Random_Agent.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2014, ISR University of Coimbra.
00006 *  All rights reserved.
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00008 *  Redistribution and use in source and binary forms, with or without
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00012 *   * Redistributions of source code must retain the above copyright
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00016 *     disclaimer in the documentation and/or other materials provided
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00018 *   * Neither the name of the ISR University of Coimbra nor the names of its
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00035 * Author: Luca Iocchi (2014-2016)
00036 *********************************************************************/
00037 
00038 #include <sstream>
00039 #include <string>
00040 #include <ros/ros.h>
00041 #include <move_base_msgs/MoveBaseAction.h>
00042 #include <actionlib/client/simple_action_client.h>
00043 #include <tf/transform_broadcaster.h>
00044 #include <tf/transform_listener.h>
00045 #include <nav_msgs/Odometry.h>
00046 #include <std_msgs/Int8MultiArray.h>
00047 
00048 #include "PatrolAgent.h"
00049 
00050 class Random_Agent: public PatrolAgent {
00051     
00052 public:
00053     virtual int compute_next_vertex();
00054     
00055 };
00056 
00057 
00058 int Random_Agent::compute_next_vertex() {
00059     // Random algorithm
00060     
00061     //number of neighbors of current vertex (number of existing possibilites)
00062     uint num_neighs = vertex_web[current_vertex].num_neigh;
00063     uint next_vertex;
00064     
00065     srand ( time(NULL) );
00066     int i = rand() % num_neighs;
00067     next_vertex = vertex_web[current_vertex].id_neigh[i];
00068     
00069     ROS_INFO("Random choice: %d",next_vertex);
00070     
00071     return next_vertex;    
00072 }
00073 
00074 int main(int argc, char** argv) {
00075   
00076     Random_Agent agent;
00077     agent.init(argc,argv);
00078     agent.run();
00079 
00080     return 0; 
00081 }


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