Namespace for the CoverageControl library. More...

Namespaces
namespace	MapUtils
	Namespace for map utilities functions.

Classes
class	AbstractController

class	BivariateNormalDistribution
	Class for Bivariate Normal Distribution. More...

struct	BND_Cuda
	Structure to store the parameters of the Bivariate Normal Distribution. More...

struct	Bounds
	Structure to store the rectangular bounds of the polygons. More...

class	CentralizedCVT

struct	CGAL_DelaunayHelper

class	ClairvoyantCVT

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

class	CudaUtils
	Static class for CUDA utilities This class provides utility functions for CUDA It is a static class and cannot be instantiated. More...

class	DecentralizedCVT

struct	Frontier
	A struct to store a frontier points and a value. More...

struct	FrontierCompare
	A struct to compare frontiers based on their value. More...

class	GeoLocalTransform

class	NearOptimalCVT

class	OracleBangExploreExploit

class	OracleExploreExploit

class	OracleSimulExploreExploit

class	Parameters
	Class to store parameters. More...

class	Plotter
	Class to plot the map. More...

struct	PlotterData
	Data structure to store plotter data. More...

struct	PolygonFeature
	A struct to store a polygon feature and a uniform importance value. More...

struct	Polygons_Cuda
	Structure to store the parameters of the polygons on the device. More...

struct	Polygons_Cuda_Host
	Structure to store the parameters of the polygons on the host. More...

class	RobotModel
	Class for handling the robot model. More...

class	Vec2d
	A class for 2D vector. More...

class	Voronoi
	Class for computing Voronoi cells. More...

class	VoronoiCell
	Struct for Voronoi cell. More...

class	WorldIDF
	Class for Importance Density Function (IDF) for the world. More...

Typedefs
typedef Eigen::Vector2d	Point2

typedef Eigen::Vector2f	Point2f

typedef Eigen::Vector3d	Point3

typedef Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	MapType

typedef std::vector< Point2 >	PointVector

typedef std::priority_queue< Frontier, std::vector< Frontier >, FrontierCompare >	queue_t

Functions
auto	NearOptimalCVTAlgorithm (int const num_tries, int const max_iterations, int const num_sites, MapType const &map, int const map_size, double const res)

auto	NearOptimalCVTAlgorithm (int const num_tries, int const max_iterations, int const num_sites, MapType const &map, int const map_size, double const res, PointVector const &positions, Voronoi &voronoi)

auto	NearOptimalCVTAlgorithm (int const num_tries, int const max_iterations, int const num_sites, MapType const &map, int const map_size, double const res, PointVector const &positions)

void	PolygonYMonotonePartition (PointVector const &polygon, std::vector< PointVector > &y_monotone_polygons)
	Partition a polygon into y-monotone polygons.

void	GenerateRandomPolygons (int const num_polygons, int const max_vertices, double const half_width, double const world_size, std::vector< PointVector > &polygons)
	Generate random polygons.

Point2	CGALtoCC (CGAL_Point2 const pt)

template<class Arrangement >
void	CGAL_CCBTraversal (typename Arrangement::Ccb_halfedge_const_circulator circ, Polygon_2 &polygon)

template<class Arrangement >
void	CGAL_GeneratePolygons (const Arrangement &arr, std::list< Polygon_2 > &polygon_list)

bool	IsPointInPoly (CGAL_Point2 const &pt, Polygon_2 const &poly)

void	PrunePolygons (std::list< Polygon_2 > &polygon_list, int const &map_size)

__host__ __device__ int	Orientation (float2 const &p, float2 const &q, float2 const &r)

__host__ __device__ bool	IsPointInMonotonePolygon (float x, float y, int sz, float2 const &r)

void	generate_world_map_cuda (BND_Cuda , Polygons_Cuda_Host const &, int const, int const, float const, float const, float const, float importance_vec, float &)
	Function to generate the world map on the device.

bool	CheckCudaErrors (cudaError_t result)

__device__ float2	TransformPoint (BND_Cuda const *device_dists, int i, float2 const &in_point)

__device__ float	IntegrateQuarterPlane (BND_Cuda const &bnd, float2 const &in_point)

__device__ float	ComputeImportanceBND (BND_Cuda const *device_dists, float2 const &bottom_left, float2 const &top_right, float2 const &mid_pt_cell)

