication()

auto GetRobotsInCommunication ( size_t const id ) const

inline

Definition at line 566 of file coverage_system.h.

GetRobotSystemMap()

const MapType & GetRobotSystemMap ( size_t const id )

inline

Definition at line 552 of file coverage_system.h.

GetRobotVoronoiFeatures()

auto GetRobotVoronoiFeatures ( )

inline

Definition at line 612 of file coverage_system.h.

GetSystemExplorationMap()

const MapType & GetSystemExplorationMap ( ) const

inline

Definition at line 472 of file coverage_system.h.

GetSystemExploredIDFMap()

const MapType & GetSystemExploredIDFMap ( ) const

inline

Definition at line 473 of file coverage_system.h.

GetSystemExploredIDFMapMutable()

MapType & GetSystemExploredIDFMapMutable ( )

inline

Definition at line 474 of file coverage_system.h.

GetSystemMap()

const MapType & GetSystemMap ( ) const

inline

Definition at line 471 of file coverage_system.h.

GetVoronoi()

Voronoi & GetVoronoi ( )

inline

Definition at line 636 of file coverage_system.h.

GetVoronoiCell()

auto GetVoronoiCell ( int const robot_id )

inline

Definition at line 638 of file coverage_system.h.

GetVoronoiCells()

auto GetVoronoiCells ( )

inline

Definition at line 635 of file coverage_system.h.

GetWeightedExplorationRatio()

double GetWeightedExplorationRatio ( ) const

inline

Get the weighted (by IDF) exploration ratio.

Definition at line 496 of file coverage_system.h.

GetWorldIDFObject()

const WorldIDF & GetWorldIDFObject ( ) const

inline

Definition at line 470 of file coverage_system.h.

GetWorldIDFPtr()

std::shared_ptr< const WorldIDF > GetWorldIDFPtr ( ) const

inline

Definition at line 467 of file coverage_system.h.

GetWorldMap()

const MapType & GetWorldMap ( ) const

inline

Get the world map.

Definition at line 476 of file coverage_system.h.

GetWorldMapMutable()

MapType & GetWorldMapMutable ( )

inline

Get the world map (mutable)

Definition at line 478 of file coverage_system.h.

PlotFrontiers()

void PlotFrontiers	(	std::string const &	dir_name,
		int const &	step,
		PointVector const &	frontiers ) const

Definition at line 549 of file coverage_system.cpp.

PlotInitMap() [1/2]

void PlotInitMap	(	std::string const &	dir_name,
		std::string const &	map_name ) const

Definition at line 519 of file coverage_system.cpp.

PlotInitMap() [2/2]

void PlotInitMap ( std::string const & filename ) const

inline

Definition at line 437 of file coverage_system.h.

PlotMapVoronoi() [1/2]

void PlotMapVoronoi	(	std::string const &	dir_name,
		int const &	step )

Definition at line 528 of file coverage_system.cpp.

PlotMapVoronoi() [2/2]

void PlotMapVoronoi	(	std::string const &	dir_name,
		int const &	step,
		Voronoi const &	voronoi,
		PointVector const &	goals ) const

Definition at line 539 of file coverage_system.cpp.

PlotRobotCommunicationMaps()

void PlotRobotCommunicationMaps	(	std::string const &	dir_name,
		int const &	robot_id,
		int const &	step,
		size_t const &	map_size )

Definition at line 608 of file coverage_system.cpp.

PlotRobotExplorationMap()

void PlotRobotExplorationMap	(	std::string const &	dir_name,
		int const &	robot_id,
		int const &	step )

Definition at line 581 of file coverage_system.cpp.

PlotRobotLocalMap()

void PlotRobotLocalMap	(	std::string const &	dir_name,
		int const &	robot_id,
		int const &	step )

Definition at line 572 of file coverage_system.cpp.

PlotRobotObstacleMap()

void PlotRobotObstacleMap	(	std::string const &	dir_name,
		int const &	robot_id,
		int const &	step )

Definition at line 598 of file coverage_system.cpp.

PlotRobotSensorView()

void PlotRobotSensorView	(	std::string const &	dir_name,
		int const &	robot_id,
		int const &	step )

Definition at line 590 of file coverage_system.cpp.

PlotRobotSystemMap()

void PlotRobotSystemMap	(	std::string const &	dir_name,
		int const &	robot_id,
		int const &	step )

Definition at line 559 of file coverage_system.cpp.

PlotSystemMap() [1/3]

void PlotSystemMap

(

std::string const &

filename

)

const

Definition at line 478 of file coverage_system.cpp.

PlotSystemMap() [2/3]

void PlotSystemMap	(	std::string const &	dir_name,
		int const &	step,
		std::vector< int > const &	robot_status ) const

Definition at line 489 of file coverage_system.cpp.

PlotSystemMap() [3/3]

void PlotSystemMap ( std::string const & dir_name, int const & step ) const

inline

Definition at line 425 of file coverage_system.h.

