File List

Here is a list of all files with brief descriptions:

[detail level 123456]

▼ cppsrc
▼ core
▼ include
▼ CoverageControl
▼ algorithms
abstract_controller.h	Contains the abstract class for coverage control algorithms
centralized_cvt.h	Contains the class CentralizedCVT
clairvoyant_cvt.h	Clairvoyant CVT algorithm
decentralized_cvt.h	Contains the DecentralizedCVT class
near_optimal_cvt.h	NearOptimalCVT class Global offline oracle: has complete information about the environment. Use full communication between robots. Tries multiple random sites for initial locations. Uses Hungarian algorithm to assign robots to goal positions
near_optimal_cvt_algorithm.h	Near Optimal Centroidal Voronoi Tessellation (CVT) algorithm Near-optimal Centroidal Voronoi Tessellation (CVT) algorithms. The algorithm has knowledge of the entire map in a centralized manner. It spawns random sites and iteratively moves them to the centroid of the Voronoi cell, until convergence. Hungarian algorithm is used to assign the robots to the sites. Out of the multiple tries, the best Voronoi is selected based on the objective function
oracle_bang_explore_exploit.h	First trial of oracle with exploration and exploitation. The oracle uses complete information about the environment
oracle_explore_exploit.h	Old trial of exploration and exploitation Uses system map for exploration as well
simul_explore_exploit.h	Simultaneous exploration and exploitation algorithm Uses frontier-based exploration with bias towards IDF. Robots switch between exploration and exploitation modes. Exploitation is done locally in a decentralized manner while respecting communation constraints
▼ cgal
config.h	Contains the configuration for the CGAL library
polygon_utils.h	Provides utilities for polygon manipulation using CGAL
utilities.h	Contains utility functions for CGAL
▼ cuda
geometry_utils.cuh	CUDA supported functions to check whether a point is inside a monotone polygon
bivariate_normal_distribution.h	Class for Bivariate Normal Distribution
constants.h	Constants for the CoverageControl library
coverage_system.h	The file contains the CoverageSystem class, which is the main class for the coverage control library
cuda_utils.h	Utility functions for CUDA
generate_world_map.h	Contains structs and functions to interface with the CUDA code to generate the world map
geographiclib_wrapper.h	Wrappers for GeographicLib functions
map_utils.h	Utility functions for transforming maps
parameters.h	Contains parameters
plotter.h	Class to plot the map
robot_model.h	Class for handling the robot model
typedefs.h	Contains typedefs for the library
vec2d.h	Contains Vec2d class for 2D vector
voronoi.h	Class for computing Voronoi cells
world_idf.h	Contains the class for Importance Density Function (IDF) for the world
▼ src
▼ cuda
cuda_utils.cu	Functions for CUDA utilities based on NVIDIA's CUDA Helper Library See: extern/cuda_helpers/helper_cuda.h
generate_world_map.cu	File for generating the world map IDF using CUDA
coverage_system.cpp	Contains the implementation of the CoverageSystem class
cuda_utils.cpp
parameters.cpp	Parses toml configuration file and sets parameters
plotter.cpp	Helper function to plot maps
polygon_utils.cpp	Helper functions for polygon operations using CGAL
voronoi.cpp	Functions to compute Centroidal Voronoi Tessellation
world_idf.cpp	Contains the implementation of the WorldIDF class
▼ main
coverage_algorithm.cpp	Program to test the CVT-based (Lloyd's) coverage control algorithms
▼ doc
manual
▼ params
coverage_control_params.toml
data_params.toml
eval.toml
eval_single.toml
learning_params.toml
▼ python
▼ coverage_control
▼ algorithms
__init__.py
controllers.py
▼ core
__init__.py
▼ nn
▼ data_loaders
__init__.py
data_loader_utils.py
loaders.py
▼ models
__init__.py
cnn.py
cnn_backbone.py
config_parser.py
gnn_backbone.py
lpac.py
▼ trainers
__init__.py
trainer.py
__init__.py
__init__.py
_version.pyi
coverage_env_utils.py	Utility functions for coverage environment
io_utils.py	The module provides utility functions for loading data from files