__device__ float	ComputeImportancePoly (Polygons_Cuda const &device_polygons, float2 const &mid_pt_cell)

__global__ void	kernel (BND_Cuda const device_dists, Polygons_Cuda const device_polygons, float importance_vec)

__global__ void	normalize (float *importance_vec)

Variables
double const	kEps = 1e-10

float const	kEpsf = 1e-6f

double const	kLargeEps = 1e-4

double const	kSqrt2 = std::sqrt(2)

double const	kOneBySqrt2 = 1. / std::sqrt(2)

float const	kOneBySqrt2f = 1.f / sqrtf(2.f)

double const	kInfD

constexpr auto	kMaxPrecision

float const	kFloatMax
	Maximum value of float.

float const	kFloatMin
	Minimum value of float.

__device__ __constant__ int	cu_num_dists

__device__ __constant__ int	cu_map_size

__device__ __constant__ float	cu_resolution

__device__ __constant__ float	cu_truncation

__device__ __constant__ float	cu_trun_sq

__device__ __constant__ float	cu_OneBySqrt2

__device__ __constant__ float	cu_normalization_factor

__device__ __constant__ int	cu_polygons_num_pts

__device__ __constant__ int	cu_num_polygons

Detailed Description

Namespace for the CoverageControl library.

Function Documentation

◆ CGAL_CCBTraversal()

template<class Arrangement >

void CGAL_CCBTraversal	(	typename Arrangement::Ccb_halfedge_const_circulator	circ,
		Polygon_2 &	polygon )

inline

Definition at line 58 of file utilities.h.

◆ CGAL_GeneratePolygons()

template<class Arrangement >

void CGAL_GeneratePolygons	(	const Arrangement &	arr,
		std::list< Polygon_2 > &	polygon_list )

inline

Definition at line 74 of file utilities.h.

◆ CGALtoCC()

Point2 CGALtoCC ( CGAL_Point2 const pt )

inline

Definition at line 44 of file utilities.h.

◆ CheckCudaErrors()

bool CheckCudaErrors ( cudaError_t result )

Definition at line 40 of file cuda_utils.cu.

◆ ComputeImportanceBND()

__device__ float ComputeImportanceBND	(	BND_Cuda const *	device_dists,
		float2 const &	bottom_left,
		float2 const &	top_right,
		float2 const &	mid_pt_cell )

Definition at line 93 of file generate_world_map.cu.

◆ ComputeImportancePoly()

__device__ float ComputeImportancePoly	(	Polygons_Cuda const &	device_polygons,
		float2 const &	mid_pt_cell )

Definition at line 124 of file generate_world_map.cu.

◆ generate_world_map_cuda()

void generate_world_map_cuda	(	BND_Cuda *	host_dists,
		Polygons_Cuda_Host const &	host_polygons,
		int const	num_dists,
		int const	map_size,
		float const	resolution,
		float const	truncation,
		float const	pNorm,
		float *	importance_vec,
		float &	normalization_factor )

Function to generate the world map on the device.

Definition at line 175 of file generate_world_map.cu.

◆ GenerateRandomPolygons()

void GenerateRandomPolygons	(	int const	num_polygons,
		int const	max_vertices,
		double const	half_width,
		double const	world_size,
		std::vector< PointVector > &	polygons )

Generate random polygons.

Parameters

[in]	num_polygons	The number of polygons to generate
[in]	max_vertices	The maximum number of vertices in each polygon
[in]	half_width	The half-width of the polygon
[in]	world_size	The size of the world
[out]	polygons	The output polygons

Definition at line 69 of file polygon_utils.cpp.

◆ IntegrateQuarterPlane()

__device__ float IntegrateQuarterPlane	(	BND_Cuda const &	bnd,
		float2 const &	in_point )

Definition at line 76 of file generate_world_map.cu.

◆ IsPointInMonotonePolygon()

__host__ __device__ bool IsPointInMonotonePolygon	(	float *	x,
		float *	y,
		int	sz,
		float2 const &	r )

Check if the point r is inside the monotone polygon defined by the vertices x and y

Returns: true if the point is inside the polygon; false otherwise

Definition at line 59 of file geometry_utils.cuh.