PlotWorldMap()

void PlotWorldMap	(	std::string const &	dir_name,
		std::string const &	map_name ) const

Definition at line 510 of file coverage_system.cpp.

PlotWorldMapRobots()

void PlotWorldMapRobots	(	std::string const &	dir_name,
		std::string const &	map_name ) const

Definition at line 499 of file coverage_system.cpp.

RecordPlotData() [1/4]

void RecordPlotData ( )

inline

Definition at line 458 of file coverage_system.h.

RecordPlotData() [2/4]

void RecordPlotData ( std::string const & map_name )

inline

Definition at line 454 of file coverage_system.h.

RecordPlotData() [3/4]

void RecordPlotData	(	std::vector< int > const &	robot_status,
		std::string const &	map_name )

Definition at line 451 of file coverage_system.cpp.

RecordPlotData() [4/4]

void RecordPlotData ( std::vector< int > const & robot_status )

inline

Definition at line 451 of file coverage_system.h.

RenderRecordedMap()

void RenderRecordedMap	(	std::string const &	dir_name,
		std::string const &	video_name ) const

Definition at line 405 of file coverage_system.cpp.

SetGlobalRobotPosition()

void SetGlobalRobotPosition ( size_t const robot_id, Point2 const & global_pos )

inline

Set the global position of robot_id.

Definition at line 230 of file coverage_system.h.

SetGlobalRobotPositions()

void SetGlobalRobotPositions ( PointVector const & global_positions )

inline

Set the global positions of all robots.

Definition at line 236 of file coverage_system.h.

SetLocalRobotPosition()

void SetLocalRobotPosition ( size_t const robot_id, Point2 const & relative_pos )

inline

Set the position of robot_id with respect to its current position.

Definition at line 223 of file coverage_system.h.

SetLocalRobotPositions()

void SetLocalRobotPositions ( std::vector< Point2 > const & relative_pos )

inline

Set the positions of all robots with respect to their current positions

Note

Same as SetRobotPositions

Definition at line 218 of file coverage_system.h.

SetRobotPositions()

void SetRobotPositions ( std::vector< Point2 > const & positions )

inline

Set the positions of all robots with respect to their current positions

Note

Same as SetLocalRobotPositions

Definition at line 249 of file coverage_system.h.

SetWorldIDF()

void SetWorldIDF ( WorldIDF const & world_idf )

inline

Set the world IDF and recompute the world map.

Definition at line 261 of file coverage_system.h.

StepAction()

bool StepAction ( size_t const robot_id, Point2 const action )

inlinenodiscard

Execute given action for robot_id.

Warning

If the function returns 1 (control is incorrect), the system state is not updated

Parameters

robot_id	ID of the robot
action	Action for the robot

Returns

0 if successful, 1 if control is incorrect

Definition at line 303 of file coverage_system.h.

StepActions()

bool StepActions ( PointVector const & actions )

inlinenodiscard

Execute given actions for all robots.

Warning

If the function returns 1 (control is incorrect), the system state is not updated

Parameters

actions

Vector of actions for all robots

Returns

0 if successful, 1 if control is incorrect

Definition at line 279 of file coverage_system.h.

StepControl()

bool StepControl ( size_t robot_id, Point2 const & direction, double const speed )

inlinenodiscard

Execute velocity control for robot_id.

Warning

If the function returns 1 (control is incorrect), the system state is not updated

Parameters

robot_id	ID of the robot
direction	Velocity direction
speed	Velocity magnitude

Returns

0 if successful, 1 if control is incorrect

Definition at line 325 of file coverage_system.h.

StepRobotsToGoals()

bool StepRobotsToGoals	(	PointVector const &	goals,
		PointVector &	actions )

Step all robots towards given goals

Parameters

goals	Vector of goals for the robots
actions	Vector of actions for the robots

Returns

True if any robot is still moving

Definition at line 313 of file coverage_system.cpp.

StepRobotToGoal()

bool StepRobotToGoal	(	int const	robot_id,
		Point2 const &	goal,
		double const	speed_factor = 1 )

Step a robot towards a given goal

Parameters

robot_id	ID of the robot
goal	Goal for the robot
speed_factor	Speed factor for the robots

Returns

True if any robot is still moving

Definition at line 293 of file coverage_system.cpp.

WriteEnvironment()

int WriteEnvironment	(	std::string const &	pos_filename,
		std::string const &	env_filename ) const

Definition at line 398 of file coverage_system.cpp.

WriteRobotPositions() [1/2]

int WriteRobotPositions

(

std::string const &

file_name

)

const

Definition at line 368 of file coverage_system.cpp.

WriteRobotPositions() [2/2]

int WriteRobotPositions	(	std::string const &	file_name,
		PointVector const &	positions ) const

Definition at line 383 of file coverage_system.cpp.