#include <near_optimal_cvt.h>
Inheritance diagram for NearOptimalCVT:Public Member Functions | |
| NearOptimalCVT (Parameters const ¶ms, CoverageSystem &env) | |
| NearOptimalCVT (Parameters const ¶ms, size_t const &num_robots, CoverageSystem &env) | |
| PointVector | GetActions () |
| auto | GetGoals () |
| auto & | GetVoronoi () |
| void | ComputeGoals () |
| int | ComputeActions () |
| bool | IsConverged () |
Detailed Description
The algorithm has knowledge of the entire map in a centralized manner. It runs several trials; for each trial, it generates random initial positions for the sites. Then uses the CVT to compute optimal centroids. It performs the Hungarian algorithm to assign robots to the centroids. Finally, the trial with the minimum cost is selected.
Definition at line 67 of file near_optimal_cvt.h.
Constructor & Destructor Documentation
◆ NearOptimalCVT() [1/2]
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inline |
Definition at line 79 of file near_optimal_cvt.h.
◆ NearOptimalCVT() [2/2]
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inline |
Definition at line 81 of file near_optimal_cvt.h.
Member Function Documentation
◆ ComputeActions()
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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 103 of file near_optimal_cvt.h.
◆ ComputeGoals()
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inline |
Definition at line 96 of file near_optimal_cvt.h.
◆ GetActions()
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inlinevirtual |
Pure virtual function to get the actions for the robots
- Returns
- The actions for the robots
Implements AbstractController.
Definition at line 90 of file near_optimal_cvt.h.
◆ GetGoals()
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inline |
Definition at line 92 of file near_optimal_cvt.h.
◆ GetVoronoi()
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inline |
Definition at line 94 of file near_optimal_cvt.h.
◆ IsConverged()
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inline |
Definition at line 123 of file near_optimal_cvt.h.
