DecentralizedCVT Class Reference

#include <decentralized_cvt.h>

Inheritance diagram for DecentralizedCVT:

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

Detailed Description

This class implements the decentralized CVT algorithm. The algorithm uses the local map of each robot and the positions of other robots within its communication range to compute the voronoi. The algorithm is online—it takes localized actions based on the current robot positions.

Definition at line 57 of file decentralized_cvt.h.

Constructor & Destructor Documentation

DecentralizedCVT() [1/2]

DecentralizedCVT ( Parameters const & params, CoverageSystem & env )

inline

Definition at line 69 of file decentralized_cvt.h.

DecentralizedCVT() [2/2]

DecentralizedCVT ( Parameters const & params, size_t const & num_robots, CoverageSystem & env )

inline

Definition at line 71 of file decentralized_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 145 of file decentralized_cvt.h.

ComputeGoals()

void ComputeGoals ( )

inline

Definition at line 85 of file decentralized_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 81 of file decentralized_cvt.h.

GetGoals()

PointVector GetGoals ( )

inline

Definition at line 83 of file decentralized_cvt.h.

IsConverged()

bool IsConverged ( ) const

inline

Definition at line 175 of file decentralized_cvt.h.