DTASSIPart_Agent.cpp
Go to the documentation of this file.
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
00010 *  are met:
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
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Luca Iocchi (2014-2016)
00036 *********************************************************************/
00037 
00038 #include "SSIPatrolAgent.h"
00039 
00040 
00041 
00042 
00043 //Sequential Single Item Auction with dynamic compact partition of the environment
00044 class DTASSIPart_Agent: public SSIPatrolAgent {
00045 
00046 protected:
00047     //center location given current tasks: task location that is at minimum path distance from all other locations. This is always a task location. 
00048     size_t current_center_location;              
00049 
00050     //compute minimum path cost considering all tasks (tasks) and the next vertex (nv). 
00051     //The first room is always the current goal (if any), then rooms are visited in decreasing order of utility. 
00052     //The path cost is sum of travel cost given the order. 
00053     double compute_bid(int nv); 
00054 
00055     //update tasks setting to true only the vertices for which this robot has the current highest bid
00056     //based on the array bids   
00057     void update_tasks();
00058 
00059     //compute center point given current tasks  
00060     void compute_center_location();     
00061 
00062     double compute_sum_distance(int cv);
00063         
00064 
00065 
00066 public:
00067 
00068     DTASSIPart_Agent(){}        
00069 
00070     void init(int argc, char** argv);
00071 
00072 
00073 };
00074 
00075 void DTASSIPart_Agent::init(int argc, char** argv) {
00076     
00077 //    logfile = fopen("DTASSIOut.log","w");     
00078 
00079 //    fprintf(logfile,"INITIALIZING \n");
00080 //    fflush(logfile);  
00081 
00082     SSIPatrolAgent::init(argc,argv);
00083 
00084 //    fprintf(logfile,"INITIALIZING 2 \n");
00085 //    fflush(logfile);  
00086 
00087     //set current center location to current vertex         
00088     current_center_location = current_vertex;
00089         
00090 //    fprintf(logfile,"initialised current center location to: %d \n",current_center_location);
00091 
00092     //initialize parameters
00093 
00094 }
00095 
00096 double DTASSIPart_Agent::compute_bid(int nv){
00097 
00098     /*printf("computing bid for vertex %d (using dynamic partition) \n ",nv);
00099     printf("current tasks = ");
00100     for (size_t i = 0; i<dimension;i++){
00101         printf(" %d, ",tasks[i]);       
00102     }
00103     printf("] \n");*/
00104 
00105     if (nv==next_vertex || nv==next_next_vertex){
00106         // printf("already going to %d sending 0 (current target: %d)",nv,next_vertex);
00107         return 0.;
00108     }
00109 
00110     size_t num_tasks = 1;
00111     for (size_t i = 0; i<dimension ; i++){
00112         if (tasks[i]){
00113             num_tasks++;
00114         }
00115     }
00116 
00117 //      size_t cv = current_vertex;
00118 //      if (next_vertex >= 0 && next_vertex <dimension){
00119 //              cv = next_vertex;
00120 //      }
00121 
00122     double bid_value = compute_cost(nv,current_center_location)*num_tasks; 
00123     //printf("bid for %d (current center %zu, num task %zu): %.2f \n",nv,current_center_location,num_tasks,bid_value);
00124     
00125     return bid_value;
00126 }
00127 
00128 
00129 
00130 
00131 void DTASSIPart_Agent::compute_center_location(){
00132         size_t min = current_vertex;
00133 //      printf("compute center:: min: %d current center: %d \n",min,current_center_location);
00134         double min_dist = compute_sum_distance(min);
00135 //      printf("compute center:: min dist: %.2f \n",min_dist);
00136         for (size_t i = 0; i<dimension; i++){
00137                 if (i!=current_center_location && tasks[i]){
00138                         double dist = compute_sum_distance(i);
00139 //                      printf("compute center:: current dist: %.2f, min dist: %.2f, current min: %d, current point: %d \n",dist,min_dist,min,i);
00140                         if ( dist < min_dist){
00141                                 min = i;
00142                                 min_dist = dist; 
00143                         }
00144                 }
00145         }
00146         current_center_location = min;
00147         
00148 }
00149 
00150 double DTASSIPart_Agent::compute_sum_distance(int cv){
00151         if(cv<0 || cv >= dimension){
00152 //              printf("return big number: cv = %d",cv);
00153                 return BIG_NUMBER;
00154         }
00155         double sum = 0.;
00156         for (size_t i = 0; i<dimension ; i++){
00157                         if (tasks[i]){
00158         //                      printf("sum: %2.f \n",sum);
00159                                 sum+= compute_cost(cv,i);
00160                         }
00161         }
00162         return sum;
00163 }
00164 
00165 void DTASSIPart_Agent::update_tasks(){
00166         
00167 /*debug print
00168         printf("updating tasks: \n tasks before[");
00169         for (size_t i = 0; i<dimension; i++){
00170             printf(" %d, ",tasks[i]);   
00171         }
00172         printf("] \n"); 
00173 
00174         printf("bids [");
00175         for (size_t i = 0; i<dimension; i++){
00176             printf(" <%.2f,%d>, ",bids[i].bidValue,bids[i].robotId);    
00177         }
00178         printf("] \n"); 
00179 
00180         printf("center location before %d \n",current_center_location);
00181 
00182 ------------*/
00183 
00184         int value = ID_ROBOT;
00185         if (value==-1){value=0;}
00186 
00187         nactivetasks=0;
00188         bool changed = false;
00189         for (size_t i = 0; i< dimension; i++){
00190                 if (!changed && tasks[i] != (bids[i].robotId == value)){
00191                         changed = true;         
00192                 }
00193                 tasks[i] = (bids[i].robotId == value);
00194                 if (tasks[i]) nactivetasks++;
00195         }
00196 
00197         if (changed){
00198             compute_center_location();
00199         }
00200 
00201 #if DEBUG_PRINT
00202 
00203         printf("DTAP current center location: %lu\n",current_center_location);
00204         printf("DTAP: Active Tasks %d [",nactivetasks);
00205         for (size_t i = 0; i<dimension; i++){
00206             if (tasks[i]) printf("%lu ",i);     
00207         }
00208         printf("] \n"); 
00209 
00210             
00211         
00212 #endif   
00213 }
00214 
00215 
00216 
00217 int main(int argc, char** argv) {
00218   
00219     DTASSIPart_Agent agent;
00220     agent.init(argc,argv);
00221     agent.run();
00222 
00223     return 0; 
00224 }
00225 


patrolling_sim
Author(s):
autogenerated on Mon Oct 2 2017 03:13:50