Class to store parameters. More...

#include <parameters.h>

Public Member Functions
	Parameters ()

	Parameters (std::string const &config_file)

void	SetConfig (std::string const &config_file)

void	PrintParameters () const

Public Attributes
std::string	config_file_

Environment Parameters
int	pNumRobots = 32
	Number of robots.

IO Parameters
double	pPlotScale = 1.0

Map Parameters
double	pResolution = 1.0

int	pWorldMapSize = 1024

int	pRobotMapSize = pWorldMapSize
	Robot map saves what the robot has seen.

int	pLocalMapSize = 256

bool	pUpdateRobotMap = true

bool	pUpdateExplorationMap = true

bool	pUpdateSensorView = true

bool	pUpdateSystemMap = true

IDF Parameters
int	pNumGaussianFeatures = 32
	Bivariate Normal Distribution truncated after pTruncationBND * sigma.

double	pTruncationBND = 2

double	pNorm = 1

double	pMinSigma = 40

double	pMaxSigma = 50

double	pMinPeak = 6

double	pMaxPeak = 10

int	pNumPolygons = 0
	Number of polygonal features.

int	pMaxVertices = 10
	Maximum number of vertices in a polygon.

double	pPolygonRadius = 64

double	pUnknownImportance = 0.5

bool	pRobotMapUseUnknownImportance = false

Robot Model Parameters
int	pSensorSize = 64

double	pCommunicationRange = 128
	Radius of communication (in meters)

double	pMaxRobotSpeed = 5

double	pRobotInitDist = 1024

int	pRobotPosHistorySize = 20
	Number of previous positions to store.

double	pTimeStep = 1
	Each time step corresponds to pTimeStep seconds.

Add Noise
bool	pAddNoisePositions = false

double	pPositionsNoiseSigma = 0.

Algorithm Parameters
int	pEpisodeSteps = 2000

bool	pCheckOscillations = true

Global-CVT
int	pLloydMaxIterations = 100

int	pLloydNumTries = 10

Exploration
int	pNumFrontiers = 10

Detailed Description

Class to store parameters.

The parameters are for the robot model and the environment. The parameters are set during runtime through configuration files.

Definition at line 48 of file parameters.h.

Constructor & Destructor Documentation

◆ Parameters() [1/2]

Parameters ( )

inline

Definition at line 171 of file parameters.h.

◆ Parameters() [2/2]

Parameters ( std::string const & config_file )

inlineexplicit

Definition at line 173 of file parameters.h.

Member Function Documentation

◆ PrintParameters()

void PrintParameters ( ) const

Definition at line 263 of file parameters.cpp.

◆ SetConfig()

void SetConfig ( std::string const & config_file )

inline

Definition at line 179 of file parameters.h.

Member Data Documentation

◆ config_file_

std::string config_file_

Definition at line 50 of file parameters.h.

◆ pAddNoisePositions

bool pAddNoisePositions = false

Definition at line 145 of file parameters.h.

◆ pCheckOscillations

bool pCheckOscillations = true

Definition at line 155 of file parameters.h.

◆ pCommunicationRange

double pCommunicationRange = 128

Radius of communication (in meters)

Warning: Positive integer. NOTE: Needs to be even

Definition at line 134 of file parameters.h.

◆ pEpisodeSteps

int pEpisodeSteps = 2000

Definition at line 154 of file parameters.h.

◆ pLloydMaxIterations

int pLloydMaxIterations = 100

Definition at line 160 of file parameters.h.

◆ pLloydNumTries

int pLloydNumTries = 10

Definition at line 161 of file parameters.h.

◆ pLocalMapSize

int pLocalMapSize = 256

Local map is used for computing mass. Actual area would be pLocalMapSize * pResolution

Warning: Should be greater than pCommunicationRange so that they can form different channels of the same image.

Definition at line 85 of file parameters.h.

◆ pMaxPeak

double pMaxPeak = 10

Definition at line 112 of file parameters.h.

◆ pMaxRobotSpeed

double pMaxRobotSpeed = 5

Definition at line 136 of file parameters.h.

◆ pMaxSigma

double pMaxSigma = 50

Definition at line 110 of file parameters.h.

◆ pMaxVertices

int pMaxVertices = 10

Maximum number of vertices in a polygon.

Definition at line 115 of file parameters.h.

◆ pMinPeak

double pMinPeak = 6

Definition at line 111 of file parameters.h.

◆ pMinSigma

double pMinSigma = 40

Definition at line 109 of file parameters.h.

◆ pNorm

double pNorm = 1

Definition at line 105 of file parameters.h.

◆ pNumFrontiers

int pNumFrontiers = 10

Definition at line 167 of file parameters.h.

◆ pNumGaussianFeatures

int pNumGaussianFeatures = 32

Bivariate Normal Distribution truncated after pTruncationBND * sigma.

Number of features

Definition at line 102 of file parameters.h.

◆ pNumPolygons

int pNumPolygons = 0

Number of polygonal features.

Definition at line 114 of file parameters.h.

◆ pNumRobots

int pNumRobots = 32

Number of robots.

Definition at line 56 of file parameters.h.

◆ pPlotScale

double pPlotScale = 1.0

Determines the quality of the plot and videos

‍1: High quality (takes more time to plot) < 1: Low quality (takes less time to plot)

Definition at line 64 of file parameters.h.

◆ pPolygonRadius

double pPolygonRadius = 64

Definition at line 116 of file parameters.h.

◆ pPositionsNoiseSigma

double pPositionsNoiseSigma = 0.

Definition at line 146 of file parameters.h.

◆ pResolution

double pResolution = 1.0

Assuming same resolution in both the directions in meters. Pixel area = pResolution^2

Definition at line 72 of file parameters.h.

◆ pRobotInitDist

double pRobotInitDist = 1024

Distance from the origin within which to initialize the position of the robots

Definition at line 137 of file parameters.h.

◆ pRobotMapSize

int pRobotMapSize = pWorldMapSize

Robot map saves what the robot has seen.

Definition at line 79 of file parameters.h.

◆ pRobotMapUseUnknownImportance

bool pRobotMapUseUnknownImportance = false

Definition at line 119 of file parameters.h.

◆ pRobotPosHistorySize

int pRobotPosHistorySize = 20

Number of previous positions to store.

Definition at line 139 of file parameters.h.

◆ pSensorSize

int pSensorSize = 64

Definition at line 133 of file parameters.h.

◆ pTimeStep

double pTimeStep = 1

Each time step corresponds to pTimeStep seconds.

Definition at line 140 of file parameters.h.

◆ pTruncationBND

double pTruncationBND = 2

Definition at line 103 of file parameters.h.

◆ pUnknownImportance

double pUnknownImportance = 0.5

Definition at line 118 of file parameters.h.

◆ pUpdateExplorationMap

bool pUpdateExplorationMap = true

Definition at line 88 of file parameters.h.

◆ pUpdateRobotMap

bool pUpdateRobotMap = true

Definition at line 87 of file parameters.h.

◆ pUpdateSensorView

bool pUpdateSensorView = true

Definition at line 89 of file parameters.h.

◆ pUpdateSystemMap

bool pUpdateSystemMap = true

Definition at line 90 of file parameters.h.

◆ pWorldMapSize

int pWorldMapSize = 1024

Actual size of maps is size * pResolution, e.g., pWorldMapSize * pResolution

Definition at line 76 of file parameters.h.

Public Member Functions

Public Attributes