Conscientious_Cognitive_Agent.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2014, ISR University of Coimbra.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
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00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the ISR University of Coimbra nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: David Portugal (2011-2014), and Luca Iocchi (2014-2016)
00036 *********************************************************************/
00037 
00038 #include <sstream>
00039 #include <ros/ros.h>
00040 #include <move_base_msgs/MoveBaseAction.h>
00041 #include <actionlib/client/simple_action_client.h>
00042 #include <tf/transform_broadcaster.h>
00043 #include <tf/transform_listener.h>
00044 #include <nav_msgs/Odometry.h>
00045 
00046 #include "PatrolAgent.h"
00047 
00048 #include "algorithms.h"
00049 
00050 class Conscientious_Cognitive_Agent: public PatrolAgent {
00051 private:
00052     bool inpath;
00053     uint *path;
00054     uint elem_s_path, i_path;
00055 public:
00056     virtual void init(int argc, char** argv);
00057     virtual int compute_next_vertex();
00058     virtual void onGoalComplete();    
00059     //virtual void send_results();
00060     //virtual void receive_results();    
00061 };
00062 
00063 void Conscientious_Cognitive_Agent::init(int argc, char** argv)
00064 {
00065     PatrolAgent::init(argc,argv);
00066     
00067     inpath = false;
00068     path = new uint[dimension];
00069     elem_s_path=0; i_path=0; 
00070 }
00071 
00072 int Conscientious_Cognitive_Agent::compute_next_vertex() {
00073     return heuristic_pathfinder_conscientious_cognitive(current_vertex, vertex_web, instantaneous_idleness, dimension, path);
00074 }
00075 
00076 
00077 void Conscientious_Cognitive_Agent::onGoalComplete()
00078 {
00079 
00080     if (i_path>0) { //nao faz update no inicio
00081         //Update Idleness Table:
00082         update_idleness();
00083         current_vertex = next_vertex;
00084     }
00085     
00086     if (inpath){
00087         //The robot is on its way to a global objective -> get NEXT_VERTEX from its path:
00088         i_path++; //desde que nao passe o tamanho do path
00089 
00090         if (i_path<elem_s_path){
00091             next_vertex=path[i_path];     
00092         }else{    
00093             inpath = false; 
00094         }
00095     }
00096     
00097     if (!inpath){
00098         elem_s_path = compute_next_vertex();
00099         //heuristic_pathfinder_conscientious_cognitive(current_vertex, vertex_web, instantaneous_idleness, dimension, path);
00100       
00101 /*      printf("Path: ");
00102       for (i=0;i<elem_s_path;i++){
00103     if (i==elem_s_path-1){
00104       printf("%u.\n",path[i]);
00105     }else{
00106       printf("%u, ",path[i]);
00107     }
00108       }
00109 */     
00110         //we have the path and the number of elements in the path
00111         i_path=1;
00112         next_vertex = path[i_path];
00113         inpath = true;
00114 //       printf("Move Robot to Vertex %d (%f,%f)\n", next_vertex, vertex_web[next_vertex].x, vertex_web[next_vertex].y);
00115     }
00116     
00118     send_goal_reached(); // Send TARGET to monitor
00119     send_results();
00120 
00121     if (inpath){
00122         //Send the goal to the robot (Global Map)
00123         ROS_INFO("Sending goal - Vertex %d (%f,%f)\n", next_vertex, vertex_web[next_vertex].x, vertex_web[next_vertex].y);
00124         sendGoal(next_vertex);
00125     }    
00126 
00127     goal_complete = false; //garantir q n volta a entrar a seguir aqui
00128 //     printf("ID_ROBOT [3] = %d\n",ID_ROBOT); //-1 in the case there is only 1 robot.
00129 
00130   ros::spinOnce();
00131     
00132 }
00133 
00134 #if 0
00135 // FIXME DONE
00136 void Conscientious_Cognitive_Agent::send_results() {
00137   ros::spinOnce();
00138 }
00139 
00140 // FIXME DONE
00141 void Conscientious_Cognitive_Agent::receive_results() {
00142     ros::spinOnce();
00143 }
00144 #endif
00145 
00146 int main(int argc, char** argv) {
00147   
00148     Conscientious_Cognitive_Agent agent;
00149     agent.init(argc,argv);
00150     agent.run();
00151 
00152     return 0; 
00153 }
00154 


patrolling_sim
Author(s):
autogenerated on Thu Jun 6 2019 20:27:09