◆ IsPointInPoly()

bool IsPointInPoly	(	CGAL_Point2 const &	pt,
		Polygon_2 const &	poly )

inline

Definition at line 92 of file utilities.h.

◆ kernel()

__global__ void kernel	(	BND_Cuda const *	device_dists,
		Polygons_Cuda const	device_polygons,
		float *	importance_vec )

Definition at line 146 of file generate_world_map.cu.

◆ normalize()

__global__ void normalize ( float * importance_vec )

Definition at line 166 of file generate_world_map.cu.

◆ Orientation()

__host__ __device__ int Orientation	(	float2 const &	p,
		float2 const &	q,
		float2 const &	r )

Get the orientation of the point r with respect to the directional vector from p to q

Returns: 1 if point r is in counter clockwise direction, i.e., left of the vector; -1 if point r is in clockwise direction, i.e., right of the vector; 0 otherwise

Definition at line 44 of file geometry_utils.cuh.

◆ PolygonYMonotonePartition()

void PolygonYMonotonePartition	(	PointVector const &	polygon,
		std::vector< PointVector > &	y_monotone_polygons )

Partition a polygon into y-monotone polygons.

Parameters

[in]	polygon	The input polygon
[out]	y_monotone_polygons	The output y-monotone polygons

Definition at line 38 of file polygon_utils.cpp.

◆ PrunePolygons()

void PrunePolygons	(	std::list< Polygon_2 > &	polygon_list,
		int const &	map_size )

inline

Definition at line 100 of file utilities.h.

◆ TransformPoint()

__device__ float2 TransformPoint	(	BND_Cuda const *	device_dists,
		int	i,
		float2 const &	in_point )

Definition at line 61 of file generate_world_map.cu.

Variable Documentation

◆ cu_map_size

__device__ __constant__ int cu_map_size

Definition at line 52 of file generate_world_map.cu.

◆ cu_normalization_factor

__device__ __constant__ float cu_normalization_factor

Definition at line 57 of file generate_world_map.cu.

◆ cu_num_dists

__device__ __constant__ int cu_num_dists

Definition at line 51 of file generate_world_map.cu.

◆ cu_num_polygons

__device__ __constant__ int cu_num_polygons

Definition at line 59 of file generate_world_map.cu.

◆ cu_OneBySqrt2

__device__ __constant__ float cu_OneBySqrt2

Definition at line 56 of file generate_world_map.cu.

◆ cu_polygons_num_pts

__device__ __constant__ int cu_polygons_num_pts

Definition at line 58 of file generate_world_map.cu.

◆ cu_resolution

__device__ __constant__ float cu_resolution

Definition at line 53 of file generate_world_map.cu.

◆ cu_trun_sq

__device__ __constant__ float cu_trun_sq

Definition at line 55 of file generate_world_map.cu.

◆ cu_truncation

__device__ __constant__ float cu_truncation

Definition at line 54 of file generate_world_map.cu.

◆ kFloatMax

float const kFloatMax

Initial value:

=

std::numeric_limits<float>::max()

Maximum value of float.

Definition at line 36 of file generate_world_map.h.

◆ kFloatMin

float const kFloatMin

Initial value:

=

std::numeric_limits<float>::min()

Minimum value of float.

Definition at line 38 of file generate_world_map.h.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Function Documentation

◆ CGAL_CCBTraversal()

◆ CGAL_GeneratePolygons()

◆ CGALtoCC()

◆ CheckCudaErrors()

◆ ComputeImportanceBND()

◆ ComputeImportancePoly()

◆ generate_world_map_cuda()

◆ GenerateRandomPolygons()

◆ IntegrateQuarterPlane()

◆ IsPointInMonotonePolygon()

◆ IsPointInPoly()

◆ kernel()

◆ normalize()

◆ Orientation()

◆ PolygonYMonotonePartition()

◆ PrunePolygons()

◆ TransformPoint()

Variable Documentation

◆ cu_map_size

◆ cu_normalization_factor

◆ cu_num_dists

◆ cu_num_polygons

◆ cu_OneBySqrt2

◆ cu_polygons_num_pts

◆ cu_resolution

◆ cu_trun_sq

◆ cu_truncation

◆ kFloatMax

◆ kFloatMin